Distance measurement methods and apparatus

• US 9,091,754 B2
• Filed: 08/25/2012
• Issued: 07/28/2015
• Est. Priority Date: 09/02/2009
• Status: Active Grant

• Current Assignee: Trimble AB (Trimble Inc.)
• Original Assignee: Trimble AB (Trimble Inc.)
• Inventors: d'Aligny, Auguste
• Primary Examiner(s): Alsomiri, Isam
• Assistant Examiner(s): Abraham, Samantha K
• Application Number:
  US13/594,783
• Publication Number:
  US 20130050676A1
• Time in Patent Office: 1,067 Days
• Field of Search: 356/4.01, 356/5.01, 356/5.09, 356/3.01, 356/3.09, 356/4.07, 356/9, 356/625
• US Class Current: 1/1
• 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 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

Abstract

Distance measurement methods and apparatus use laser pulse sets having signatures which enable returned pulses to be correlated with emitted pulses. Each pulse set comprises at least one pulse and a signature selected from a set of possible signatures. Pulse sets reflected from at least one surface are detected and, for each set, the signature is recognized and a time of flight is determined. Signatures are defined by one or more of: spacing in time between pulses of a set, wavelength of the at least one pulse of the set, spacing in time between a first subset of a set and a second subset of a set, difference of wavelength between pulses of a set, and difference of wavelength between a first subset of a set and a second subset of a set. Each set can have multiple groups of pulses and pulses within a group can have different amplitudes.

Claims

1. A method of measuring distance comprising:

a. emitting a series of laser pulse sets, each emitted laser pulse set comprising at least two adjacent pulses and each emitted laser pulse set having a signature selected from a set of possible signatures, each of the possible signatures defined by one or more characteristics that enable discrimination between each emitted laser pulse set in the series of emitted laser pulse sets, wherein the signature is determined by at least one of (i) spacing in time between pulses of an emitted laser pulse set and (ii) a difference of amplitude between pulses of an emitted laser pulse set,

b. detecting laser pulse sets as reflected from at least one surface,

c. recognizing the signature of each detected laser pulse set by correlating the signature of each detected laser pulse set with the signature of one of the emitted laser pulse sets, and

d. determining a time of flight for each of the detected laser pulse sets by referencing to a respective emitted laser pulse set having a matching signature.

2. The method of claim 1, wherein the signature of a first emitted laser pulse set is determined by the spacing in time between a first subset of the first emitted laser pulse set and a second subset of the first emitted laser pulse set.

3. The method of claim 1, wherein the spacing in time between the pulses of each emitted laser pulse set defines a unique signature.

4. The method of claim 1, wherein each emitted laser pulse set has multiple groups of pulses, and the pulses within each group have different amplitudes.

5. The method of claim 4, wherein within a group, a first pulse has a first amplitude and at least one subsequent pulse has an amplitude higher than the first amplitude.

6. The method of claim 1, wherein emitting a laser pulse set comprises emitting multiple pulses of substantially the same amplitude, and wherein detecting a laser pulse set comprises averaging measured detection time of multiple pulses of the detected laser pulse set.

7. The method of claim 1, wherein emitting a laser pulse set comprises emitting multiple groups of pulses having different pulse amplitudes within each group, and wherein detecting a laser pulse set comprises averaging detected times of multiple groups of pulses of the detected laser pulse set.

8. The method of claim 1, wherein recognizing the signature of each detected laser pulse set comprises determining respective detection times of pulses of the detected laser pulse set, determining a time difference between the detection times, and correlating the time difference with the signature of an emitted laser pulse set.

9. The method of claim 1, wherein emitting a series of laser pulse sets comprises, for each emitted laser pulse set, determining a start time and associating the start time with the selected signature of the emitted laser pulse set;

recognizing the signature comprises, for each detected laser pulse set, determining a signature of the detected laser pulse set; and

determining a time of flight comprises, for each detected laser pulse set, determining a stop time for the detected laser pulse set, and associating the stop time with a start time which is associated with a signature corresponding to the signature of the detected laser pulse set.

10. The method of claim 9, wherein for each detected laser pulse set, the stop time and the associated start time comprise a couple for use in determining a time of flight.

11. The method of claim 1, wherein multiple laser pulse sets are emitted prior to detecting a laser pulse set, and wherein each detected laser pulse set is uniquely identified by the signature associated with the emitted laser pulse set.

