Photoelectric docking device

• US 4,295,740 A
• Filed: 09/05/1978
• Issued: 10/20/1981
• Est. Priority Date: 09/05/1978
• Status: Expired due to Term

• Current Assignee: Westinghouse Electric Company LLC (Brookfield Asset Management Incorporated)
• Original Assignee: Westinghouse Electric Company LLC (Brookfield Asset Management Incorporated)
• Inventors: Sturges, Robert H. Jr.
• Primary Examiner(s): BUCZINSKI, STEPHEN C
• Application Number:
  US05/939,555
• Time in Patent Office: 1,141 Days
• Field of Search: 356/4, 356/152, 356/141, 356/153, 356/154, 250/203 CT, 250/203 R, 250/557, 358/107, 358/100, 244/161, 244/171, 414/730
• US Class Current: 356/141.3
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: G01B 11/272 using photoelectric detection means
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/783 using amplitude comparison of signals derived from static detectors or detector systems

Abstract

A photoelectric docking device for remotely positioning a first member relative to a second member, having a point light source coupled to the first member, which is directed to focus a narrow beam of light on a photosensor fixedly connected to the second member. The photosensor is responsive to the reception of light from the point light source on the first member to provide electrical outputs representative of the relative position of the point source with respect to the photosensor in three-dimensional space. The electrical outputs of the photosensor are then displaced as a three-dimensional pictorial representation of the relative position of the first and second members. Means are further provided for identifying when the first and second members are in intimate contact.

Claims

1. A photoelectric docking device for remotely positioning in three dimensional space a first member relative to a second member comprising:

a point light source fixedly connected to the first member and directed to focus a narrow beam of light along a pre-established path;

a photosensor fixedly connected to the second member, which is responsive to the reception of light from the point light source on the first member to provide electrical outputs representative of the relative position of the point source with respect to the photosensor in three dimensional space, the photosensor having at least three electrical outputs taken from substantially symmetric locations over the photosensitive area of the cell;

means for processing the photosensor outputs into a second set of electrical outputs representative of the cartesion coordinates of the first member with respect to the second;

means for displaying the electrical outputs as a pictorial representation of the relative position of the first and second members in three dimensional space;

means for detecting physical contact between the first and second members and providing an electrical signal representative thereof; and

means responsive to the signal to provide a remote indication of such contact.

2. The photoelectric device of claim 1 wherein the identifying means deenergizes the point light source upon such contact.

3. The photoelectric docking device of claim 1 wherein said photosensor comprises a continuous photocell having no external voltage bias.

4. The photoelectric docking device of claim 3 wherein said point light source consists of a single light emitting source.

8. The photoelectric device of claim 4 wherein the identifying means deenergizes the light source corresponding to the photosensor fixed to the second member when the first member disengages contact with the remote manipulator at the first pre-established location.

5. A photoelectric docking device for remotely positioning in three dimensional space a first member relative to a second member with a remote manipulator and later retrieving the first member comprising:

a first point light source fixedly connected to the first member and directed to focus a narrow beam of light along a pre-established path;

a first photosensor fixedly connected to the second member, which is responsive to the reception of light from the first point light source on the first member to provide electrical outputs representative of the relative position of the first point light source with respect to the first photosensor in three dimensional space;

a second light source fixedly connected to the first member and directed to focus a narrow beam of light along a preselected path;

a second photosensor fixedly connected to the remote manipulator, which is responsive to the reception of light from the second light source on the first member to provide electrical outputs representative of the relative position of the second light source with respect to the second photosensor in three dimensional space; and

means for displaying the electrical outputs of the first and second photosensors as a pictorial representation of the relative position of the first and second members and the manipulator in three dimensional space.

6. The photoelectric device of claim 5 including means for identifying when the first member respectively contacts the remote manipulator and the second member at corresponding pre-established locations.

7. The photoelectric device of claim 6 wherein the identifying means energizes the light source corresponding to the photosensor fixed to the second member when the first member contacts the remote manipulator at a first of the pre-established locations.

9. The photoelectric device of claims 6 or 7 wherein the identifying means energizes the second light source when the first member contacts the second member at a second of the pre-established locations.

10. The photoelectric device of claim 9 wherein the identifying means deenergizes the second light source when the first member disengages contact with the second member at the second pre-established location.

11. A photoelectric docking device for remotely positioning in three dimensional space a first member relative to a second member comprising:

a point light source fixedly connected to the first member and directed to focus a narrow beam of light along a pre-established path;

a photosensor fixedly connected to the second member, which is responsive to the reception of light from the point light source on the first member to provide electrical outputs representative of the relative position of the point source with respect to the photosensor in three dimensional space, the photosensor having at least three electrical outputs taken from substantially symmetric locations over the photosensitive area of the cell;

means for processing the photosensor outputs into a second set of electrical outputs representative of the cartesion coordinates of the first member with respect to the second, wherein the difference between the combined photosensor outputs and the magnitude of the light energizing source is employed to establish the Z coordinate of the relative position of the first member with respect to the second member;

means for displaying the electrical outputs as a pictorial representation of the relative position of the first and second members in three dimensional space.

12. The photoelectric docking device of claim 11 wherein said photosensor comprises a continuous photocell having no external voltage bias.

13. The photoelectric docking device of claim 12 wherein said point light source consists of a single light emitting source.