Docking orientation device
Autonomously aligning docking bodies is provided. A first-axis surface is identified as a target axis surface corresponding to a desired docking approach vector of a first body to a second body. The first body is maneuvered to align relative to a second-axis surface until a third-axis surface is less than a defined surface detection threshold level. The first body is continued to be maneuvered to align relative to the third-axis surface until the second-axis surface is less than the defined surface detection threshold level. Docking is completed between the first body and the second body in accordance with the desired docking approach vector based on alignment of the first body with the target axis surface.
1. A computer-implemented method for autonomously aligning docking bodies, the computer-implemented method comprising:
identifying, by a navigation system of a first body, a first-axis surface of three optically distinct axes surfaces of a docking orientation device that is a target axis surface corresponding to a desired docking approach vector of the first body to a second body;
maneuvering, by the navigation system, the first body to align with the docking orientation device relative to a second-axis surface of the three optically distinct axes surfaces until a third-axis surface of the three optically distinct axes surfaces is less than a defined surface detection threshold level;
continuing, by the navigation system, the maneuvering of the first body to align with the docking orientation device relative to the third-axis surface of the three optically distinct axes surfaces until the second-axis surface of the three optically distinct axes surfaces is less than the defined surface detection threshold level; and
completing, by the navigation system, docking between the first body and the second body in accordance with the desired docking approach vector based on alignment of the first body with the target axis surface of the docking orientation device, the docking orientation device has a three-dimensional geometric shape that includes three mutually orthogonal surfaces, each respective surface of the three mutually orthogonal surfaces is optically distinct from each other.
2. The computer-implemented method of claim 1 , further comprising:
receiving, by the navigation system, an indication that the first body is approaching the docking orientation device corresponding to the second body;
acquiring, by the navigation system, the docking orientation device using an imaging sensor; and capturing, by the navigation system, a series of images of the docking orientation device using the imaging sensor.
3. The computer-implemented method of claim 1 , further comprising:
guiding, by the navigation system, the first body in an approach to the docking orientation device until a desired maneuvering distance is achieved based on a series of images captured by an imaging sensor, the desired maneuvering distance is achieved when the docking orientation device captured in an image of the series of images is greater than or equal to a predefined optical percentage of the image.
4. The computer-implemented method of claim 1 , further comprising: identifying, by the navigation system, the three optically distinct axes surfaces of the docking orientation device based on the optical distinctiveness of the each respective surface of the three mutually orthogonal surfaces comprising the docking orientation device.
5. The computer-implemented method of claim 1 , further comprising:
determining, by the navigation system, that a focal plane of an imaging sensor is aligned relative to the first-axis surface identified as the target axis surface of the docking orientation device corresponding to the desired docking approach vector of the first body to the second body in response to the navigation system detecting that the third-axis surface and the second-axis surface of the docking orientation device are less than the defined surface detection threshold level.
6. The computer-implemented method of claim 1 , further comprising:
continuing, by the navigation system, an approach of the first body to the docking orientation device with an error function of a thickness of the three optically distinct axes surfaces and a resolution of an imaging sensor.
7. The computer-implemented method of claim 1 , wherein each respective surface of the three optically distinct axes surfaces of the docking orientation device is optically distinct from each other using at least one of different colors, patterns, graphics, designs, and pictures.
8. The computer-implemented method of claim 1 , wherein optical distinction between the three optically distinct axes surfaces encodes navigation control information and other information that is revealed depending on an angle of view of a given surface of the three optically distinct axes surfaces of the docking orientation device.
9. The computer-implemented method of claim 1 , wherein the navigation system utilizes holographic techniques to distinguish different surfaces of the docking orientation device.
10. The computer-implemented method of claim 1 , wherein the docking orientation device is separate from the second body.
11. A navigation system for autonomously aligning docking bodies, the navigation system comprising:
a communication fabric;
a set of computer-readable storage media connected to the communication fabric, wherein the set of computer-readable storage media collectively stores program instructions; and
a set of processors connected to the communication fabric, wherein the set of processors executes the program instructions to:
identify a first-axis surface of three optically distinct axes surfaces of a docking orientation device that is a target axis surface corresponding to a desired docking approach vector of a first body to a second body;
maneuver the first body to align with the docking orientation device relative to a second-axis surface of the three optically distinct axes surfaces until a third-axis surface of the three optically distinct axes surfaces is less than a defined surface detection threshold level;
continue maneuvering of the first body to align with the docking orientation device relative to the third-axis surface of the three optically distinct axes surfaces until the second-axis surface of the three optically distinct axes surfaces is less than the defined surface detection threshold level; and
complete docking between the first body and the second body in accordance with the desired docking approach vector based on alignment of the first body with the target axis surface of the docking orientation device, the docking orientation device has a three-dimensional geometric shape that includes three mutually orthogonal surfaces, each respective surface of the three mutually orthogonal surfaces is optically distinct from each other.
12. The navigation system of claim 11 , wherein the set of processors further executes the program instructions to:
receive an indication that the first body is approaching the docking orientation device corresponding to the second body;
acquire the docking orientation device using an imaging sensor; and
capture a series of images of the docking orientation device using the imaging sensor.
13. The navigation system of claim 11 , wherein the set of processors further executes the program instructions to:
guide the first body in an approach to the docking orientation device until a desired maneuvering distance is achieved based on a series of images captured by an imaging sensor, the desired maneuvering distance is achieved when the docking orientation device captured in an image of the series of images is greater than or equal to a predefined optical percentage of the image.
14. The navigation system of claim 11 , wherein the set of processors further executes the program instructions to: identify the three optically distinct axes surfaces of the docking orientation device based on the optical distinctiveness of the each respective surface of the three mutually orthogonal surfaces comprising the docking orientation device.
15. A computer program product for autonomously aligning docking bodies, the computer program product comprising a set of computer-readable storage media having program instructions collectively stored therein, the program instructions executable by a navigation system to cause the navigation system to:
identify a first-axis surface of three optically distinct axes surfaces of a docking orientation device that is a target axis surface corresponding to a desired docking approach vector of a first body to a second body;
maneuver the first body to align with the docking orientation device relative to a second-axis surface of the three optically distinct axes surfaces until a third-axis surface of the three optically distinct axes surfaces is less than a defined surface detection threshold level;
continue maneuvering of the first body to align with the docking orientation device relative to the third-axis surface of the three optically distinct axes surfaces until the second-axis surface of the three optically distinct axes surfaces is less than the defined surface detection threshold level; and
complete docking between the first body and the second body in accordance with the desired docking approach vector based on alignment of the first body with the target axis surface of the docking orientation device, the docking orientation device has a three-dimensional geometric shape that includes three mutually orthogonal surfaces, each respective surface of the three mutually orthogonal surfaces is optically distinct from each other.
16. The computer program product of claim 15 , wherein the program instructions further cause the navigation system to:
receive an indication that the first body is approaching the docking orientation device corresponding to the second body;
acquire the docking orientation device using an imaging sensor; and
capture a series of images of the docking orientation device using the imaging sensor.
17. The computer program product of claim 15 , wherein the program instructions further cause the navigation system to:
guide the first body in an approach to the docking orientation device until a desired maneuvering distance is achieved based on a series of images captured by an imaging sensor, the desired maneuvering distance is achieved when the docking orientation device captured in an image of the series of images is greater than or equal to a predefined optical percentage of the image.
18. The computer program product of claim 15 , wherein the program instructions further cause the navigation system to: identify the three optically distinct axes surfaces of the docking orientation device based on the optical distinctiveness of the each respective surface of the three mutually orthogonal surfaces comprising the docking orientation device.
19. The computer program product of claim 15 , wherein the program instructions further cause the navigation system to:
determine that a focal plane of an imaging sensor is aligned relative to the first-axis surface identified as the target axis surface of the docking orientation device corresponding to the desired docking approach vector of the first body to the second body in response to the navigation system detecting that the third-axis surface and the second-axis surface of the docking orientation device are less than the defined surface detection threshold level.
20. The computer program product of claim 15 , wherein the program instructions further cause the navigation system to:
continue an approach of the first body to the docking orientation device with an error function of a thickness of the three optically distinct axes surfaces and a resolution of an imaging sensor.