Range finder wherein distance between target and source is determined by measuring scan time across a retroreflective target

• US 4,788,441 A
• Filed: 09/17/1987
• Issued: 11/29/1988
• Est. Priority Date: 12/16/1985
• Status: Expired due to Fees

• Current Assignee: Dynapar Corporation (Fortive Corp.)
• Original Assignee: Acme Cleveland Corp. (Danaher Corporation)
• Inventors: Laskowski, Edward L.
• Primary Examiner(s): Nelms, David C.
• Assistant Examiner(s): Oen, William L.
• Application Number:
  US07/098,408
• Time in Patent Office: 439 Days
• Field of Search: 250/201 R, 250/561, 356/1, 356/4, 356/5, 356/141, 356/152
• US Class Current: 250/559.38
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/74 Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe

Abstract

A target has leading and trailing edges which are boundaries between a retroreflector and a non-retroreflector. The target is used in target determining apparatus for distance, width, azimuth, gauging, profiling, object detection, and particular target identification. A laser light source scans along a scanning path across the target. The retroreflector reflects light back toward the scanning means where it is received in a photoreceptor to determine the angles of the target edges. The distance to the target and the width are inversely proportional to the length of time that the light beam scans across the target. The laser light also scans across a reference point and the length of time between this reference point and the reflection from the target is directly proportional to the azimuthal position of the target relative to the reference. Further, the target may include a plurality of reflective and non-reflective strips transverse to the scanning path to establish binary indicia on the target. This results in a series of pulses from the photoreceptor as the beam scans the width of the target. This information is then decoded to determine the binary indicia and hence identify that particular target. The foregoing abstract is merely a resume of one general application, is not a complete discussion of all principles of operation or applications, and is not to be construed as a limitation on the scope of the claimed subject matter.

Claims

1. A target determining apparatus comprising in combination;

a light source at a first location;

means at said first location for scanning a beam from said light source along a scanning path at a known rate of angular velocity;

a retroreflector and a non-retroreflector adapted to be at a second location in said scanning path to reflect said light beam from said retroreflector back toward said scanning means;

one of said retroreflector and said nonretroreflector being a target having leading and trailing edges;

said light source beam being narrow in the direction of said scanning path and narrower than the scanned width of said target;

one of the target scan width and target distance being known;

a photoreceptor positioned at said first location to be responsive to any reflected light beam from said retroreflector; and

target determining means to determine the other of said target scan width and distance with distance related inversely, and the target scan width related directly, to the length of time between the light beam scan from the target leading edge across the target to the trailing edge.

2. A target determining apparatus as set forth in claim 1, wherein said light source beam is a columnated laser beam.

3. A target determining apparatus as set forth in claim 1, including means to provide relative movement between said light source and said target.

4. A target determining apparatus as set forth in claim 3, wherein said relative movement is provided by means to move said light source.

5. A target determining apparatus as set forth in claim 3, wherein said relative movement is provided by means to move said target.

6. A target determining apparatus as set forth in claim 1, wherein said target determining means includes means to establish pulses at a constant frequency during the time of scan of the target and means to count the pulses to determine the angular scan width of the target.

7. A target determining apparatus as set forth in claim 6, wherein said pulse establishing means includes a fixed frequency oscillator.

8. A target determining apparatus as set forth in claim 1, wherein said target determining means includes a crystal-controlled oscillator;

and

an AND circuit having one input from said oscillator and another from said photoreceptor to have an output of a series of pulses of the oscillator frequency with the number of such pulses dependent upon the effective width of the target.

9. A target determining apparatus as set forth in claim 8, including a counter connected to count the number of pulses;

and

a digital-to-analog converter to convert the digital count to a proportional analog voltage which is inversely related to the distance from the scanning means to said target.

10. A target determining apparatus as set forth in claim 1, wherein said target determining means includes means to establish a reference point at a known azimuthal position relative to said scanning means;

and

means to determine the angular azimuthal position of the target relative to the reference point in accordance with the length of time of scan between the reference point and the target.

11. A target determining apparatus as set forth in claim 10, including a binary code on said retroreflector target;

and

means connected to said photoreceptor to read said binary code.

12. A target determining apparatus as set forth in claim 1, including a binary code on said retroreflector target;

and

means connected to said photoreceptor to read said binary code.

17. A target determining apparatus as set forth in claim 1, wherein said retroreflector is the target.

18. A target determining apparatus as set forth in claim 3, wherein said target is an elongated retroreflector adapted to guide movement of said light source therealong.

19. A target determining apparatus as set forth in claim 18, wherein said determining means determines the distance to the target.

20. A target determining apparatus as set forth in claim 1, wherein said non-retroreflector is the target.

21. A target determining apparatus as set forth in claim 20, wherein said determining means determines the target distance.

22. A target determining apparatus as set forth in claim 20, wherein said determining means determines the target scan width.

23. A target determining apparatus as set forth in claim 20, wherein said determining means determines the profile of the target.

24. A target determining apparatus as set forth in claim 20, wherein said determining means determines the presence or absence of a target in the scanning path.

25. A target determining apparatus as set forth in claim 1, wherein said target determining means determines the center of the target.

26. A target determining apparatus as set forth in claim 1, wherein said target is a retroreflector having a substantially circular cross section in the scanning path.

13. A target determining apparatus comprising in combination:

a light source;

means for scanning a base from said light source along a scanned path;

a target mounted on an object adapted to be in said scanning path to reflect said light beam back toward said scanning means;

a photoreceptor positioned to be responsive to any reflected light beam from said target reflector;

a plurality of retroreflective and nonreflective strips transverse to said scanning path constituting said target to establish binary indicia on said target;

means connected to said photoreceptor to read the binary indicia on said target; and

means to compensate for differing effective scan times of said strip in accordance with variations in distance to said target.

14. A target determining apparatus as set forth in claim 13, wherein said compensation means includes a storage memory connected to said photoreceptor to receive and store the binary information from the target retroreflector.

15. A target determining apparatus as set forth in claim 14, wherein said storage memory is a shift register.

16. A target determining apparatus as set forth in claim 14, wherein said indicia reading means includes means to sample the binary information in said storage memory at a high repetition rate relative to the time width of the binary information in the storage memory.

27. A target determining apparatus comprising in combination:

a light source at a first location;

means at said first location for scanning a beam from said light source along a scanning path at a known rate of angular velocity;

a retroreflector and a non-retroreflector adapted to be at a second location in said scanning path to reflect said light beam from said retroreflector back toward said scanning means;

said non-retroreflector being a target having leading and trailing edges;

said light source beam being narrow in the direction of said scanning path and narrower than the scanned width of said target;

a photoreceptor positioned at said first location to be responsive to any reflected light beam from said retroreflector; and

target determining means to determine the presence of a target in the scan of said light beam including means to measure the angle between the light beam scan from the target leading edge across the target to the trailing edge.

28. A target determining apparatus as set forth in claim 27, including a second light beam at a third location scanning at least part of said scanning path at a known rate of angular velocity;

and

a second photoreceptor positioned at said third location to be responsive to any reflected light beam from said retroreflector.

29. A target determining apparatus as set forth in claim 28, wherein said target determining means includes means to measure the angle between the second light beam scan from the target leading edge across the target to the trailing edge.

30. A target determining apparatus as set forth in claim 29, including a reference point at a known azimuthal position relative to said scanning means;

and

means to determine the angular azimuthal position of the target relative to the reference point in accordance with the length of time of each of the two scans from the reference point to the target.