Automatic noise threshold determining circuit and method for a laser range finder

• US 5,612,779 A
• Filed: 01/19/1995
• Issued: 03/18/1997
• Est. Priority Date: 01/19/1995
• 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:
  US08/375,810
• Time in Patent Office: 789 Days
• Field of Search: 356/5.01-5.08, 356/28, 342/134-137, 342/202-204, 367/127
• US Class Current: 356/5.01
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• 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 7/483 Details of pulse systems
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

An automatic noise threshold circuit and method automatically sets an operating threshold for a signal receiving section of a laser pulse transmitting device such that a constant noise pulse firing rate is output from a detector to provide maximum return signal sensitivity and enable detection of the weakest possible laser pulse in order to obtain maximum performance out of a laser range finder. The circuit sets the noise pulse rate at that point at which, in conjunction with a firmware based process, the actual return signals from the target can be discrimintated from the accompanying noise.

Claims

1. An automatic noise threshold system for operative association with central processing and signal receiving sections of a signal pulse transmitting device for discriminating between an actual return signal pulse and noise that is associated with said actual return signal pulse, said system comprising:

determining means responsive to said central processing section for determining a desired signal-to-noise ratio for a series of said actual return signal pulses and said associated noise received through said signal receiving section, each one of said return signal pulses and associated noise having a representative pulse value with respect to a signal pulse that was previously transmitted from said signal pulse transmitting device and that corresponds thereto; and

stack-placing means responsive to said central processing section for placing up to a preselected number of said representative pulse values in a stack until a predetermined number of said representative pulse values coincide within a specified precision, wherein said predetermined number of said representative pulse values that coincide within said specific precision are considered to be representative of said actual return signal pulse.

2. The automatic noise threshold system of claim 1 wherein said signal transmitting device is a laser range finder.

3. The automatic noise threshold system of claim 1 wherein each of said representative pulse values corresponds to a flight time of a said signal pulse previously transmitted from said signal pulse transmitting device.

4. The automatic noise threshold system of claim 1 wherein said preselected number of said representative pulse values placed in said stack is ten.

5. The automatic noise threshold system of claim 1 wherein said predetermined number of said representative pulse values placed in said stack is two.

6. The automatic noise threshold system of claim 1 wherein said predetermined number of said pulse values that coincide within said specific precision are averaged to represent said actual return signal pulse.

7. The automatic noise threshold system of claim 1 wherein said determining means for determining said desired signal-to-noise ratio comprises a detector coupled to an output of said signal receiving section for producing a substantially constant noise pulse firing rate output from said detector.

8. The automatic noise threshold system of claim 7 wherein said detector further comprises an operational amplifier coupled to an output of said detector for providing a threshold signal to said signal receiving section.

9. The automatic noise threshold system of claim 8 wherein said threshold signal is supplied to a summing node with at least one noise level setting signal from said central processing section for determining said threshold signal as an output of said summing node.

10. The automatic noise threshold system of claim 9 wherein said noise level setting signal from said central processing section selectably alters said desired signal-to-noise ratio to be an alternative signal-to-noise ratio that is selected by a user of said signal transmitting device.

11. A method for discriminating between an actual return-reflected signal and associated noise in a signal receiving section of a signal transmitting device, the method comprising the steps of:

transmitting a series of signal pulses to a target;

receiving a number of reflected signal pulses from said target, said reflected signal pulses including both noise and actual return-reflected signal pulses;

assigning a pulse value for each of said reflected signal pulses with respect to said series of signal pulses transmitted to said target;

comparing each of said assigned pulse values with other ones of said assigned pulse values;

continuing to perform said comparing step until a predetermined number of said assigned pulse values coincide within a specified precision; and

determining said actual return signal to be represented by said predetermined number of said assigned pulse values.

12. The method of claim 11 wherein said step of transmitting is carried out by a laser transmitter.

13. The method of claim 11 wherein said step of receiving is carried out by a laser receiver.

14. The method of claim 11 wherein said step of assigning is carried out by measuring a receipt time of said reflected signal pulses with respect to a transmission of at least one of said series of transmitted signal pulses.

