Laser surveying instrument

• US 5,291,262 A
• Filed: 07/15/1992
• Issued: 03/01/1994
• Est. Priority Date: 03/27/1989
• Status: Expired due to Term

• Current Assignee: Kama-Tech (HK) Limited
• Original Assignee: Laser Technology Incorporated (Laser Technology)
• Inventors: Dunne, Jeremy G.
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US07/914,764
• Time in Patent Office: 594 Days
• Field of Search: 356/5, 356/28, 356/152, 356/141, 368/120
• US Class Current: 356/5.06
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• 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
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders

Abstract

A laser survey instrument is described which includes a laser rangefinder which determines the time-of-flight of an infrared laser pulse to a target, a magnetic compass module which produces an electronically readable compass signal, a vertical angle sensor module which produces an electronically readable inclination signal, and a microprocessor-based microcontroller. The device is small enough to be easily hand-held, and includes a trigger and a sighting scope for a user to visually select a target and to trigger operation of the device upon the selected target. The sighting scope preferably has means for measuring the apparent width of the target. The laser rangefinder includes self-calibrating interpolation circuitry, a digital logic-operated gate for reflected laser pulses in which both the "opening" and the "closing" of the gate can be selectably set by the microcontroller, and dual collimation of the outgoing laser pulse such that a minor portion of the outgoing laser pulse is sent to means for producing a timing reference signal. The instrument is capable of performing numerous kinds of surveying operations.

Claims

1. A laser surveying device, comprising:

a housing having dimensions suitable for being hand-held during operation;

a power source positioned within said housing and providing a high voltage output and a low voltage output as required to other components;

a laser rangefinder system disposed within said housing and constructed to fire a laser pulse of short duration at a selected target, to detect an RX (return) pulse of laser light reflected from said selected target, and to produce count data reflective of an elapsed time-of-flight between firing of said laser pulse and receipt of said return pulse;

a vertical angle sensor for sensing a vertical angle between said target and said housing and constructed to output an electrically readable vertical angle signal reflective thereof;

a magnetic compass constructed to output a direction reading in electronically readable form;

a sighting scope attached to said housing, having apparent width measuring means for measuring the apparent width of a target, and operably associated with said laser rangefinder, said vertical angle sensor and said magnetic compass such that when a user sights on a target with said sighting scope, said laser rangefinder, light detector, and magnetic compass are simultaneously aimed at said target, and said vertical angle sensor outputs a signal reflective of the vertical angle to said target;

trigger means mounted to said housing for manipulation by a user to trigger operation of said survey device when said survey device is aimed at the target; and

control means including a microcontroller having memory means for storing instructions and data, said microcontroller being communicatively interconnected to said power source, said laser rangefinder, said vertical angle sensor, and to read said horizontal direction signal from said magnetic compass, said control means being configured to;

calculate the time-of-flight of said laser pulse from said count data;

calculate a distance to said target from said time-of-flight and the speed of light,

calculate a vertical height from a pair of vertical angle signals each corresponding to a different target or different points on said selected target,

operate said magnetic compass to produce a compass reading indicative of the direction from said survey device to said selected target, and

receive said apparent width reading and to compute from said apparent width reading and said distance, an actual width of said target.

2. The survey device of claim 1, wherein said width measuring means comprises a split-image prism disposed for viewing in said sighting scope and dividing a target seen through said sighting scope into two adjacent portions, means for adjusting the positions of said adjacent portions relative to each other, and an electrical encoder operably associated with said adjustment means for detecting said adjustment and providing an adjustment signal reflective thereof to said control means, and wherein said control means is further operable to compute an apparent width of said target from said adjustment signal.

3. The survey device of claim 1, wherein said laser rangefinder system includes

a laser pulse generator connected to receive high voltage from said power source;

reference pulse means for generating an REF (reference) pulse representative of the time of firing of said laser pulse;

light detection means for receiving and detecting light reflected from said target and in response producing an RX (return) pulse; and

timing analysis circuitry connected to receive said RX pulse and said REF pulse, and operable to produce said count data relating to the elapsed time between said REF and RX pulses, wherein said count data comprise REF count data and RX count data, and wherein said timing analysis circuitry is further constructed to produce self-calibration pulses and to process said self-calibration pulses in the same manner as said REF and RX pulses to produce calibration count values; and

wherein said microcontroller is further configured to read said calibration count values and to calculate said time-of-flight from said calibration count values, said REF and RX count data, and the speed of light.

