A long-range ranging and imaging integrated single-photon lidar system and method

Abstract

This invention discloses a long-range ranging and imaging integrated single-photon lidar system and method, belonging to the field of lidar technology. The laser, signal delayer, and single-photon detector are all connected to a host computer, and the laser, single-photon detector, and host computer are all connected to the signal delayer. The laser is externally positioned to the optical system and is connected to a collimator. The single-photon detector is positioned on the focal plane of the optical system, and the laser beam is parallel to the optical axis of the optical system, with the laser beam emitting end facing the target. The photonic chip surface of the single-photon detector is divided into a ranging area and an imaging area by a coating. A ranging readout circuit is installed in the ranging area, and an imaging readout circuit is installed in the imaging area. Both the ranging readout circuit and the imaging readout circuit are 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.

Description

Technical Field

[0001] This invention belongs to the field of lidar technology, specifically relating to a long-range ranging and imaging integrated single-photon lidar system and method. Background Technology

[0002] Traditional lidar faces challenges such as insufficient energy, low imaging efficiency, and poor accuracy when performing real-time 3D imaging of distant targets. The emergence of single-photon array detectors has made real-time 3D imaging possible; however, due to limitations in the data readout speed of the imaging circuit, it is difficult to apply free mode for 3D imaging of distant targets. This is because the low frame rate makes efficient encoding difficult and it is hard to eliminate distance ambiguity.

[0003] To address this, some studies have utilized distance gating (only for a certain distance) to achieve long-distance 3D imaging. However, this method requires prior knowledge of the target's approximate location, followed by receiving distance information within a certain gating range to complete 3D imaging. This approach is less efficient and makes imaging moving targets more difficult in practical applications.

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

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

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a long-range ranging and imaging integrated single-photon lidar system, comprising an optical system, a laser, a signal delay unit, a single-photon detector, a host computer, and a power supply unit. The laser, the signal delay unit, 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 delay unit. The laser, the signal delay unit, the single-photon detector, and the host computer are all connected to the power supply unit.

[0008] The laser is set outside the optical system and is connected to a collimator. The single-photon detector is set 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 is directed towards the target being measured.

[0009] The photonic chip surface of the single-photon detector is divided into a ranging region and an imaging region by a coating. The ranging region is equipped with a ranging readout circuit, and the imaging region is equipped with an imaging readout circuit. The ranging readout circuit and the imaging readout circuit are respectively connected to the host computer.

[0010] The laser includes a first laser and a second laser. The laser beam from the first laser returns to the ranging area, and the laser beam from the second laser returns to the imaging area.

[0011] Furthermore, the imaging area is evenly divided into multiple small imaging regions centered on the ranging area, and the number of imaging readout circuits is the same as the number of small imaging regions.

[0012] Furthermore, the coating includes a first type of film and a second type of film. The first type of film is coated at the center of the photonic chip surface, and the second type of film is coated at the remaining positions on the photonic chip surface. The area where the first type of film is located serves as the ranging area, and the area where the second type of film is located serves as the imaging area.

[0013] Furthermore, the first laser and the second laser have different wavelengths, the first film has a different wavelength than the second film, the first film has the same wavelength as the first laser, and the second film has the same wavelength as the second laser.

[0014] Furthermore, the coating material includes magnesium fluoride, zinc sulfide, titanium dioxide, or silicon dioxide.

[0015] Furthermore, the collimator includes a first collimator and a second collimator, the first collimator being connected to the first laser and the second collimator being connected to the second laser.

[0016] Furthermore, the readout rate of the ranging readout circuit is at the MHz or GHz level, and the readout rate of the imaging readout circuit is greater than 10KHz.

[0017] Furthermore, the host computer is equipped with a data acquisition card, which is connected to the single-photon detector.

[0018] Furthermore, the ranging readout circuit and the imaging readout circuit are synchronized.

[0019] Secondly, the present invention provides a method for operating a long-range ranging and imaging integrated single-photon lidar system, comprising the following steps:

[0020] The first laser emits a laser beam, which is transmitted to the target and then reflected as a laser echo signal. This echo signal is received by the ranging area of ​​the single-photon detector. The ranging readout circuit reads the distance data, which is then collected by the host computer and calculated using the time-of-flight method to obtain the target distance. The target distance is then converted into a gating signal to obtain the distance gating signal.

