WO2009007621A2

WO2009007621A2 - Method and device for determining the space orientation of a mobile object, and application of said device in a dual segment telescopic system

Info

Publication number: WO2009007621A2
Application number: PCT/FR2008/051192
Authority: WO
Inventors: Jean-Philippe Roux; Jacques Weyland
Original assignee: Jean-Philippe Roux; Jacques Weyland
Priority date: 2007-06-28
Filing date: 2008-06-27
Publication date: 2009-01-15
Also published as: WO2009007621A3; FR2918169B1; FR2918169A1

Abstract

The invention relates to a method for determining at least the space orientation of a mobile object (2) capable of movement at least in the yaw (z) and pitch (y) directions, said object being fitted with a reception system (B) including at least one planar optical detector (5) on which is projected at least one light spot (6) of a light beam (4) emitted by an emission source (3). According to the invention, the method comprises the following steps: projecting a light spot having at least one predetermined outline, acquiring at least a portion of the outline of the light spot (6) formed on the optical detector (5), and comparing the variations of the outline of the light spot (6) on the optical detector (5) based on the movements of the object in order to derive a variation in the space orientation of the object.

Description

METHOD AND DEVICE FOR DETERMINING THE SPATIAL ORIENTATION OF A MOBILE OBJECT, AND APPLICATION OF SUCH A DEVICE FOR A DOUBLE TELESCOPIC SYSTEM

The present invention relates to the technical field of measurement systems for determining the spatial orientation of a moving object having movements in at least yaw and pitch directions and preferably also a movement in a rolling direction.

The object of the invention is to determine the spatial orientation of an object whose movement is caused intentionally and / or induced under the effect of vibrations or mechanical deformations.

The object of the invention finds a particularly advantageous but nonlimiting application for determining the spatial orientation of a handling robot. To know precisely the spatial position of an object, it is known to implement a measuring system comprising a laser beam. For example, patent EP 1 200 853 describes a measurement system comprising a laser source emitting a projected beam, through a reflector of the mirror or prism type on an optical detector mounted on the object. The projection of the laser beam on the optical detector leads to the appearance of a light spot on the optical detector. The processing unit associated with this optical detector makes it possible to determine the position variations of the light spot so as to deduce the spatial orientation of the object. A disadvantage of such a system is that the size of the cap of the reflector needed to perform this detection must be less than the size of the light task. Thus, micro-movements that do not cause significant changes in the angle of incidence of the laser beam are detected with difficulty since their detection necessarily passes through a reorientation of the laser beam resulting in inaccuracy of measurement. In the same sense, US Pat. No. 4,804,270 describes an apparatus for determining the displacement of an object consisting of focusing a light beam on a detection sensor and detecting the movement of the spot to determine the displacement of the object. . This device requires the use of a lens to focus the light beam. The use of a lens greatly limits acquisition and angular measurement. In addition, this device requires the use of three laser beams and a number of sensors at least equivalent.

The patent application US 2006/0192090 describes a similar measurement system but making it possible to further treat the problems related to different sources of stray light. This document proposes to use two sensors to deal with the problem of stray light. However, this solution does not bring any improvement in the principle of measuring the spatial orientation of the object. Finally, this technique as well as the technique described by the patent EP 1,200,853 is currently limited by the acquisition speed of the optical detectors used and can not detect the movements in a direction of roll.

US Pat. No. 4,708,483 describes an apparatus for determining the displacement of an object consisting in projecting light beams onto the object and in acquiring the light spots reflected on the sensor. The device compares the relative positions of the light spots to determine the displacement of the object. This apparatus can not determine the movements of the object occurring in the plane of the sensor since the sensor retrieves beams reflected on the object. Moreover, since it is a reflected image, the apparatus operates only if the distance between the light source and the reflection surface is almost constant. In addition, the detectable angular deflection is limited since it corresponds to the ratio between the size of the sensor and the distance separating said sensor from the reflection surface. In addition, this device requires the use of three light spots. The object of the invention is therefore to overcome the disadvantages of the prior art by proposing a new method for determining the spatial orientation of a moving object having movements in at least yaw and pitch directions, not requiring not to use, in the path of the light beam, an optical reflector with a determined opening, and to obtain an increased accuracy compared to known techniques.

