Close-range photogrammetry colorful three-dimensional scanning laser radar

A close-range photogrammetry colorful three-dimensional scanning laser radar comprises colorful laser light sources, a transmission optical system, a scanning system, a receiving optical system, a laser spectrum detection and distance-measuring circuit, a data collection and time sequence controller and a computer data processing unit. The colorful laser light sources comprise a red light pulse laser light source, a green or yellow light pulse laser light source, a blue light pulse laser light source and an infrared pulse laser light source, lasers emitted by the colorful laser light sources are synthesized into a laser beam through the transmission optical system, and are incident to the scanning system, colorful laser three-dimensional linear scanning is performed on a target ground object through the scanning system, echo signals formed by scanning are captured by the optical receiving system, intensity of pulse lasers obtained by detection of the laser spectrum detection and distance-measuring circuit and distance information of the target ground object are transmitted to a data collecting and time sequence controller for multi-channel data collection and time sequence calculation, and the result is output to the computer data processing unit.