[0021] The second laser emits a laser beam under distance gating. After reaching the target, the beam is reflected back and received by the imaging area of ​​the single-photon detector. The imaging readout circuit reads out the imaging data, which is then collected by the host computer to generate three-dimensional imaging information, thus obtaining an image of the target.

[0022] Compared with the prior art, the present invention has the following beneficial technical effects:

[0023] This invention proposes a long-range ranging and imaging integrated single-photon lidar system. The photonic chip surface of the single-photon detector is divided into a ranging region and an imaging region by a coating. The laser beam from the first laser returns to the ranging region, and the laser beam from the second laser returns to the imaging region. By coating the single-photon detector, dual-wavelength (narrowband) detection can be achieved. In addition, the special system design enables a single single-photon detector to simultaneously meet the requirements of high-speed ranging and large-area three-dimensional imaging, breaking through the limitation of requiring multiple detectors for ranging and imaging. At the same time, a single optical path can realize the function of acquiring two narrowband lasers, avoiding complex beam splitting optical path design, reducing system development costs, and improving system development efficiency. Attached Figure Description

[0024] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. In the drawings:

[0025] Figure 1 This is a simplified structural diagram of a long-range ranging and imaging integrated single-photon lidar system according to an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the coating of a single-photon detector in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the readout circuit layout in an embodiment of the present invention.

[0028] Figure 4 This is a flowchart illustrating the design method of a long-range ranging and imaging integrated single-photon lidar system according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] A long-range ranging and imaging integrated single-photon lidar 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 externally mounted to the optical system and connected to a collimator. The single-photon detector is mounted 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 emission end of the laser beam is directed towards the target. The photonic chip surface of the single-photon detector is divided into a ranging area and an imaging area by a coating. A ranging readout circuit is installed in the ranging area, and an imaging readout circuit is installed in the imaging area. 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.

[0035] This embodiment boasts high integration. The ranging readout circuit achieves high-precision ranging by accurately measuring the time interval between the emission and reception of a single photon. The imaging readout circuit achieves high-sensitivity, high-resolution 3D imaging by accurately recording the spatial position and temporal information of each photon. This embodiment integrates ranging and imaging functions, reducing equipment size and complexity, and facilitating deployment and use. Employing single-photon detection technology, it achieves extremely high sensitivity, enabling the detection of single photons even under extremely low light conditions, greatly expanding the distance range for ranging and imaging, and enabling precise long-distance detection. The laser and optical system work ingeniously together, with the laser beam parallel to the optical axis and the emitting end facing the target, ensuring effective energy transmission and reception. The photon chip surface of the single-photon detector is divided into ranging and imaging areas, each with a corresponding readout circuit, allowing for simultaneous and efficient acquisition of ranging and imaging data, improving information acquisition efficiency. The dual-laser design, with the first and second lasers corresponding to different areas, clearly defines their roles, further optimizing system performance and meeting the needs of diverse application scenarios.

[0036] A method for operating a long-range ranging and imaging integrated single-photon lidar system includes the following steps:

[0037] The first laser emits a laser beam, which is transmitted to the target and then reflected as a laser echo signal. This echo signal is received by the ranging area of ​​the single-photon detector. The ranging readout circuit reads the distance data, which is then collected by the host computer and calculated using the time-of-flight method to obtain the target distance. The target distance is then converted into a gating signal to obtain the distance gating signal.

[0038] The second laser emits a laser beam under distance gating. After reaching the target, the beam is reflected back and received by the imaging area of ​​the single-photon detector. The imaging readout circuit reads out the imaging data, which is then collected by the host computer to generate three-dimensional imaging information, thus obtaining an image of the target.