Another object of the invention is to propose a novel method capable of detecting micro-movements of an object that does not require a reorientation of the light beam.

To achieve such an objective, the method according to the invention aims to determine the spatial orientation of a moving object having movements in at least yaw and pitch directions, this object being equipped with a reception system comprising at least less a planar optical detector on which is projected at least one light spot of a beam of light emitted by an emitting source.

According to the invention, the method comprises the following steps:

projecting a light spot having at least one determined contour; acquiring at least a portion of the contour of the light spot formed on the optical detector,

and comparing the variations of the outline of the light spot appearing on the optical detector as a function of the movements of the object so as to deduce a variation in the spatial orientation of the object. The method according to the invention thus consists in comparing the variations of the contour of the light spot according to one and / or the other of the directions of the optical detector to deduce a yaw and / or pitching movement of the object according to the invention. one and the other of these directions.

According to another characteristic, the method consists in: projecting a light spot having a surface delimiting the determined contour, acquiring at least a portion of the surface to determine a luminous intensity gradient of said surface, and comparing the light intensity gradient variations of said surface to derive the direction of spatial orientation variation of the object .

Another object of the invention is to provide a method for determining the spatial orientation of an object which is also subjected to a roll motion.

To achieve such an objective, the method according to the invention is to project on the optical detector, a light spot whose distance between its center of gravity and its perimeter is not constant and to detect the variation of orientation of the spot. in the plane of the optical detector to determine the variation of position of the object in a direction of roll. Another object of the invention is to propose a device for determining the spatial orientation of a moving object having movements in at least yaw and pitch directions, this object being equipped with a reception system comprising at least a planar optical detector on which is projected a light spot of a light beam emitted by a transmitting source forming part of a transmission system.

According to the invention, the device comprises a processing unit able to acquire at least a part of the contour of the light spot formed on the optical detector and to compare the variations of the contour of the light spot appearing on the optical detector according to the movements of the object so as to deduce a variation of spatial orientation of the object.

The device according to the invention finds a particularly advantageous application for equipping a multi-segment telescopic system so as to determine the spatial orientation of one segment with respect to another segment as a result of a relative displacement between the segments. To achieve such an objective, another object of the invention is to propose a telescopic system comprising at least one displacement module of which each displacement module comprises:

an input segment and an output segment respectively connected to an input and an output gear movable in translation in parallel directions but in opposite directions between two end-of-travel positions, corresponding to deployed positions and folded input and output segments, the input segment being mounted integral with the transmission system while the output segment is equipped with the receiving system,

at least two mechanisms for transforming a rotational movement into a translational movement each comprising a rotary system and a translation system, the mobile crews being assembled to the translation systems in a symmetrically opposite manner between their end-of-travel positions,

means of coupling between the mechanisms of transformation of movement, in order to ensure the simultaneous displacement in the opposite direction of the mobile crews,

a drive system for rotating at least one transformation mechanism.

The device according to the invention finds another particularly advantageous application for equipping a handling apparatus with a working head, in the general sense, adapted to be used, for example, in the field of machining, manipulation, robotics or robotics. measured. The device is able to determine the spatial orientation of the working head of the handling device following a displacement of the working head.

Various other characteristics appear from the description given below with reference to the accompanying drawings which show, by way of non-limiting examples, embodiments of the subject of the invention. Figure 1 is a schematic view of an exemplary embodiment of a device according to the invention.

Figure 2 is a diagram illustrating the principle of forming a light spot on an optical detector for an initial position of the object.

Figure 3 is a diagram illustrating the deformation of a light spot formed on an optical detector as a result of yaw movement.

Figure 4 is a diagram illustrating the deformation of a light spot formed on an optical detector as a result of a pitching motion.

Figure 5 is a diagram illustrating the deformation of a light spot formed on a detector following a rolling motion.

Figure 6 is a diagram illustrating the displacement of a light spot formed on a detector as a result of a movement movement in two linear directions and associated with a roll motion.

Figure 7 is a diagram illustrating the process of reconstructing a light spot. Figure 101 is a perspective view showing an exemplary embodiment of a telescopic system.

Figures 102 and 103 illustrate in elevation section an embodiment of a telescopic system in position respectively folded and fully deployed. Figure 104 is a cross-sectional view taken substantially along lines IV-IV of FIG. 101.

