Method and device for acquiring laser imaging echo waveform and level characteristics

The invention relates to a method and a device for acquiring laser imaging echo waveform and level characteristics, a laser imaging device is adopted for transmitting laser pulse to a target, and a multi-echo time delay measurement unit and a maximum undistorted waveform collection unit of the device are utilized for respectively extracting multi-echo time delay data and full waveform data of the same transmitted pulse. The full waveform data is utilized for extracting the echo pulse broadening characteristic, the power characteristic, the waveform distribution characteristic and the like as target characteristics and saving in an echo pulse database. The multi-echo time delay data is utilized for generating a target multi-level point cloud image, and the echo power characteristic is further utilized for generating a target gray image. The method and the device fully utilize time delay, peak power and waveform information contained in echo pulse, and can not only obtain the target conventional point cloud image, but also realize the target multi-level imaging and the target gray imaging, generate the waveform characteristic database and achieve the purpose of acquiring the laser imaging echo waveform and level characteristics.