[0039] This embodiment utilizes a first laser to emit a laser beam for ranging, and accurately calculates the target distance using the time-of-flight method, providing crucial spatial positioning information for subsequent imaging and ensuring imaging accuracy. The target distance is converted into distance gating, which controls 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 the imaging, and makes the imaging results clearer. The entire process is clearly divided and streamlined, with ranging and imaging data read by corresponding readout circuits and processed by the host computer, improving data processing efficiency and system response speed. It fully leverages the high sensitivity of single-photon detection technology, enabling rapid and accurate acquisition of target distance and three-dimensional imaging information at long distances, and has significant application value in fields such as autonomous driving, remote sensing monitoring, and military reconnaissance.

[0040] The imaging area is uniformly divided into multiple small imaging regions centered on the ranging area. The number of imaging readout circuits is the same as the number of imaging regions. The coating includes a first type of film and a second type of film. The first type of film is coated at the center of the photonic chip surface, and the second type of film is coated on the remaining areas of the photonic chip surface. The area containing the first type of film serves as the ranging area, and the area containing the second type of film serves as the imaging area. The wavelengths of the first and second lasers are different, as are the wavelengths of the first and second types of films. The wavelength of the first type of film is the same as the wavelength of the first laser, and the wavelength of the second type of film is the same as the wavelength of the second laser. The coating materials include 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, and the second collimator is connected to the second laser. The readout rate of the ranging readout circuit is in the MHz or GHz range, and the readout rate of the imaging readout circuit is greater than 10 kHz. A data acquisition card is provided on the host computer and connected to the single-photon detector. The ranging readout circuit and the imaging readout circuit are synchronized.

[0041] In this embodiment, the laser is externally mounted and equipped with a collimator. The laser beam is parallel to the optical axis and directed towards the target, ensuring accurate emission. The single-photon detector is placed at the focal plane of the optical system, facilitating efficient signal reception. The photonic chip surface is coated with different materials and wavelengths to divide the ranging and imaging areas. The imaging area is further subdivided into multiple smaller regions and matched with a corresponding number of readout circuits, achieving efficient and coordinated zoning of ranging and imaging functions. Dual lasers and dual collimators are used, with the first and second lasers having different wavelengths, corresponding to the ranging and imaging areas respectively, avoiding signal interference and improving detection accuracy. Regarding the readout circuits, the ranging readout circuit reaches MHz or GHz levels, and the imaging readout circuit has a readout rate greater than 10kHz, both synchronized, enabling rapid data acquisition and processing to meet real-time requirements. A data acquisition card is connected to the single-photon detector on the host computer to ensure stable data transmission. Furthermore, the coating uses common, high-quality materials such as magnesium fluoride, ensuring cost control and stable performance. This system integrates long-distance, high-precision ranging and clear imaging, and has broad application prospects in fields such as autonomous driving, aerospace, and topographic mapping. It can provide more efficient and accurate detection solutions for related industries.

[0042] Example 2

[0043] See Figure 1 , Figure 2 , Figure 3 A long-range ranging and imaging integrated single-photon lidar system includes: an optical system, a first laser, a second laser, a signal delay unit, and a host computer; in this embodiment, the first laser is... Figure 1 Laser A and the second laser are... Figure 1 Laser B in the middle;

[0044] Laser A and laser B have different wavelengths. In this embodiment, laser A has a wavelength of 1550nm and laser B has a wavelength of 1570nm. Laser A, laser B, and the signal delay unit are all connected to the host computer, which controls the synchronization of the signals. Laser A, laser B, and the single-photon detector are also connected to the signal delay unit. The laser beams of laser A and laser B are parallel to the optical axis of the optical system. The host computer has a data acquisition card that analyzes and processes the received signals.

[0045] The photonic chip surface of the single-photon detector is coated with two different materials, such as magnesium fluoride, zinc sulfide, titanium dioxide, and silicon dioxide. The ranging region and the imaging region are divided according to the area where the two different materials are located. The ranging region and the imaging region are denoted as region A and region B, respectively. 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, region B is covered by sputtering coating on region A (1550nm), and region A is covered by sputtering coating on region B (1570nm).

[0046] The readout circuit includes a readout circuit A for ranging and a readout circuit B for imaging. Readout circuit A and readout circuit B are set to correspond to the ranging area and the imaging area, and readout circuit A and readout circuit B are synchronized.