Figures 105 and 106 illustrate two other alternative embodiments of the motion transformation mechanisms implemented in the telescopic system. Figures 107 to 109 illustrate in perspective a telescopic system which comprises two displacement modules. Figure 110 illustrates another example of assembly of two displacement modules.

As is more particularly apparent from Figure 1, the object of the invention relates to a device 1 adapted to determine the spatial orientation of a moving object 2 in the general sense. According to a preferred embodiment, but not limiting, object 2 is a handling robot. By convention, the object 2 has movements in three perpendicular directions x, y, z therebetween, namely a rolling motion corresponding to a rotation about the x direction, a pitching movement corresponding to a rotation around the direction y and a yaw movement corresponding to a rotation around the z direction. As will be explained in the following description, the device 1 is adapted to determine, according to a first embodiment, the orientation of the moving object 2 having z yaw and pitch y movements. The device 1 comprises a transmission system A comprising at least one emitting source 3 of a light beam 4. Preferably, the emitting source 3 is a laser emitting a laser beam 4 towards the object 2.

The device 1 also comprises a reception system B comprising at least one planar optical detector 5 mounted integral by any appropriate means, with the object 2. I! It should be understood that the device 1 according to the invention is able to determine the relative movements and in particular of pitch and yaw, of the object 2 with respect to the emitting source 3. In this respect, it should be noted that the emitting source 3 can be fixed or mobile. Similarly, the plane optical detector 5 can be supported by the object 2, fixedly or with a possibility of movement.

In a conventional manner, the light beam 4 of the emitting source 3 is projected on the optical plane detector 5. The projection of the light beam 4 on the optical plane detector 5 leads to the appearance on the latter of a light spot 6 delimiting or having an outline determined. In the example shown, the light spot 6 has the shape of a rectangle.

According to a feature of the subject of the invention, the plane optical detector 5 is an optical acquisition sensor of the light spot 6. More specifically, the optical acquisition sensor 5 is an optical image sensor capable of to give the position of the illuminated cells independently for each of the cells. For example, the optical acquisition sensor 5 is a CMOS image sensor or a CCD whose sensitive cells are placed and located in a plane defined by an orthonormal reference along the directions y, z.

The system 1 also comprises a processing unit 8 connected to the plane optical detector 5. The processing unit 8 comprises software and hardware means architectures around a computing unit so as to be able to process the signals delivered by the optical plane detector 5. In accordance with the invention, the processing unit 8 is able to acquire at least part of the shape of the light spot 6 formed on the plane optical detector 5. It must be considered that the at least partial acquisition of the shape of the bright spot 6 corresponds to the acquisition of at least a part of its outline and / or its size or surface. In other words, the shape of the light spot 6 can be defined by its contour and / or its size or area along the y, z axes of the sensor. For example, the processing unit 8 is adapted to determine at least part of the contour of the light spot 6. For this purpose, the processing unit takes into account at least the sensitive cells illuminated by the light beam 4 and located at the periphery of the light spot 6. Using an image processing software, the processing unit 8 determines at least a part of the contour of the light spot 6.

Moreover, the processing unit 8 is able to compare the variations of the contour of this light spot occurring over time as a function of the movements of the object 2. This comparison of the variations of the contour of the light spot 6 allows to deduce a variation spatial orientation of the object. Thus, the processing unit 8 compares the variations of at least part of the contour and / or the size of the light spot 6. Indeed, it appears that the contour of the light spot created on the optical detector 5 changes according to the spatial orientation of the object with respect to the emitting source 3, as will be shown in the following description.

