The whole assembly of the range-gated imaging system based on the semiconductor laser array is introduced, and three kinds of semiconductor laser beam shaping designs are proposed according to the requirements of the system. The simulation and experimental comparative analysis of the three laser beam shaping designs are carried out by using Zemax software. Results show that the stacked array macro lens collimator has the advantages of simple structure, low assembly accuracy and low cost, but it requires high parallelism and coplanarity between bars. The collimation scheme of optical fiber coupling array has the smallest beam divergence angle, but larger coupling loss. The beam shaping scheme of the stacked array based on cylindrical microlens has a high light collection efficiency, a smaller divergence angle and moderate process complexity, which is more suitable for the long-distance active lighting of the laser imaging system engineering.