12. The method of claim 1, further comprising:

storing a start time of each emitted laser pulse set and an associated signature, and correlating a stop time of each detected laser pulse set with a respective start time based on the signature to form a start-stop couple for use in determining a time of flight.

13. The method of claim 1, wherein a single time of flight is determined for each detected laser pulse set.

14. The method of claim 1, wherein the signature of a first emitted laser pulse set is different from the signature of a second emitted laser pulse set that is adjacent to the first emitted laser pulse set in the series of laser pulse sets.

15. The method of claim 1, wherein the signature of a first emitted laser pulse set is different from the signature of a second emitted laser pulse set that is adjacent to the first emitted laser pulse set in the series of laser pulse sets, and the signature of the first emitted laser pulse set is the same as the signature of another emitted laser pulse set that is not adjacent to the first emitted laser pulse set in the series of laser pulse sets.

16. Apparatus for measuring distance comprising:

a. a laser source operative to emit a series of laser pulse sets, each emitted laser pulse set comprising at least two adjacent pulses and each emitted laser pulse set having a signature selected from a set of possible signatures, each of the possible signatures defined by one or more characteristics that enable discrimination between each emitted laser pulse set in the series of laser pulse sets, wherein the signature is determined by at least one of (i) spacing in time between pulses of an emitted laser pulse set and (ii) a difference of amplitude between pulses of an emitted laser pulse set,

b. a detector operative to detect laser pulse sets as reflected from at least one surface,

c. a discriminator to recognize the signature of each detected laser pulse set by correlating the signature of each detected laser pulse set with the signature of one of the emitted laser pulse sets, and

d. a time-of-flight computer to determine a time of flight for each of the detected laser pulse sets by referencing to the respective emitted laser pulse set having a matching signature.

17. The apparatus of claim 16, wherein the discriminator is operative to determine the signature of each detected laser pulse set by the spacing in time between a first subset of a laser pulse set and a second subset of the laser pulse set.

18. The apparatus of claim 16, wherein the laser source is operative to emit multiple groups of pulses, and the pulses within each group have different amplitudes.

19. The apparatus of claim 18, wherein within a group, a first emitted pulse has a first amplitude and at least one subsequent emitted pulse has an amplitude higher than the first amplitude.

20. The apparatus of claim 16, wherein the laser source is operative to emit a laser pulse set having multiple pulses of substantially the same amplitude, and wherein the detector is operative to determine an average measured detected time over multiple pulses of each detected laser pulse set.

21. The apparatus of claim 16, wherein the laser source is operative to emit a laser pulse set comprising multiple groups of pulses having different pulse amplitudes within each group, and wherein the detector is operative to determine average measured detected times over multiple groups of pulses of the detected laser pulse set.

22. The apparatus of claim 16, wherein the discriminator is operative to recognize the signature of each detected laser pulse set by determining respective detection times of pulses of the detected laser pulse set, determine a time difference between the detection times, and correlate the time difference with a signature of an emitted laser pulse set.

23. The apparatus of claim 16, further comprising a correlator operative to:

determine, for each emitted laser pulse set, a start time and associating the start time with the selected signature of the emitted laser pulse set;

determine, for each detected laser pulse set, a stop time for the detected laser pulse set; and

associate the stop time with a start time which is associated with a signature corresponding to the signature of the detected laser pulse set.

24. The apparatus of claim 23, wherein for each detected laser pulse set, the stop time and the associated start time comprise a couple for use in determining a time of flight.

25. The apparatus of claim 16, wherein the laser source is operative to emit multiple laser pulse sets prior to detection by the detector of a laser pulse set, and wherein a correlator is operative to uniquely identify each detected laser pulse set by the signature associated with an emitted laser pulse set.

26. The apparatus of claim 16, further comprising a correlator operative to:

store a start time of each emitted laser pulse set and an associated signature, and correlate a stop time of each detected laser pulse set with a respective start time based on the signature to form a start-stop couple for use in determining a time of flight.

27. The apparatus of claim 16, wherein the laser source is operative to emit a first emitted laser pulse set having a signature that is different from a signature of a second emitted laser pulse set that is adjacent to the first laser pulse set in the series of laser pulse sets.

28. The apparatus of claim 16, wherein the laser source is operative to emit a first emitted laser pulse set having a signature that is different from a signature of a second emitted laser pulse set that is adjacent to the first emitted laser pulse set in the series of laser pulse sets, and the laser source is operative to emit another emitted laser pulse set that is not adjacent to the first emitted laser pulse set in the series of laser pulse sets that has a signature that is the same as the signature of the first emitted laser pulse set.