FIG. 2 illustrates an orientation position of the planar optical detector 5 and consequently of the object 2, referred to as the initial object, showing on the planar optical detector 5 a rectangular light spot 6 extending in the plane yz. If there is a relative yaw movement between the object 2 and the emitting source 3, that is to say a rotation in the z direction, the light spot 6 undergoes a contour modification in the y direction as clearly appears. In the illustrated example, the light spot 6 has elongated in a direction of the direction y relative to its initial shape. Of course, a rotation in the direction z in an opposite direction leads to a narrowing of the light spot 6. Thus, a detection of the variation of the contour of the light spot 6 in the direction y allows to determine a yaw movement, c that is to say a rotation of the object 2 in the direction z. It should be noted that the enlargement or narrowing of the light spot 6 is considered as a variation of the contour of the light spot 6 even if the light spot retains a generally rectangular shape. The contour of the light spot 6 can vary, for example from circular to elliptical in the case of a circular light beam. Similarly, if there is a relative pitching movement between the object 2 and the emitting source 3, that is to say a rotation in the direction y, the light spot 6 undergoes a contour modification in the direction z as this is clearly shown in FIG. 4. In the illustrated example, the light spot 6 has elongated along a direction of the z direction with respect to its initial shape. Of course, a rotation in the direction y in a direction opposite leads to a narrowing of the light spot 6. Thus, a detecting the variation of the contour of the light spot 6 along the direction z makes it possible to determine a pitching movement, that is to say a rotation of the object 2 in the direction y.

It should be noted that a pitching or yawing movement actually leads to a narrowing and an elongation of the contour of the light spot 6, on either side of the axis of rotation of the plane optical detector 5. Thus, a pitching or yawing movement causes, on the one hand, a narrowing of the light spot 6 in a directional direction and, on the other hand, an enlargement of the light spot 6 in a direction opposite to this direction, as clearly appears on Figs. 3 and 4.

According to an advantageous characteristic of realization, the system 1 comprises means adapted to determine the direction of the change of orientation of the object 2. In this respect, it is recalled that the light beam 4 projected on the optical detector 5 is characterized by its outline, the intensity of light and its wavelength (s). Thus, to determine the direction of the change of orientation, the processing unit 8 can take into account the changes in the contour of the light spot 6. In this respect, it should be noted that it can be expected to form by means of optical masks for example, a light spot with clean geometric characteristics along directions y, z such as dark lines for example.

It must be considered that the direction of change of orientation of the object 2 can be determined by taking into account the intensity of light. Indeed, the sensitive cells of the optical detector 5 receive a light intensity which is variable according to their position with respect to the direction of rotation y, z. For a given position of the object and consequently for a corresponding luminous spot of surface delimiting a determined contour, a gradient of luminous intensity appears. If a movement of the object 2 occurs, the cells of the optical detector 5 record a change in the light intensity received by the projection of the light beam 4. The processing unit 8 can thus determine the luminous intensity ratio of the cells for two positions of the object so as to determine the direction of the change of orientation of the object. The processing unit 8 thus ensures the acquisition of at least a portion of the surface of the light spot to determine a luminous intensity gradient of the surface. The processing unit 8 compares the light intensity gradients of the surface of the light spot to deduce the direction of variation of spatial orientation of the object.

According to this variant, the processing unit 8 is able to determine the center of gravity of the light spot 6 from the shape of the light spot and from the light intensity received by the cells of the optical detector 5. The center of The gravity thus defined corresponds to the projection on the optical detector 5 of the center of the projected light beam 4. As explained above, the center of gravity of the light spot 6 depends on the shape and the light intensity received by the cells of the light. optical detector. Also, the center of gravity of the light spot should be understood as corresponding to the center of gravity of your light spot. Thus, the center of gravity is not identical with the center of gravity as a function respectively of the homogeneity or heterogeneity of the light intensity received by the cells of the optical detector 5.

As is apparent from the foregoing description, the processing unit 8 is able to determine the yaw and pitch movements of the object 2 with respect to the emitting source making it possible to deduce therefrom the variation of orientation of the object. object in space. Of course, the device 1 is able to determine a combined movement of yaw and pitch.

According to a preferred variant embodiment, the device 1 also makes it possible to detect a rolling movement of the object 2, namely a rotational movement of the object 2 around the direction x. If there is a relative roll motion between the object 2 and the emitting source 3, ie a rotation in the x direction, the light spot 6 undergoes a change of orientation of its shape in the plane yz as it appears 5. Thus, a detection of the variation of orientation of the light spot 6 in the plane of the optical detector 5 makes it possible to determine a roll motion, that is to say a rotation of the object 2 according to the direction x. Thus, to determine a roll motion of the object 2, it is necessary to detect the variation of orientation of the shape of the light spot 6 in the plane yz of the optical detector 5. The projected light spot 6 must have a distance between its center of gravity and its perimeter which is not constant. In other words, the projected light spot 6 may have any suitable shape except for example a circular shape of uniform light density. Thus, the light beam 4 may have a variation in light density on its section. For example, on at least one zone of the section of the light beam 4, the light density may be zero. It should be noted that it is also possible to project a second light spot 6 on the plane optical detector 5 coming from a second emitting source in order to detect the variation of orientation of the light spots 6 with respect to the marks y, z of the sensor. It should be noted that the use of two light spots 6 allows the light spots to be circular and of uniform light density.

