System and method for measuring distance

• US 3,937,574 A
• Filed: 10/29/1973
• Issued: 02/10/1976
• Est. Priority Date: 10/29/1973
• Status: Expired due to Term

• Current Assignee: Kaman Sciences Corp (ITT, Inc.)
• Original Assignee: Kaman Sciences Corp (ITT, Inc.)
• Inventors: Baker, Charles E. Jr., Peckham, Vernon D., Bryce, Donald H.
• Primary Examiner(s): Tubbesing, T. H.
• Assistant Examiner(s): Buczinski, S. C.
• Application Number:
  US05/410,346
• Time in Patent Office: 834 Days
• Field of Search: 356/4, 250/205, 343/12 R
• US Class Current: 356/4.06
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48

Abstract

A pair of light intensity detectors are spaced apart in range and an arrangement is included for reflecting light from a target to the detectors. The system measures target range by dividing the output signal of one of the detectors by a signal which is a function of the difference between the output signals of the two detectors to produce a quotient signal. To avoid low signal instability problems, the difference signal is generated in one embodiment of the system by subtracting only a selected fraction of the output signal of the far detector from that of the near detector. A substantially linearized output signal representing target range is produced in this system embodiment by raising the quotient signal to a selected power. The light detectors are preferably incorporated in input circuits which are temperature compensated.

Claims

1. A distance measuring system, comprising:

means for generating a beam of electromagnetic energy of selected characteristics and illuminating a target therewith so that at least a fraction of said beam is reflected from said target thereby to form a reflected beam;

first detector means for detecting the intensity of said electromagnetic energy, said first detector means being positioned to receive said reflected beam and being responsive thereto to generate a first signal the magnitude of which is directly proportional to the intensity of said reflected beam at said first detector means;

second detector means for detecting the intensity of said electromagnetic energy, said second detector means being spaced apart in target range from said first detector means, said second detector means being positioned substantially in colinear alignment with the point on said target from which said beam is reflected and said first detector means to also receive said reflected beam, said second detector means being responsive to said reflected beam to generate a second signal the magnitude of which is proportional to the intensity of said reflected beam at said second detector means;

means connected to receive said first and second signals for generating a difference signal the magnitude of which is a function of the difference between the magnitudes of said first and second signals; and

means connected to receive said first signal and said difference signal for generating a quotient signal the magnitude of which is proportional to the magnitude of said first signal divided by the magnitude of said difference signal whereby the magnitude of said quotient signal is a known function and hence a measure of target range.

2. The invention defined in claim 1, wherein said beam of electromagnetic energy generated is a beam of light.

3. The invention defined in claim 1, wherein:

said difference signal generating means is operable to generate a difference signal the magnitude of which is substantially equal to the difference between the magnitudes of said first and second signals; and

,

said quotient signal generating means is operable to generate a quotient signal the magnitude of which is linearly proportional to the magnitude of said first signal divided by the magnitude of said difference signal whereby the magnitude of said quotient signal is substantially linearly proportional to target range over a selected operating range.

4. The invention defined in claim 3, wherein said beam of electromagnetic energy generated is a beam of light.

5. The invention defined in claim 1, wherein said difference signal generating means is operable to generate a difference signal the magnitude of which is equal to the larger of said first and second signals less a predetermined percent of the magnitude of the smaller of said first and second signals.

6. The invention defined in claim 5, wherein said quotient signal generating means is operable to generate a quotient signal the magnitude of which is linearly proportional to the magnitude of said first signal divided by the magnitude of said difference signal, and including means connected to receive said quotient signal for generating a system output signal equal to the magnitude of said quotient signal raised to a selected power whereby the magnitude of said system output signal is substantially linearly proportional to target range over a selected operating range.

7. The invention defined in claim 6, wherein said beam of electromagnetic energy generated is a beam of light.

8. The invention defined in claim 6, wherein:

said beam generating means includes pulse generating means and emitter means, said emitter means being operable when excited to emit said electromagnetic energy, said pulse generator means being connected to said emitter means to drive said emitter means in a pulsed mode of operation whereby said beam generated is a series of pulses of said electromagnetic energy; and

,

each of said detector means includes demodulating means for demodulating the energy pulses making up said reflected beam thereby to generate said first and second signals.