15. The method of claim 11 wherein said step of comparing is carried out by the steps of:

placing said assigned pulse values in a stack; and

comparing each of said assigned pulse values placed in said stack with others of said assigned pulse values previously placed in said stack.

16. The method of claim 11 wherein said comparing step and said continuing said comparing step are carried out by means of a microcomputer.

17. The method of claim 11 wherein said determining step includes

averaging said assigned pulse values of said predetermined number of said assigned pulse values to determine said actual return signal.

18. An automatic noise threshold circuit for use in a laser range finder, comprising:

a laser light receiver for generating an electrical signal in response to a received light signal, said received light signal containing both signal and noise light pulses;

and a circuit for automatically adjusting a noise threshold of said laser light receiver to a level at which said laser light receiver produces an output from said noise light pulses having a constant pulse firing rate.

19. The automatic noise threshold circuit of claim 18 wherein said circuit for automatically adjusting a noise threshold of said laser light receiver comprises, a diode connected to receive an output of said laser light receiver, and a capacitor connected to said diode to be charged by said output, said capacitor operating to produce a threshold feedback voltage related to a number of noise pulses in said output.

20. The automatic noise threshold circuit of claim 19 wherein said circuit for automatically adjusting a noise threshold of said laser light receiver further comprises a threshold comparator having a first input to which said electrical signal is connected and having a second input to which said threshold feedback voltage is connected, said threshold comparator being operative to produce an output when a said electrical signal on said first input is higher than a said threshold feedback voltage on said second input.

21. The automatic noise threshold circuit of claim 18 wherein said circuit for automatically adjusting a noise threshold of said laser light receiver comprises circuitry for adjusting said noise threshold in response to a programmed microcomputer.

22. The automatic noise threshold circuit of claim 19 wherein said circuit for automatically adjusting a noise threshold of said laser light receiver comprises, a summing node receiving said threshold feedback voltage, and circuitry connected to said summing node for adjusting said threshold feedback voltage in response to a programmed microcomputer.

23. The automatic noise threshold circuit of claim 22 wherein said circuit for automatically adjusting a noise threshold of said laser light receiver further comprises a voltage source selectively connectable to said summing node to desensitize said receiver.

24. The automatic noise threshold circuit of claim 23 wherein said voltage source selectively connectable to said summing node is operated in response to said programmed microcomputer.

25. A method for automatically adjusting a noise threshold in a laser range finder, comprising:

generating an electrical signal in response to a received light signal from a laser light receiver, said electrical signal containing signal and noise light pulses;

and adjusting a noise threshold of said laser light receiver to a level at which said laser light receiver produces a noise light pulse output having a constant pulse firing rate.

26. The method of claim 25 wherein said step of adjusting a noise threshold of said laser light receiver to a level at which said laser light receiver produces a noise light pulse output having a constant pulse firing rate comprises, charging a capacitor circuit with said noise light pulse output to produce a threshold feedback voltage that is related to a number of said noise light pulses in said electrical signal.

27. The method of claim 25 wherein said step of adjusting a noise threshold of said laser light receiver to a level at which said receiver produces a noise light pulse output having a constant pulse firing rate comprises adjusting said noise threshold in response to a programmed microcomputer.

28. The automatic noise threshold circuit of claim 25 further comprising selectively applying a desensitizing voltage to said noise threshold.

