Laser-based measurement system

• US 4,895,440 A
• Filed: 08/22/1988
• Issued: 01/23/1990
• Est. Priority Date: 08/22/1988
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Spectra-Physics Incorporated (MKS Instruments Incorporated)
• Inventors: Cain, Gary L., Rando, Joseph F., Sobottke, Mark D.
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US07/234,565
• Time in Patent Office: 519 Days
• Field of Search: 172/4.5, 356/4, 356/5, 356/141, 356/152
• US Class Current: 356/5.08
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 15/004 Reference lines, planes or sectors
• CPC Class Codes: G01S 17/14 wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters

Abstract

A laser beam three dimensional position measurement system includes a laser transmitter mounted at a stationary reference position at a work site and a receiver mounted on a mobile machine at the site. The transmitter produces a laser reference plane by sweeping a laser beam about the transmitter. The receiver includes a retroreflector which intercepts and reflects laser energy back to the transmitter when the laser beam sweeps past the retroreflector. The system also includes at the transmitter a circuit composed of a photodetector, timer, clock and counter. The photodetector senses laser energy reflected back to the transmitter from the retroreflector. The timer modulates the laser beam produced by the transmitter in response to detection of the beam. The counter is connected to the clock and timer, and is enabled by the timer to start counting electrical pulses received from the clock when the beam is modulated. The counter is disabled to stop counting electrical pulses when the modulation is detected. The number of pulses counted by the counter is indicative of the range of the receiver from the transmitter. The orientation of the beam relative to a fixed reference axis at the time reflected laser energy is detected defines the direction of the receiver relative to the transmitter.

Claims

1. A laser beam measurement system, comprising:

a transmitter at one position which produces a laser reference plane by sweeping a laser beam about the transmitter;

a receiver located at a position remote from said transmitter which receiver intercepts the laser reference plane;

reflector means at said receiver for reflecting said laser beam back to said transmitter when the laser beam sweeps past said receiver;

first means at said transmitter for sensing said laser beam reflected back to said transmitter from said receiver;

azimuth means at said transmitter, responsive to said first means, for providing electrical angle signals indicative of the angle at which said receiver is positioned with respect to a reference axis that extends from said transmitter;

second means at said transmitter, responsive to said first means, for causing said transmitter to modulate said beam in response to sensing of said laser beam reflected back to said transmitter by said reflector means; and

third means at said transmitter, responsive to said first means and said second means, for producing an electrical signal indicative of the period of time between said modulation and the sensing by said first means of such modulation of said laser beam reflected back to said transmitter, said time period being indicative of the range of said receiver from said transmitter.

2. The system of claim 1 in which said modulation of said beam comprises momentarily terminating transmission of said beam by said transmitter.

3. The system of claim 2 in which said electrical signal produced by said third means is represented as a count.

4. The system of claim 1 in which said reflector means is a passive reflector device.

5. The system of claim 4 in which said passive reflector device is at least one retroreflective cylinder.

6. The system of claim 4 in which said passive reflector device comprises at least one corner cube and tracking means for directing said at least one corner cube toward said transmitter.

7. The system of claim 6 in which said tracking means comprises:

a first photodetector having second and third photodetectors positioned on opposite sides thereof, said photodetectors generating electrical signals when said laser beam impinges thereon;

lens means for directing said laser beam onto a field including said first, second and third photodetectors;

motive means for rotating said reflector device; and

circuit means responsive to the electrical signals generated by said photodetectors for controlling said motive means to maintain said reflector device positioned such that said laser beam impinges upon said first photodetector.

8. The system of claim 7 wherein said lens means comprises a cylindrical lens.

9. The system of claim 1 further comprising:

signal transmitting means at said transmitter for sending to said receiver the range information indicated by said electrical signal produced by said third means.

10. The system of claim 9 further comprising:

signal receiving means at said receiver for receiving the range information sent to said receiver by said signal transmitting means.

11. In a laser beam position measurement system having a transmitter at one position which produces a laser reference plane by sweeping a laser beam about the transmitter, a receiver located at a position remote from said transmitter which receiver intercepts the laser reference plane and azimuth means at said transmitter for providing electrical angle signals indicative of the angle at which said receiver is positioned with respect to a reference axis that extends from said transmitter, the improvement therein comprising:

reflector means at said receiver for reflecting laser energy in the laser beam back to said transmitter when the laser beam sweeps past said receiver;

first means at said transmitter for sensing laser energy reflected back to said transmitter from said receiver;

second means at said transmitter being responsive to said first means for momentarily shutting off said laser beam in response to sensing of laser energy reflected back to said transmitter by said reflector means;

third means at said transmitter, responsive to said first means and said second means, for generating range signals by measuring the period of time between the shutting off of said laser beam and the termination of sensing by said first means of laser energy reflected back to said transmitter after the shutting off of said laser beam, said time period measured being indicative of the range of said receiver from said transmitter; and

fourth means at said transmitter for transmitting said angle signals and said range signals to said receiver.

12. The system of claim 11 further comprising:

fifth means at said receiver for receiving said angle and range signals transmitted to said receiver by said fourth means at said transmitter.

13. The system of claim 11 in which said range signals produced by said third means is represented as a count.

14. The system of claim 11 in which said reflector means is a passive reflector device.

15. The system of claim 14 in which said passive reflector is at least one retroreflective cylinder.

16. The system of claim 14 in which said passive reflector device comprises at least one corner cube and tracking means for directing said at least one corner cube toward said transmitter.

17. The system of claim 16 in which said tracking means comprises:

a first photodetector having second and third photodetectors positioned on opposite sides thereof, said photodetectors generating electrical signals when said laser beam impinges thereon;

lens means for directing said laser beam onto a field including said first, second and third photodetectors;

motive means for rotating said reflector device; and

circuit means responsive to the electrical signals generated by said photodetectors for controlling said motive means to maintain said reflector device positioned such that said laser beam impinges upon said first photodetector.

18. The system of claim 17 wherein said lens means comprises a cylindrical lens.

19. In a laser beam measurement system having at one position a transmitter which produces a laser reference plane by sweeping a laser beam about the transmitter and at another position remote from said transmitter a receiver which intercepts the laser reference plane, the improvement therein comprising:

at least one passive retroreflective cylinder at said receiver for reflecting laser energy in the laser beam back to said transmitter when the laser beam sweeps past said receiver;

a detector at said transmitter for sensing laser energy reflected back to said transmitter from said retroreflective cylinder;

a timer at said transmitter being coupled to said detector and being operable to modulate the laser beam of said transmitter in response to receipt of reflected laser energy by said detector;

a clock at said transmitter being operable to produce electrical pulses at a predetermined rate; and

a counter at said transmitter being connected to said clock, said detector and said timer, said counter being enabled by said timer to start counting said electrical pulses received from said clock when said timer begins to modulate said transmitter, said counter being disabled by said detector to stop counting said electrical pulses in response to detection of modulation of said reflected laser energy by said detector, said number of pulses counted by said counter being directly proportional to the range of said receiver from said transmitter.