4. The survey device of claim 3, wherein said timing analysis circuitry comprises

a clock providing a periodic series of clock pulses spaced by a known time period;

a main counter for counting the number of said clock pulses occurring between a start time corresponding to said REF pulse and an end time corresponding to said RX pulse;

interpolation means connected to receive said REF and RX pulses for interpolating respective fractional portions of said start time and said end time within said preset period of said clock signal, said interpolation means including a start time interpolation counter providing a start time interpolation count reflective of a fraction of a first said preset period at which said start time occurs, and an end time interpolation counter providing an end time interpolation count reflective of a fraction of a second said preset period at which said end time occurs; and

a timing logic circuit constructed to generate first and second self-calibration pulses which differ by an integral number of said preset periods, to process said REF and RX pulses to produce respective REF and RX interpolation signals comprising the corresponding fractional portions of the arrival times of said REF and RX pulses, and to send said self-calibration pulses and said REF and RX pulses to said interpolation means thereby producing a set of calibration values, and a REF interpolation count and said RX interpolation count which are defined with respect to said calibration values; and

wherein said microcontroller is configured to read said calibration values, said start interpolation count and said end interpolation count from said interpolation counters;

to read said number of clock periods from said main counter, and to calculate said time-of-flight from said number of clock periods, said start interpolation count, said end interpolation count, and said set of calibration values.

5. The survey device of claim 4, wherein said timing analysis circuitry further includes gating means operably associated with said return pulse detector and said microcontroller for selecting RX pulses detected within an adjustable time window, and transmitting only said selected RX pulses to said timing logic circuit for further processing.

6. The survey device of claim 5, wherein said gating means is a digital logic gating circuit in which the beginning and the ending time of the window are independently adjustable.

7. The survey device of claim 6, wherein said digital logic gating circuit is an edge-sensitive window constructed such that only a pulse whose rising edge falls within the window is accepted and transmitted.

8. The survey device of claim 6, wherein said microcontroller and said digital logic gating circuit are mutually configured for selectable setting of either or both an opening time and a closing time of said adjustable time window.

9. The survey device of claim 8, wherein said microcontroller is configured to adjust said adjustable time window in an iterative fashion from larger to smaller and smaller to larger, to thereby focus said adjustable time window to distinguish a detector signal resulting from laser pulse light returned from said chosen target, from a false detector signal resulting from other causes.

10. The survey device of claim 1, wherein said laser rangefinder system includes

a laser pulse generator connected to receive high voltage from said power source;

reference pulse means for generating an REF (reference) pulse representative of the time of firing of said laser pulse;

light detection means for receiving and detecting light reflected from said target and in response producing said RX pulse; and

timing analysis circuitry connected to receive said RX pulse and said REF pulse, having a clock which produces a clock signal comprising periodic pulses separated by a known time interval, and operable to produce said count data relating to the elapsed time between said REF and RX pulses, wherein said count data comprise a whole number of said periodic pulses occurring between said REF and said RX pulses, plus calibrated REF and RX interpolated values reflective of the fractional portions of the respective clock periods during which said REF and RX pulses are received; and

wherein said microcontroller is further configured to read said calibration count values and to calculate said time-of-flight from said calibration count values, said REF and RX count data, and the speed of light.

11. The survey device of claim 10, wherein said timing analysis circuitry defines an interpolation interval equal to an integral number of said clock periods, and further includes a reference pulse interpolation circuit for interpolating a value TLASER-REF representing a fractional time within a said clock period at which said reference pulse arrived at said detector, and an RX (returned) pulse interpolation circuit for interpolating a fractional value TLASER-RX of a fractional time within a later said clock period at which said RX pulse arrives at said detector, said values TLASER-RX AND TLASER-REF being determined with respect to said interpolation interval.

12. The survey device of claim 11, wherein said timing analysis circuitry is further constructed to generate a pair of calibration pulses respectively referred to as TMIN and TMAX and spaced to define said interpolation interval;

wherein said timing analysis circuitry subjects said calibration pulses to a said reference interpolation circuit to produce a pair of calibration values TMIN-REF, TMAX-REF, and wherein said timing analysis circuitry further subjects said calibration pulses to said RX interpolation circuit to produce a second pair of calibration values TMIN-RX, TMAX-RX.

13. The survey device of claim 12, wherein said control means reads a number of whole clock pulses from said main counter, reads TMIN-REF, TMAX-REF, TLASER-REF, TMIN-RX, TMAX-RX and TLASER-RX from said interpolation means, and calculates said time-of-flight from said calibration values, said number of whole clock pulses and said REF and RX values.

14. The survey device of claim 10, wherein said laser rangefinder further includes a first collimator operably disposed for directing a major portion of said laser pulse toward a target, and said reference pulse means is a second collimator operably disposed for directing a minor portion of said laser pulse to said light detection means to produce said reference pulse, and wherein said light detection means includes a first light detector having operably associated focussing means for focussing and receiving said reflected laser light, and in response producing said RX pulse;

and a second light detector disposed for detection of said minor portion of said laser pulse, and producing said reference pulse in response thereto.

15. The survey device of claim 1, wherein said self-calibrating interpolation is performed at least once each time said trigger is operated to initiate firing of said laser pulse.

16. The survey device of claim 1, wherein said laser rangefinder includes gating means operably associated with said return pulse detector and said control means for selecting an RX pulse received within an adjustable time window, and transmitting only said selected RX pulse to said control means for computation of said time-of-flight, said gating means and said microcontroller being mutually configured to permit selectable and independent setting of an opening time and a closing time of said adjustable time window.

17. The survey of claim 16, wherein said gating means is a digital logic gating circuit.

18. The survey device of claim 16, wherein said control means is configured to iteratively adjust said adjustable time window from larger to smaller and smaller to larger, to thereby focus said adjustable time window to distinguish a detector signal resulting from laser pulse light returned from said chosen target, from a false detector signal resulting from other causes.

19. A laser surveying device, comprising:

a housing constructed to be hand-held during operation;

a power source positioned within said housing and providing a high voltage output and a low voltage output as required to other components;

a laser rangefinder system disposed within said housing and constructed to fire a laser pulse of short duration at a selected target, to detect an RX (return) pulse of laser light reflected from said selected target, and to produce count data reflective of an elapsed time-of-flight between firing of said laser pulse and receipt of said RX pulse;

trigger means mounted to said housing for manipulation by a user to trigger operation of said survey device when said survey device is aimed at said selected target;

a vertical angle sensor for sensing a vertical angle between said target and said housing and constructed to output a vertical angle signal reflective thereof;

a magnetic compass mechanically associated with said housing and constructed to output compass readings in electronically readable form; and

control means including a microcontroller communicatively interconnected to said power source, said laser rangefinder, said vertical angle sensor, and said magnetic compass, said control means being configured to;

calculate the time-of-flight of said laser pulse from said count data,

calculate a distance to said target from said time-of-flight and the speed of light,

calculate a vertical height from a pair of vertical angle signals each corresponding to a different target or different points on said selected target,

operate said magnetic compass to produce a compass reading for a selected target and to read said compass reading from said magnetic compass; and

gating means operably associated with said laser rangefinder and said microcontroller for selecting an RX pulse received within an adjustable time window, and transmitting only said selected RX pulse to said control means for computation of said time-of-flight, said gating means and said microcontroller being mutually configured to permit selectable and independent setting of an opening time and a closing time of said adjustable time window.

20. The survey device of claim 19 wherein said control means is configured to iteratively adjust said adjustable time window from larger to smaller and smaller to larger to optimize the duration and timing of said adjustable time window to more accurately distinguish a detector signal which is a true RX signal from a false detector signal resulting from other causes.

21. The survey device of claim 19, further including a sighting scope attached to said housing, having apparent width measuring means for measuring the apparent width of a target and operably associated with said laser rangefinder, said vertical angle sensor and said magnetic compass such that when a user sights on a target with said sighting scope, said laser rangefinder, and said magnetic compass are simultaneously aimed at said target, and said vertical angle sensor outputs a signal reflective of the vertical angle to said target.

22. The survey device of claim 21, wherein said control means is further configured to receive said apparent width reading and to compute from said apparent width reading and said distance, an actual width of said target.