29. A method for determining a range to a target, said range being based upon an actual-flight-time of a pulse that is directed toward said target, said method comprising the sequential steps of:

establishing first and second electrical reference levels;

initially-unclamping said second electrical reference level;

allowing said second electrical reference level to change at a first rate relative to said first electrical reference level;

storing a first time period T1 that is representative of a time that expires between said step of initially-unclamping said second electrical reference level until said first and second electrical reference levels become equal;

re-establishing said first and second electrical reference levels;

again-unclamping said second electrical reference level;

changing said second electrical reference level at a second rate that is higher than said first rate for a predetermined time period in order to establish a third electrical reference level;

allowing said third electrical reference level to change at said first rate relative to said first electrical reference level;

storing a second time period T2 that is representative of a time that expires between said step of again-unclamping said second electrical reference level until said first and third electrical reference levels become equal;

again-re-establishing said first and second electrical reference levels;

once-again-unclamping said second electrical reference level;

again-changing said second electrical reference level at said second rate that is higher than said first rate for a time period that is related to said actual-flight-time of said pulse toward said target in order to establish a fourth electrical reference level;

allowing said fourth electrical reference level to change at said first rate relative to said first electrical reference level;

storing a third time period T3 that is representative of a time that expires between said step of once-again-unclamping said second electrical reference level until said first and fourth electrical reference levels become equal; and

computing a range to said target as a function of the quantity (T3-T1)/(T2-T1).

30. The method of claim 29 wherein said steps of establishing, re-establishing, and again-re-establishing are carried out by clamping a voltage on a capacitor.

31. The method of claim 30 wherein said steps of initially-unclamping, again-unclamping, and once-again-unclamping are carried out by a transistor switch.

32. The method of claim 30 wherein said steps of allowing said second electrical reference level to change, allowing said third electrical reference level to change, and allowing said fourth electrical reference level to change are carried out by removing charge from said capacitor as determined by a resistor that is switched in parallel with said capacitor.

33. The method of claim 29 wherein said first time period T1, said second time period T2, and said third time period T3 are determined by a clock reference source.

34. The method of claim 33 wherein said clock reference source comprises a crystal oscillator.

35. Apparatus for determining a range to a target, said range being based upon an actual-flight-time of a pulse that is directed toward said target, said method comprising the sequential steps of:

means for establishing first and second electrical reference levels;

means for initially-unclamping said second electrical reference level;

means for allowing said second electrical reference level to change at a first rate relative to said first electrical reference level;

means for storing a first time period T1 that is representative of a time that expires between said step of initially-unclamping said second electrical reference level until said first and second electrical reference levels become equal;

means for re-establishing said first and second electrical reference levels;

means for again-unclamping said second electrical reference level;

means for changing said second electrical reference level at a second rate that is higher than said first rate for a predetermined time period in order to establish a third electrical reference level;

means for allowing said third electrical reference level to change at said first rate relative to said first electrical reference level;

means for storing a second time period T2 that is representative of a time that expires between said step of again-unclamping said second electrical reference level until said first and third electrical reference levels become equal;

means for again-re-establishing said first and second electrical reference levels;

means for once-again-unclamping said second electrical reference level;

means for again-changing said second electrical reference level at said second rate that is higher than said first rate for a time period that is related to said actual-flight-time of said pulse toward said target in order to establish a fourth electrical reference level;

means for allowing said fourth electrical reference level to change at said first rate relative to said first electrical reference level;

means for storing a third time period T3 that is representative of a time that expires between said step of once-again-unclamping said second electrical reference level until said first and fourth electrical reference levels become equal; and

means for computing a range to said target as a function of the quantity (T3-T1)/(T2-T1).

36. The apparatus of claim 35 wherein said means for of establishing, said means for re-establishing, and said means for again-re-establishing, are carried out by clamping a voltage on a capacitor.

37. The apparatus of claim 36 wherein said means for initially-unclamping, said means for again-unclamping, and said means for once-again-unclamping are carried out by a transistor switch.

38. The apparatus of claim 36 wherein said means for allowing said second electrical reference level to change, said means for allowing said third electrical reference level to change, and said means for allowing said fourth electrical reference level to change are carried out by removing charge from said capacitor as determined by a resistor that is switched in parallel with said capacitor.

39. The apparatus of claim 35 wherein said first time period T1, said second time period T2, and said third time period T3 are determined by a clock reference source.

40. The apparatus of claim 39 wherein said clock reference source comprises a crystal oscillator.