9. The invention defined in claim 8, wherein:

said pulse generating means has a selected pulse repetition rate whereby said beam generated by said emitter means is a series of said energy pulses in time synchronization with said pulse repetition rate; and

,

each of said demodulating means are synchronous demodulators connected to said pulse generating means to be driven thereby in time synchronization with said pulse repetition rate whereby the energy pulses making up said reflected beam are synchronously demodulated.

10. The invention defined in claim 9, wherein said beam of electromagnetic energy generated is a beam of light.

11. The invention defined in claim 10, wherein:

said emitter means includes a light emitting diode, said pulse generator means being connected to drive said light emitting diode;

each of said detector means includes at least one light sensitive diode positioned to receive said reflected beam and being responsive thereto to generate current pulses the magnitude of which are directly proportional to the intensity of the received light pulses making up said reflected beam; and

,

each of said detector means also includes circuit means connecting the output of said light sensitive diodes to the input of their associated one of said synchronous demodulators.

12. The invention defined in claim 11, wherein said light sensitive diodes are reverse biased and compensated for temperature variations by having resistors of selected magnitudes connected in series therewith thereby to control the positions of their load lines on their temperature curve characteristics.

13. The invention defined in claim 11, wherein said circuit means in each of said detector means is high speed amplifier means operable to convert said current pulses into voltage pulses linearly proportional thereto.

14. The invention defined in claim 13, wherein said light beam generated is infrared.

15. The invention defined in claim 13, wherein said light sensitive diodes are reverse biased and compensated for temperature variations by having resistors of selected magnitudes connected in series therewith thereby to control the positions of their load lines on their temperature curve characteristics.

16. The invention defined in claim 15, wherein said light beam generated is infrared and including means for adjusting the gain of said distance measuring system and its zero offset.

17. A method of measuring range to a target, comprising:

reflecting electromagnetic energy from the target;

sensing the intensity of the target reflected electromagnetic energy at first and second locations spaced apart a predetermined distance in target range, said first and second locations being substantially in colinear alignment with the point on the target from which the energy is reflected;

generating a difference signal the magnitude of which is a function of the difference between the magnitudes of the intensity of the target reflected energy at said first and second locations; and

,

generating a quotient signal the magnitude of which is proportional to the magnitude of the intensity of the target reflected energy at said first location divided by the magnitude of said difference signal whereby said quotient signal is a known function and hence a measure of target range.

18. The method of claim 17, wherein error caused by lateral displacement of said first and second locations from exact colinear alignment with the point on the target from which the energy is reflected is minimized by controlling the magnitude of said lateral displacement.

19. The method of claim 17, wherein error caused by sensing the target reflected energy at an orientation out of alignment with the direction of transmission of the target reflected energy and also caused by lateral displacement of said first and second locations from exact colinear alignment with the point on the target from which the energy is reflected is minimized by controlling the magnitude of said lateral displacement.

20. The method of claim 17, wherein the electromagnetic energy is light.

21. The method of claim 17 wherein:

the magnitude of said difference signal is equal to the difference between the magnitudes of the intensity of the target reflected energy at said first and second locations; and

the magnitude of said quotient signal is linearly proportional to the magnitude of the intensity of the target reflected energy at said first location divided by the magnitude of said difference signal.

22. The method of claim 21, wherein the electromagnetic energy is light.

23. The method of claim 17, wherein the magnitude of said difference signal is equal to the one of said sensed intensities at said first and second locations which has the largest magnitude less a predetermined percent of the magnitude of the smaller of said sensed intensities.

24. A method of measuring range to a target, comprising:

reflecting electromagnetic energy from the target;

sensing the intensity of the target reflected electromagnetic energy at first and second locations spaced apart a predetermined distance in target range, said first and second locations being substantially in colinear alignment with the point on the target from which the energy is reflected;

generating a difference signal the magnitude of which is a function of the difference between the magnitudes of the intensity of the target reflected energy at said first and second locations, the magnitude of said difference signal being equal to the one of said sensed intensities at said first and second locations which has the largest magnitude less a predetermined percent of the magnitude of the smaller of said sensed intensities;

generating a quotient signal the magnitude of which is linearly proportional to the magnitude of the intensity of the target reflected energy at said first location divided by the magnitude of said difference signal whereby said quotient signal is a known function and hence a measure of target range; and

,

generating an output signal equal to the magnitude of said quotient signal raised to a selected power whereby the magnitude of said output signal is substantially linearly proportional to target range over a selected range of values of target range.

25. The method of claim 24 wherein the electromagnetic energy is light.