[0047] The ranging area is located at the center of the photonic chip surface, and the remaining area of ​​the photonic chip surface is the imaging area. The area of ​​the ranging area is smaller than the area of ​​the imaging area. The ranging area is a square area of ​​m×m, such as 2×2, 3×3, etc. Specifically, the imaging area is uniformly divided into n parts centered on the ranging area, and n readout circuits B are also set accordingly. In this embodiment, the size of the photonic chip surface is 512×512, and the size of the ranging area is 2×2, corresponding to 262,140 pixels in the imaging area. In this embodiment, the imaging area is uniformly divided into n parts centered on the ranging area. The system is divided into four regions, designated B1, B2, B3, and B4. Each region has 65,535 pixels. Correspondingly, four readout circuits B are also configured, designated B1, B2, B3, and B4. Due to the smaller number of pixels in the ranging region and the fact that readout circuit A reads data from the ranging region, the readout rate in this region reaches MHz or even GHz. Readout circuit B reads data in parallel through readout circuits B1, B2, B3, and B4, achieving a readout rate of tens of kHz.

[0048] The long-range 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.

[0049] The long-range ranging and imaging integrated single-photon lidar system also includes a power supply system, which provides power to all components within the long-range ranging and imaging integrated single-photon lidar system.

[0050] When performing ranging and data acquisition, this system first supplies power to the long-range ranging and imaging integrated single-photon lidar system via the power supply system. The internal components of the long-range ranging and imaging integrated single-photon lidar system are then connected and arranged as required. Laser A, Laser B, the signal delay unit, and the single-photon detector are turned on. The acquisition of the single-photon detector is synchronized with the laser emission of Laser A and Laser B to acquire ranging signals. Using the high-frame-rate laser echo signal (1550nm) obtained from the pixels in the ranging area, the target distance information is calculated using the time-of-flight method. Finally, three-dimensional imaging data is acquired. The distance information is converted into a gating signal, and an imaging distance gating (three-dimensional imaging distance range) is set. The three-dimensional information of the target within this distance range is acquired using a laser with a wavelength (1570nm).

[0051] See Figure 4 A design method for a long-range ranging and imaging integrated single-photon lidar system, the method comprising the following steps:

[0052] S1: The single-photon detector is coated in different regions. Appropriate coating materials are selected based on the wavelength characteristics of the two regions. These materials can be magnesium fluoride, zinc sulfide, titanium dioxide, or silicon dioxide. A film system design is implemented, and the coating materials are layered to achieve narrowband high transmittance at 1550nm and 1570nm. The photonic chip surface is divided into regions. The middle region is used as the ranging region and coated with wavelength A. The remaining regions are used as the imaging region and coated with wavelength B. This results in two different wavelength response regions on the single-photon detector. In this embodiment, the photonic chip surface size is 512×512, the ranging region consists of 2×2 arranged pixels, and the imaging region has 262,140 pixels.

[0053] S2: Single-photon detector readout circuit design; Using the existing method of reading each pixel's response one by one, a parallel design approach is adopted to construct the readout circuit A for the ranging region. In this embodiment, this region corresponds to very few pixels, only 4 pixels, and the readout efficiency of a single pixel can reach 1.2GHz; therefore, the readout efficiency of the ranging region readout circuit is 300MHz. The readout circuit B for the imaging region is then constructed. Region B is divided into several parts, such as B1, B2, B3, and B4 (each region has 65536 pixels) in this embodiment. Readout circuits B1, B2, B3, and B4 are constructed respectively. The imaging region occupies most of the detector's pixels, with a readout efficiency in the tens of kHz. In this embodiment, the readout rate of the imaging region is 18.3kHz. Subsequently, a common clock source is used to trigger the signals of each region for both the ranging and imaging regions. The ranging region corresponds to the central pixel region of the detector, while the imaging region corresponds to the pixels excluding the central region. By triggering the ranging signal and the imaging signal in a unified manner, the ranging and imaging distances can be unified. The ranging information is used as a gating to achieve higher precision three-dimensional imaging of distances. At the same time, the ranging value of the pixels in the central region can make up for the missing pixels in the three-dimensional imaging, so that it meets the requirements of the unification of ranging and imaging distances.