According to a preferred embodiment, the planar optical detector 5 is a CMOS or CDD sensor. Thus, in the case of an image sensor 5, the processing unit 8 is able to take into account both the shape changes of the light spot 6 and the orientation changes of the light spot 6. The processing unit 8 is thus able to determine the combined or independent movements of yaw, roll and pitch that the object 2 can take.

It should be noted that insofar as the sensor 5 is an image sensor, the processing unit 8 is able to determine also the translation movements of the object along the z direction and / or the y direction. Figure 6 shows the displacement of the light spot 6 with respect to its position initial (Fig. 2) following a displacement of the object in both directions y and z and a roll motion. The processing unit 8 is thus able to determine the displacement of the object 2, along the z and / or y directions, combined or not with the roll, yaw and / or pitch movement. According to a preferred variant embodiment, the reception system B additionally comprises the planar optical detector 5, a planar sensor 11 continuously responsive to the change of position of the light spot 6 in order to detect the variation of position of the object consecutive to a movement. In fact, the CMOS or CDD sensor does not make it possible to follow continuously the change of position of the light spot 6 for the desired precision. According to a first preferred exemplary embodiment, the sensor 11 is a planar optical sensor. According to a second exemplary embodiment, the sensor 11 is produced by accelerometers arranged in at least two directions. According to the preferred embodiment for which the sensor 11 is a planar optical sensor, the device 1 comprises an optical separator 13 of the light beam 4 emitted by the emitting source 3. Such an optical separator 13 makes it possible to ensure the projection of light. a light spot 6 at a time on the optical acquisition sensor 5 used to detect the shape changes of the light spot 6 and on the sensor 11 capable of continuously giving the center of gravity of the light spot 6. The sensor 11 continuously responsive to changes in position of the light spot can be achieved for example by a sensor PSD (Position Sensitive Detector) or a quadrant diode. Fig. 7 makes it possible to understand the utility of the combined implementation of the two optical sensors 5 and 11. For example, for three successive instants t ₁ , t ₂ , t ₃ , the processing unit 8 acquires the position of the light spot 6, that is to say for example the center of gravity Gi, G ₂ , G ₃ of the light spot formed on the sensor 11. Simultaneously, the processing unit 8 acquires the shape of the light spot 6 formed on the sensor 5. However, taking into account the response time of the sensor 5, no image could be taken at time t ₂ by the sensor 5. Only the shapes Fi and F ₃ could be acquired at times t ₁ and t ₃ . However, insofar as at times t ₁ and t ₃ , the position and the orientation of the light spot could be acquired, the processing unit 8 determines at time t 2, using the position G ₂ of the spot and by correlation, the orientation and the form F ₂ of the light spot at time t _Σ .

According to a preferred embodiment, the device also comprises a system 20 for measuring the distance in the direction of roll x between the emitting source 3 and the object 2. This measuring system 20 can be made in any appropriate manner. In general, this measuring system 20 comprises a source 21 emitting a light beam forming part of the transmission system A. This light beam is able to be received on an optical reflector 22 forming part of the reception system B. For example, such a measurement system 20 can be realized via an interferometer. According to another exemplary embodiment, this distance measurement can be performed by mechanical means of the linear encoder type.

The device 1 for determining the spatial orientation of an object finds a particularly advantageous application for equipping a telescopic system 101 adapted to occupy any position between a completely folded position (Fig. 102) and a fully extended position (Fig. 103). . The system 101 comprises at least one and in the illustrated example, a module 101i having an input segment 103 and an output segment 104 respectively connected to an inlet crew 105 and an output crew 106, movable in translation according to parallel directions schematized respectively by x and x 'axes. Segments 103, 104 are called input and output to distinguish them, considering that these segments may be the same or different. The input and output segments 104 and 103 are considered as the proximal and distal segments of the telescopic system 101. The telescopic system 101 also comprises at least two mechanisms 108, 109 for transforming a rotational movement into a translation movement, each comprising a rotary system 180,

190, and a translation system 181, 191. It should be noted that the translation systems 181, 191, are assembled respectively to the mobile crews 105, 106, to ensure the movement of its moving crews along the x and x 'axes.

