I think this is the poem you're looking for..
I happened to be looking for this poem too-I remembered the same images you did and had no luck finding it on the internet. Luckily I had a copy shoved in a drawer at home.
The poem is Summons by Robert Francis:
Keep me from going to sleep too soon
Or if I go to sleep too soon
Come wake me up. Come any hour
Of night. Come whistling up the road.
Stomp on the porch. Bang on the door.
Make me get out of bed and come
And let you in and light a light.
Tell me the northern lights are on
And make me look. Or tell me clouds
Are doing something to the moon
They never did before, and show me.
See that I see. Talk to me till
I'm half as wide awake as you
And start to dress wondering why
I ever went to bed at all.
Tell me the walking is superb.
Not only tell me but persuade me.
You know I'm not too hard persuaded.