[0054] 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 for a double-mirror astronomical telescope. Select high-frequency narrowband lasers corresponding to wavelengths A and B, respectively, denoted as laser A and laser B. The wavelengths of laser A and laser B are 1550nm and 1570nm, respectively. The laser beams of laser A and laser B are adjusted to be parallel to the optical system through a collimator. This enables the integration of ranging and imaging into an optical system. Then, perform electrical integration. Use data transmission cables to connect laser A, laser B, single-photon detector, and signal delay unit to the host computer. Then, use radio frequency signal lines to connect the signal delay unit to the single-photon detector, laser A, and laser B for external triggering.

[0055] S4: Ranging and Data Acquisition; Power on the long-range ranging and imaging integrated single-photon lidar system, turn on laser A, laser B, signal delay unit and single-photon detector, synchronize the acquisition of the single-photon detector with the laser emission of laser A and laser B, use the laser echo signal obtained by the pixel in the ranging area to calculate the target distance 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 acquire the three-dimensional information of the target within the distance range.

[0056] Step S1 also includes cleaning and pre-treating the photonic chip substrate before the single-photon detector is coated in different regions.

[0057] In step S1, when coating the single-photon detector in different regions, sputtering coating is performed by constructing two templates and sequentially covering the ranging region and the imaging region, respectively. The two templates are... Figure 2 The templates for Region A and Region B are shown in the image.

[0058] Many embodiments and applications beyond the examples provided will be apparent to those skilled in the art upon reading the foregoing description. Therefore, the scope of this teaching should not be determined by reference to the foregoing description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

[0059] The above content provides a further detailed description of the present invention. It should not be construed that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the defined protection scope of the present invention.

Claims

1. A long-range ranging and imaging integrated single-photon lidar 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, and 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 set outside the optical system and is connected to a collimator. The single-photon detector is set 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 is directed toward the target being measured. The photonic chip surface of the single-photon detector is divided into a ranging region and an imaging region by a coating. The ranging region is equipped with a ranging readout circuit, and the imaging region is equipped with an imaging readout circuit. The ranging readout circuit and the imaging readout circuit are respectively connected to a host computer. The imaging area is evenly divided into multiple small imaging areas centered on the ranging area, and the number of imaging readout circuits is the same as the number of small imaging areas. The coating includes a first type of film and a second type of film. The first type of film is coated at the center of the photonic chip surface, and the second type of film is coated at the remaining positions on the photonic chip surface. The area where the first type of film is located serves as the ranging area, and the area where the second type of film is located serves as the imaging area. The laser includes a first laser and a second laser, wherein 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 first laser and the second laser have different wavelengths, and the first type of film has a different wavelength than the second type of film; The wavelength of the first type of film is the same as the wavelength of the first laser, and the wavelength of the second type of film is the same as the wavelength of the second laser.

2. The long-range ranging and imaging integrated single-photon lidar system according to claim 1, characterized in that, The coating material includes magnesium fluoride, zinc sulfide, titanium dioxide, or silicon dioxide.

3. The long-range ranging and imaging integrated single-photon lidar system according to claim 1, characterized in that, The collimator includes a first collimator and a second collimator, wherein the first collimator is connected to a first laser and the second collimator is connected to a second laser.

4. The long-range ranging and imaging integrated single-photon lidar system according to claim 1, characterized in that, The host computer is equipped with a data acquisition card, which is connected to the single-photon detector.

5. The long-range ranging and imaging integrated single-photon lidar system according to claim 1, characterized in that, The ranging readout circuit and the imaging readout circuit are synchronized.

6. A method for operating a long-range ranging and imaging integrated single-photon lidar system, characterized in that, Using a long-range ranging and imaging integrated single-photon lidar system as described in any one of claims 1-5, comprising: The first laser emits a laser beam, which is transmitted to the target and then reflects a laser echo signal. This echo signal 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 using the time-of-flight method to obtain the target distance. The target distance is then converted into a gating signal to obtain the distance gating signal. The second laser emits a laser beam under distance gating. After reaching the target, the beam is reflected back and received by the imaging area of ​​the single-photon detector. The imaging readout circuit reads out the imaging data, which is then collected by the host computer to generate three-dimensional imaging information, thus obtaining an image of the target.

Images