Closed-loop autonomous docking system
First Claim
1. An autonomous docking system for producing commands for the steering and propulsion system of a chase vehicle used in docking of said chase vehicle with a target vehicle, said docking system comprising:
- a passive optical target for the target vehicle, said optical target comprising a plurality of reflective areas, at least one of said reflective areas being located in a different plane from that of at least two other of said reflective areas so as to provide a non-planar target; and
a tracking sensor and process controller apparatus for the chase vehicle, said controller apparatus comprising;
illuminating means for illuminating the target so as to cause light to be reflected from said reflective areas of the target;
sensor means for detecting the light reflected from said target and for producing an electrical output signal in accordance with an image of the reflected light;
signal processing means for processing said electrical output signal and for producing, based thereon, output signals relating to the relative range, roll, pitch, yaw, azimuth and elevation of the chase and target vehicles; and
docking process controller means, responsive to the output signals produced by said signal processing means, for producing command signals for controlling the steering and propulsion system of the chase vehicle.
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Accused Products
Abstract
An autonomous docking system is provided which produces commands for the steering and propulsion system of a chase vehicle used in the docking of that chase vehicle with a target vehicle. The docking system comprises a passive optical target affixed to the target vehicle and comprising three reflective areas including a central area mounted on a short post, and tracking sensor and process controller apparatus carried by the chase vehicle. The latter apparatus comprises a laser diode array for illuminating the target so as to cause light to be reflected from the reflective areas of the target; a sensor for detecting the light reflected from the target and for producing an electrical output signal in accordance with an image of the reflected light; a signal processor for processing the electrical output signal and for producing, based thereon, output signals relating to the relative range, roll, pitch, yaw, azimuth and elevation of the chase and target vehicles; and a docking process controller, responsive to the output signals produced by the signal processor, for producing command signals for controlling the steering and propulsion system of the chase vehicle.
68 Citations
18 Claims
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1. An autonomous docking system for producing commands for the steering and propulsion system of a chase vehicle used in docking of said chase vehicle with a target vehicle, said docking system comprising:
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a passive optical target for the target vehicle, said optical target comprising a plurality of reflective areas, at least one of said reflective areas being located in a different plane from that of at least two other of said reflective areas so as to provide a non-planar target; and a tracking sensor and process controller apparatus for the chase vehicle, said controller apparatus comprising; illuminating means for illuminating the target so as to cause light to be reflected from said reflective areas of the target; sensor means for detecting the light reflected from said target and for producing an electrical output signal in accordance with an image of the reflected light; signal processing means for processing said electrical output signal and for producing, based thereon, output signals relating to the relative range, roll, pitch, yaw, azimuth and elevation of the chase and target vehicles; and docking process controller means, responsive to the output signals produced by said signal processing means, for producing command signals for controlling the steering and propulsion system of the chase vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A passive autonomous docking system for generating commands for the steering and propulsion system of a chase vehicle used in providing docking of said chase vehicle with a target vehicle, said docking system comprising:
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an optical docking aid, for attachment to the target vehicle, said docking aid including three reflective reference points thereon, two of said reflective reference points being located in a base plane and the other of said reflective reference points being spaced from said base plane so as to provide a three-dimensional target; and a tracking and control system, for use on the chase vehicle, comprising; a visual tracking sensor means for determining the relative azimuth and elevation with respect to each of said reflective points and for producing electrical output signals in accordance therewith; and an autonomous docking process controller means, responsive to the output signals from said visual tracking sensor means, for producing angular and translation motion commands for the steering and propulsion system of the chase vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification