Compensated distance measurement methods and apparatus

• US 10,281,578 B2
• Filed: 09/21/2016
• Issued: 05/07/2019
• Est. Priority Date: 05/28/2014
• Status: Active Grant

• Current Assignee: Trimble AB (Trimble Inc.)
• Original Assignee: Trimble AB (Trimble Inc.)
• Inventors: Lekas, Johan, Svanholm, Set, Kosakowski, Alex Slawomir
• Primary Examiner(s): Bolda, Eric L
• Application Number:
  US15/272,272
• Publication Number:
  US 20170010357A1
• Time in Patent Office: 958 Days
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G01S 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: G01S 7/489 Gain of receiver varied automatically during pulse-recurrence period
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A transmit light signal is emitted toward a target at an emission time. An optical subsystem of a receiving system receives a return light signal which is converted to a return electrical signal. At least one attenuator applies an attenuation to at least one of the return light signal and the return electrical signal. The attenuation varies, as time passes, after emission of the transmit light signal, according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since an emission time of the transmit light signal. The critical time is dependent on at least one geometrical parameter of the optical subsystem. A receive time is determined from the return electrical signal. The emission time and the receive time are used to calculate a measured distance.

Claims

1. Apparatus for measuring distance, comprising:

a transmitter operative to emit a transmit light signal toward a target at an emission time,

a receiving system comprising;

an optical subsystem to receive a return light signal, and

an opto-electrical converter to convert the return light signal to a return electrical signal,

at least one attenuator to apply an attenuation to at least one of the return light signal and the return electrical signal, the attenuation varying, as time passes, after emission of the transmit light signal, according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since the emission time of said transmit light signal, said critical time being dependent on at least one geometrical parameter of the optical subsystem,

a detection unit to determine a receive time from the return electrical signal, and

a processor unit to calculate a measured distance based on at least the emission time and the receive time.

2. The apparatus of claim 1, wherein the optical subsystem includes a first aperture and a detection aperture, the critical time being dependent on at least one of a size of the first aperture, a size of the detection aperture and a distance from the first aperture to the detection aperture.

3. The apparatus of claim 2, wherein an optical element is arranged at the first aperture to direct the return light signal on a detector arranged at the detection aperture.

4. The apparatus of claim 1, wherein the critical time corresponds to a light travel distance for which a maximum amount of light is obtained at a detection aperture of the optical subsystem.

5. The apparatus of claim 1, further comprising a calibration unit for determining the critical time during a calibration procedure.

6. The apparatus of claim 1, wherein the attenuator is configured such that the attenuation of said at least one of the return light signal and the return electrical signal decreases after the critical time.

7. The apparatus of claim 1, further comprising a controller configured to regulate the attenuation of said attenuator for a travelling transmit light signal, as time passes, from a time event related to the emission of the travelling transmit light signal until reception of the return light signal corresponding to said travelling transmit light signal or until emission of a subsequent transmit light signal or until a time period elapsed since said time event exceeds a threshold.

8. The apparatus of claim 2, wherein the amount of light reaching the first aperture from the target is described by a first function dependent on distance between the first aperture and the target, and an amount of light passing through the first aperture reaching the detection aperture without applied attenuation is described by a second function dependent on distance between the first aperture and the target, wherein the apparatus further comprises a compensation element to reduce influence of at least one of the first function and the second function on the return electrical signal.

9. The apparatus of claim 1, wherein the processor unit is operative to correct at least one of the receive time and the measured distance for a time shift of the receive time resulting from appliance of the attenuation on at least one of the return light signal and the return electrical signal by the attenuator.

10. The apparatus of claim 1, further comprising

a. a signal delay module operative to delay a portion of the return electrical signal for a predetermined time,

b. a signal analyzer operative to generate an intensity signal indicative of an intensity of the return electrical signal, and

c. a variable gain amplifier operative to amplify the delayed portion of the return electrical signal using a gain dependent on the intensity signal,

wherein the detection unit is operative to determine the receive time from the return electrical signal by determining the receive time from the delayed portion of the return electrical signal after amplification by the variable gain amplifier.

11. The apparatus of claim 1, wherein the attenuation function is modified for a current distance measurement using information from a previous distance measurement, and wherein the critical time corresponds to a critical distance to the target of approximately 15 to 75 meters.

12. A method of operating a distance measuring system, comprising:

a. emitting a transmit light signal toward a target at an emission time,

b. receiving by an optical subsystem a return light signal

c. converting the return light signal to a return electrical signal,

d. regulating, as time passes, after emission of the transmit light signal, an attenuation level of an attenuator for applying an attenuation to at least one of the return light signal and the return electrical signal according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since the emission time of said transmit light signal, said critical time being dependent on at least one geometrical parameter of the optical subsystem,

e. determining a receive time from the return electrical signal, and

f. calculating a measured distance based on at least the emission time and the receive time.

13. The method of claim 12, wherein the optical subsystem includes a first aperture and a detection aperture, the critical time being dependent on at least one of a size of the first aperture, a size of the detection aperture and a distance from the first aperture to the detection aperture.

14. The method of claim 12, wherein the critical time corresponds to a light travel distance for which a maximum amount of light is obtained at a detection aperture of the optical subsystem.

15. The method of claim 12, wherein the attenuation increases between the emission time of said transmit light signal up to said critical time.

16. The method of claim 12, further comprising calibrating said distance measuring system for determining the critical time.

17. The method of claim 12, wherein the attenuation of said at least one of the return light signal and the return electrical signal decreases after the critical time.

18. The method of claim 12, wherein the attenuation is regulated for a travelling transmit light signal, as time passes, after emission of the travelling transmit light signal until reception of the return light signal corresponding to said travelling transmit light signal or until emission of a subsequent transmit light signal or until a time elapsed since the emission time exceeds a threshold.

19. The method of claim 12, wherein applying the attenuation function results in a time shift of the receive time, and the method further comprises correcting at least one of the receive time and the measured distance for the time shift.

20. The method of claim 12, further comprising

a. delaying a portion of the attenuated electrical signal for a predetermined time,

b. generating an intensity signal indicative of an intensity of the attenuated electrical signal, and

c. amplifying the delayed portion of the attenuated electrical signal using a gain dependent on the intensity signal,

wherein determining the receive time from the attenuated electrical signal comprises determining the receive time from the delayed portion of the attenuated electrical signal after amplification by the variable gain amplifier.