In the exemplary embodiment illustrated in FIGS. 101 to 104, each transformation mechanism 108, 109 has as a translation system 181, 191, a strand of an endless flexible drive means such as a chain, or as illustrated a toothed belt. Each strand 181,

191, the belt is assembled respectively to a movable element 105, 106, for example by means of a clamp 105i, 106i fixed by any appropriate means on the strands 181, 191. Moreover, the rotary systems 180 , 190, comprise at least one rotary drive motor system and at least one return rotation drive system. In the illustrated example, the rotational drive motor system comprises a pulley 190 driven by a motor system 111 te! a geared motor, while the drive system in rotation of reference comprises a pulley 180. The pulleys 180, 190 are driven simultaneously in rotation using the belt 181, 191. Of course, each belt can be equipped with a belt tensioning mechanism.

According to an embodiment characteristic, the movement transformation mechanisms 108, 109 are provided with coupling means for moving the moving equipments 105 and 106 simultaneously but in opposite directions. In the illustrated example, the coupling is performed by the endless belt 181, 191 mounted so that when moving a strand 181 in one direction, the other strand 191 moves in an opposite direction. The displacement of the strands 181, 191, leads to the displacement of the moving equipments 105, 106, in two opposite directions. Crews Mobile devices 105, 106 are thus able to move between two end-of-travel positions, illustrated more particularly in FIGS. 102 and 103. One of the end positions of the traveling crews illustrated in FIG. 102 corresponds to the folded position of the input and output segments 104, while the other end position illustrated in FIG. 103 corresponds to the deployed position of the input and output segments 104 and 104.

It should be noted that the geared motor 111 is capable of being driven in its two directions of rotation so that the rotation of the pulley 190 in one or the other direction causes the displacement of the moving crews 105, 106 according to FIG. one or the other of the directions of translation, along the axes x, x '. The geared motor 111 is thus controlled to obtain the deployment or folding of the input segments 105 and output 106, with a greater or smaller amplitude up to the difference between the two end positions. It appears that the mobile crews 105, 106, are assembled to the translation system 181, 191, symmetrically opposite between their end positions. As is clear from Figs. 102 and 103, this opposite symmetrical arrangement of the moving equipments 105, 106 makes it possible, by the displacement in opposite directions of the strands 181, 191 of the belt, to simultaneously move in opposite directions, the moving crews 105, 106 and as a result of the input and output segments 104 and 104.

According to a preferred embodiment, the input and output segments 104 104 are connected to the moving crews 105, 106, so as to extend mainly between the end positions of the crews 105, 106, when they occupy two symmetrically opposite end positions. Such an arrangement provides a telescopic system having a limited space in the folded position of the input segments 103 and output 104, and an optimized deployment race. The extension stroke of the input 105 and output 106 segments is equal to the distance between the two end positions of stroke moving crews, so that the amplitude of deployment of the module according to the invention is equal to twice the distance between the two end positions.

According to another advantageous characteristic, each module 101 is in a compact form. According to a preferred embodiment, the module 101 has a generally parallelepipedal shape. The module 101 thus comprises a carrier structure 115 constituted for example by two flanges 116 mounted vis-a-vis parallel to each other. The flanges 116 are provided, at their two ends, junction plates 117 for example assembled by any suitable means to the flanges 116. This bearing structure 115 supports in any suitable manner, the axes of rotation 120, 121 of the pulleys 180, 190. It should be noted that the axis of rotation 121 of the pulley 190 is wedged in rotation with the output shaft of the geared motor 111. The pulleys 180, 190 are positioned between the flanges 116 while being located near the plates The diameter of the pulleys 180, 190 is such that the strands 181, 191 of the belt are slightly recessed relative to the plane passing through the adjacent flanges of the flanges 116. The moving crews 105, 106 thus move from and other of the module at its two open faces delimited by the flanges 116. In the illustrated example, each input segment 103 and output 104 is formed by a plate having a rectangular shape e of width substantially equal to the width of the module defined by the two junction plates 117 so that the module has a limited transverse bulk. In other words, the input and output segments 104 104 substantially cover the open faces delimited by the flanges 116. Of course, the input and output segments 104 and 103 may have different dimensions (smaller or smaller). larger than the flanges) or various different forms of a plate, such as a rod or a profile. According to a preferred characteristic, each input and exit gear 106 is provided with at least one and preferably two guide systems 125, arranged symmetrically with respect to the axis of symmetry of the module, which is parallel. to the direction of displacement x, x 'of the input and output segments 104 104. For example, each guide system 125 comprises a guide rail 126 attached to the carrier structure, and more precisely on the flange of a flange 116. Each guide system 125 also comprises a shoe 127 fixed to an input or output segment, and cooperating with a rail 126. The shape of the pads 127 is of course complementary to that of the rails 126. As can be seen from FIG. FIG. 104, the transverse cross section of the rails 126 is C or omega to retain the pads 127 in the two directions perpendicular to the direction of movement x, x '.

