Laser-based speed measuring device

• US 5,359,404 A
• Filed: 09/14/1992
• Issued: 10/25/1994
• 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:
  US07/945,233
• Time in Patent Office: 771 Days
• Field of Search: 356/5, 356/28, 368/120, 342/94, 342/95, 342/105
• US Class Current: 356/5.06
• 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 speed detector is described which includes a laser rangefinder which determines the time-of-flight of an infrared laser pulse to a target 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 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.

Claims

1. A laser speed detector, 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, including a laser pulse generator and laser light detection means, and constructed to determine the time-of-flight of a laser pulse to a target and back to said light detection means;

a sighting scope attached to said housing and operably associated with said laser rangefinder such that when a user views a selected target through said sighting scope, said laser pulse generator and said light detector are simultaneously aimed at said selected target;

a trigger mounted to said housing to be operable by a user to trigger operation of said speed detector when said laser pulse generator is aimed at said selected target; and

control means including a microcontroller having memory means for storing instructions and data, said microcontroller being communicatively interconnected to said Dower source and said laser rangefinder and said control means being configured to;

calculate a plurality of distances to said target from said flight times and the speed of light, each corresponding to a different successive ones of a series of laser pulses; and

calculate a velocity of said target relative to said observer based on said distances and the elapsed time between the individual said pulses corresponding to said distances.

5. The speed detector of claim 1, wherein said light detection means produces an RX (return) pulse in response to detection of light reflected from said target, and said laser rangefinder system further includes

reference pulse means for generating an REF (reference) pulse representative of the time of firing of said laser 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 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, said timing analysis circuitry being 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 count data, and the speed-of-light.

6. The speed detector of claim 5, 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 arrives at said detector, said value TLASER-REF being determined with respect to said interpolation interval.

7. The speed detector of claim 6, wherein said timing analysis circuitry further includes 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 value TLASER-RX being determined with respect to said interpolation interval.

8. The speed detector of claim 7, 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.

9. The speed detector of claim 8, 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.

10. The speed detector of claim 1, wherein said laser rangefinder further includes

a first collimator operably disposed for directing a major portion of said laser pulse toward a target, and

reference pulse means comprising a second collimator operably disposed for directing a minor portion of said laser pulse to said light detection means to produce said reference pulse.

11. The speed detector of claim 10, wherein said fight detection means includes a first light detector having operably associated focussing means for receiving and focussing said reflected laser fight, and producing an RX pulse in response to detection of said reflected laser light;

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

12. The speed detector of claim 8, wherein said calibration count values are calculated at least once each time said trigger is operated to initiate firing of said laser pulse.

13. The speed detector of claim 5, wherein said timing analysis circuitry includes a digital logic gating circuit operably associated with said return pulse detector and said microcontroller for selecting RX pulses having a rising edge which is detected within an adjustable time window, and transmitting only said selected RX pulses to said timing logic circuit for further processing 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.

14. The speed detector of claim 13, wherein said control means 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.

2. The speed detector of claim 2, further including gating means operable associated with said laser rangefinder system and said microcontroller for providing an adjustable time window relative to an outgoing laser pulse, such that only a return pulse failing within said time window is used to compute one of said time-of-flight measurements, said gating means and said microcontroller being mutually configured for selectable setting of either or both an opening time and a closing time of said adjustable time window.

3. The speed detector of claim 2, wherein said gating means is a digital logic gating circuit having an edge-sensitive window constructed such that only a pulse whose rising edge falls within the window is accepted and transmitted.

4. The speed detector of claim 2, 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 said return pulse from a false detector signal resulting from other causes.

15. The speed detector of claim 2, wherein said light detection means produces an RX (return) pulse in response to detection of light reflected from said target, and said laser rangefinder system further includes

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

16. The speed detector of claim 15, 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 arrives at said detector, said value TLASER-REF being determined with respect to said interpolation interval.

17. The speed detector of claim 16, wherein said timing analysis circuitry further includes 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 value TLASER-RX being determined with respect to said interpolation interval.

18. The speed detector of claim 17, 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.

19. The speed detector of claim 18, 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.

20. The speed detector of claim 15, wherein said speed detector 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.

21. The speed detector of claim 20, wherein said light detection means includes a first light detector having operably associated focussing means for receiving and focussing said reflected laser light, and 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.

