Photoelectric docking device

Claim 2

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.

Claim 3

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

Claim 4

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

Claim 5

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

Claim 6

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.

Claim 7

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.

Claim 8

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.

Claim 9

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.

Claim 10

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.

Claim 11

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.

Claim 12

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.

Claim 13

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.

Claim 14

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.

Claim 15

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

Claim 16

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