Target member for use in a positioning system

• US 4,684,247 A
• Filed: 10/18/1985
• Issued: 08/04/1987
• Est. Priority Date: 10/18/1985
• Status: Expired due to Fees

• Current Assignee: Veridian Engineering Incorporated (General Dynamics Corporation)
• Original Assignee: Calspan Corp (Transdigm Group Incorporated)
• Inventors: Hammill, Harry B. III
• Primary Examiner(s): Buczinski, Stephen C.
• Assistant Examiner(s): Koltak, Melissa L.
• Application Number:
  US06/788,989
• Time in Patent Office: 655 Days
• Field of Search: 356/141, 356/152, 356/1, 356/4, 356/5
• US Class Current: 356/152.2
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/45049 Forklift
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A target member mounted on a stationary object, such as a pallet, includes at least three reflector elements. An identifying means, such as a high intensity light source, and an imaging sensor are carried by another, movable object, such as a forklift truck. The reflector elements are so configured as to form images of the identifying means with said images defining a plane oriented other than normal to align from the identifying means to that plane, the images also defining a circle that does not include the identifying means. The target member may be in the form of a vertically oriented planar support member on which are mounted a pair of convex mirrors and a concave mirror. The images of the identifying means in the mirrors are detected by an imaging sensor, such as a television camera, and the directions of each of the images at the camera are used to determine all six degrees of positional information of the sensor with respect to the target. That information may be used to guide the forklift truck into position relative to a pallet. The target support member may also include retroreflector elements to aid in locating a pallet, and a bar code to distinguish one pallet from another.

Claims

1. A target member for use in a positioning system comprising:

a support member; and

at least three reflector elements mounted on said support member, each of said reflector elements being so configured as to form an image of an identifying means located within a predetermined field of view with respect to said support member, said images defining a plane oriented other than normal to a line from the identifying means to said plane, said images also defining a circle that does not include the identifying means.

2. The target member of claim 1 wherein said reflector elements include at least two different radii of curvature, the radius of curvature of each element being selected to provide a reflection of an identifying means located within a predetermined field of view with respect to said reflector member.

3. The target member of claim 1 wherein said reflector elements comprise at least three non-planar reflector elements attached to said support member in a predetermined alignment, two of said reflector elements having essentially the same radius of curvature, and the third reflector element having a different radius of curvature.

4. The target member of claim 1 wherein said reflector elements include at least one retroreflector member and at least one non-planar reflector element.

5. The target member of claim 1 wherein each of said reflector elements have essentially the same radius of curvature and wherein at least one of said reflector elements is longitutionally spaced from the others.

6. For use in a docking system in which a moving vehicle is to be aligned with and closed to a dock position,

a target member to be mounted at the dock position,

said target member including a flat base and at least three non-planar reflecting surfaces supported on said base in predetermined alignment,

at least two of said reflecting surfaces both being either concave or convex and the third surface being opposite to the two,

whereby reflections from a common radiation source are perceived at known spacing and same sense in the two surfaces and at known spacing and inverted sense with respect to the others in the third surface.

7. A target member for use in a positioning system including:

a generally flat support member;

at least three reflector elements mounted on said support member in a predetermined alignment, said reflector elements together forming images of a remotely positioned identifying means in a plane oriented other than normal to the plane of the support member;

retroreflector members mounted on said support member and surrounding said reflector elements; and

coded means on said support member for uniquely identifying the target member.

8. The target member of claim 7 wherein at least two of said reflector elements are either convex or concave and have the same radius of curvature.

9. The target member of claim 7 wherein said reflector elements are mounted with the center of each on a horizontal line, and wherein two of said reflector elements are convex and the other concave.

10. The target member of claim 7 wherein said coded means is a bar code printed on said support member above said reflector elements.

11. Apparatus for use in determining the location of a vehicle within a predetermined field of view with respect to an object, said apparatus comprising:

identifying means carried by a vehicle;

a target member mounted on said object, said target member including a support member and at least three reflector elements mounted on said support member in a predetermined alignment, said reflector elements together forming images of said identifying means in a plane oriented other than normal to a line from said identifying means to said plane when said identifying means is located within a predetermined field of view with respect to said support member; and

sensing means carried by said vehicle for sensing the directions of the reflections of said identifying means from each of said reflecting elements.

12. The apparatus of claim 11 wherein said reflector elements are spherical in shape.

13. The apparatus of claim 11 wherein at least two of said reflector elements are non-planar.

14. The apparatus of claim 11 wherein at least two of said reflector elements have the same radius of curvature.

15. The apparatus of claim 11 wherein said identifying means includes a high intensity light source.

16. The apparatus of claim 11 wherein said sensing means includes an imaging camera.

17. The apparatus of claim 11 wherein said target member is stationary

18. The apparatus of claim 11 wherein said target member is attached to a pallet and wherein said vehicle is a self-propelled forklift truck.

19. A method for determining the relative position of a target member from a vehicle comprising the steps of

forming on the target member at least three images of an identifiying means associated with the vehicle, said images defining a plane oriented other than normal to a line between the identifying means and said plane, said images also defining a circle that does not include the identifying means, and

determining the directions from the vehicle of each of the images of the identifying means.