22. The speed detector of claim 18, wherein said calibration count values are calculates at least once each time said trigger is operated to initiate firing of said laser pulse.

23. A speed detector, comprising:

a housing;

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 pulse generator connected to receive high voltage from said power source and operable to fire a laser pulse toward a target;

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 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-reference-calibration pulses and to process said self-calibration pulses in the same manner as said REF and RX pulses to produce calibration count values;

a sighting scope attached to said housing and operably associated with said speed detector such that when a user sights on a target with said sighting scope, said laser pulse generator and said light detector are simultaneously aimed at said target; and

a trigger mounted to said housing to be operable by a user to trigger operation of said speed detector when said speed detector 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 pulse generator, and said timing analysis circuitry, wherein said microcontroller is configured to;

read said calibration count values; and

calculate said time-of-flight from said calibration count values, said REF and RX count data, and the speed of light.

24. The speed detector of claim 23, wherein said timing analysis circuit comprises:

a clock producing a clock signal comprising a periodic pulse having a known fixed period;

an input supplying start and end pulses defining an elapsed time period, said pulses having respective start and end arrival times, and said arrival times having respective fractional portions which fall within different individual periods of said clock;

timing interpolation circuitry connected to receive said clock signal and said start and end pulses, said timing interpolation circuitry being configured to;

output an integral clock count reflective of the number of whole said clock periods elapsing between said start and end pulse arrival times,

generate a pair of calibration pulses defining an interpolation interval, and process said calibration pulses to produce calibration clock values reflective of the relative spacing in time of said calibration pulses;

interpolate said respective fractional portions within said interpolation interval to produce start and end clock values reflective of said respective fractional portions, said clock values being defined with respect to said calibration pulses; and

means for acquiring counts comprising the number of integral said clock periods elapsing between said start and end pulses, said start and end clock values, and said calibration clock values, said means for acquiring counts being connected to said timing interpolation circuitry, and

pulse selection means for selecting RX pulses detected within an adjustable time window, said pulse selection means being connected to said input and constructed to transmit only said selected RX pulses for further processing, said pulse selection means comprising

a digital logic gating circuit operably associated with a microcontroller, said microcontroller and said digital logic gating circuit being mutually configured for selectable setting of either or both an opening time and a closing time of said adjustable time window.

25. The speed detector of claim 24, wherein said timing interpolation circuitry further includes:

a timing logic circuit receiving said start and end pulses and configured to output said integral clock count, and further constructed to generate start and end pulse fractions respectively reflective of said fractional portions of said start and end pulses;

start and end interpolation circuits respectively connected to receive said start and end pulse fractions, and constructed to output said clock values reflective of said fractional portions to said means for acquiring counts,

wherein said interpolation interval comprises a known integral number of said clock periods, and said interpolation circuits each comprise a pulse stretcher circuit configured to proportionally expand the duration of said start and end pulse fractions and said calibration pulses.

26. The laser rangefinder of claim 24, wherein said microcontroller is configured to interact with said pulse selection means to adjust said adjustable time window in an iterative fashion alternating between 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.

27. In a laser rangefinder having a laser pulse generator, a light detector for detecting laser light, and timing analysis circuitry for determining the time-of-flight of a laser pulse to a remote target from a signal pair comprising a start signal generated upon sending of an outgoing laser pulse to the target and an RX signal produced in response to receipt of a reflected portion of the outgoing laser pulse by the light detector, a method of selecting an RX signal for further processing, comprising the steps of:

providing a gating circuit operably connected to receive the REF and RX signals and to transmit them for further processing, and having an adjustable time window which opens to transmit an RX signal at a selectable delay time following receipt of the REF pulse and closes at a selectable closing time to prevent transmission of the RX signal;

adjusting the time window upon receipt of a first REF pulse in the series of pulse pairs, to open at a relatively short first delay time and to close at a relatively late first closing time to provide a time window having a large first width, such that the corresponding first RX signal is received within the time window;

narrowing the time window upon receipt of a second REF pulse in the series, by adjusting the delay time and said closing time to produce a time window having a second narrower width and being approximately centered around the time at which the first RX signal was received;

further narrowing the time window and adjusting the delay time for a subsequent pair of REF and RX signals, if a second RX signal is received within the second narrowed window, or;

widening the time window for a subsequent pair of REF and RX signals, if a second RX signal is not received within the second narrowed window; and

alternating said steps of further narrowing or widening the time window until a desired number of RX signals are received within a window range chosen on the basis of the distribution of a plurality of received detector pulses from the same target.

28. A timing analysis circuit for determining the elapsed time between two pulses in terms of the number of periods of a clock signal, including:

a clock producing a clock signal comprising a periodic pulse having a known fixed period;

an input supplying start and end pulses defining an elapsed time period, said pulses having respective start and end arrival times, and said arrival times having respective fractional portions which fall within different individual periods of said clock;

timing interpolation circuitry connected to receive said clock signal and said start and end pulses, said timing interpolation circuitry being configured to;

output an integral clock count reflective of the number of whole said clock periods elapsing between said start and end pulse arrival times,

generate a pair of calibration pulses defining an interpolation interval, and process said calibration pulses to produce calibration clock values reflective of the relative spacing in time of said calibration pulses;

interpolate said respective fractional portions within said interpolation interval to produce start and end clock values reflective of said respective fractional portions, said clock values being defined with respect to said calibration pulses; and

means for acquiring counts comprising the number of integral said clock periods elapsing between said start and end pulses, said start and end clock values, and said calibration clock values, said means for acquiring counts being connected to said timing interpolation circuitry.

29. The timing analysis circuit of claim 28, wherein said timing interpolation circuitry further includes:

a timing logic circuit receiving said start and end pulses and configured to output said integral clock count, and further constructed to generate start and end pulse fractions respectively reflective of said fractional portions of said start and end pulses; and

start and end interpolation circuits respectively connected to receive said start and end pulse fractions, and constructed to output said clock values reflective of said fractional portions to said means for acquiring counts.

30. The timing analysis circuit of claim 29, wherein said interpolation interval comprises a known integral number of said clock periods, and said interpolation circuits each comprise a pulse stretcher circuit configured to proportionally expand the duration of said start and end pulse fractions and said calibration pulses.

31. The timing analysis circuit of claim 29, wherein said interpolation interval comprises a known integral number of said clock periods, and said interpolation circuits each comprise a charge pump circuit.

32. The timing analysis circuit of claim 28, further including means for selecting RX pulses detected within an adjustable time window, said selection means being connected to said input and constructed to transmit only said selected RX pulses for further processing.

33. The timing analysis circuit of claim 28, wherein said pulse selection means is further constructed to be edge-sensitive to transmit only pulses having a rising edge which is received while said window is open.

34. The timing analysis circuit of claim 33, wherein said pulse selection means is a digital logic gating circuit operably associated with a microcontroller, and 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, and wherein said microcontroller is configured to interact with said pulse selection means to adjust said adjustable time window in an iterative fashion alternating between 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.

35. In a timing analysis device for determining the average elapsed time between pulses in a series of pulse pairs each comprising a start pulse generated upon sending of an outgoing signal and an RX pulse produced in response to receipt of a reflected portion of the outgoing signal by a signal detector, a method of selecting an RX pulse for further processing, comprising the steps of:

providing a gating circuit operably connected to receive the REF and RX pulses and to transmit them for further processing, and having an adjustable time window which opens to transmit an RX pulse at a selectable delay time following receipt of the REF pulse and closes at a selectable closing time to prevent transmission of the RX pulse;

adjusting the time window upon receipt of a first REF pulse in the series of pulse pairs, to open at a relatively short first delay time and to close at a relatively late first closing time to provide a time window having a large first width, such that the corresponding first RX pulse is received within the time window;

narrowing the time window upon receipt of a second REF pulse in the series, by adjusting the delay time and said closing time to produce a time window having a second narrower width and being approximately centered around the time at which the first RX pulse was received;

further narrowing the time window and adjusting the delay time for a subsequent pair of REF and RX pulses, if a second RX pulse is received within the second narrowed window, or;

widening the time window for a subsequent pair of REF and RX pulses, if a second RX pulse is not received within the second narrowed window; and

alternating said steps of further narrowing or widening the time window until a desired number of RX pulses are received within a window range chosen on the basis of the distribution of a plurality of received detector pulses from the same target.