It follows from the foregoing description that the module 101 has a compact shape while allowing a large amplitude of extension between the two ends of the input segment 103 and the output segment 104. According to an example of application, the segment of 103 comprises fastening means 129 to a fixed support 130. As is more particularly apparent from FIG. 103, the module 101 provides an extension equal to twice the stroke between the two end positions. In this respect, it should be noted that the end positions of the moving crews 105, 106 correspond to the positions preceding the abutment or in contact with the pulleys 180, 190. Thus, to increase the travel of the traveling crews, can be provided, as shown in FIG. 105, that at least one rotary drive system, for example 180 comprises two pulleys 180i, 18O ₂ for returning strands 181 and 191 of the belt. These pulleys 180i, 18O ₂ have diameters smaller than the diameter of the pulley 180, which makes it possible to increase the stroke of the moving crews while keeping the same size of the module. Of course, it may be envisaged to replace the pulley 190 by at least two smaller pulleys as illustrated in FIG. 105. In the examples illustrated in FIGS. 101 to 105, the transformation mechanism 108, 109 is of the belt and pulley type. Fig. 106 illustrates another alternative embodiment in which, at least one, namely the transformation mechanism 108 comprises as a rotary system, a ball screw I8O ₃ driven in rotation by a motor system 111. The transformation mechanism 108 comprises in as a translation system, an I8I nut ₁ assembled to the mobile assembly 105 by any appropriate means. In the example illustrated in FIG. 106, the transformation mechanism 109 is of the belt type 181, 191 and pulley 180, 190 as described in FIGS. 101-104. The coupling between the mechanisms 108, 109 is provided by any suitable means such as a collet 131 of the strand 181 of the belt, and fixed to the nut I8I1 of the ball screw. Thus, the displacement in translation of the nut I8I1 causes the simultaneous displacement of the belt 181, 191, and consequently of the moving element 106. Of course it can be envisaged to realize the two transformation mechanisms 108, 109 by ball screws and nuts.

In the preceding examples, the telescopic system 101 comprises a single module. Of course, the telescopic system 101 may be composed of a series of modules assembled to each other. More specifically, the output segment of a module is connected to an input segment of a consecutive module or forms the input segment of said consecutive module. Figs. 107 to 109 illustrate a telescopic system 101 comprising two modules 101i and IOI ₂ according to the invention. The first module 101i comprises an input segment 103i connected to a fixed structure 130. The output segment 104i is connected to the input segment 103 ₂ of the second module 10I ₂ . As is more particularly apparent from Figs. 107 and 108, the output segment 104i and the input segment 103 ₂ form a single piece extending in a plane so that the two modules 10 li, IOI ₂ can be placed side by side in the folded position of the modules. The connecting piece forming the output segment of the first module and the input segment of the second module has an optimized shape in "S".

In the exemplary embodiment illustrated in FIGS. 107 to 109, the input segment 103i of the first module 101i and the output segment 1042 of the second module 10I ₂ are located substantially in the same plane. Fig. 110 illustrates another embodiment in which the output segment 104i of the first module 101i is connected to the input segment 1032 of the second IOI module ₂ by being shifted by 90 °. According to this variant, the modules 101i, IOI ₂ are offset from each other by 90 ° by being interconnected by an angle-shaped connecting piece forming the output segment 104i and the input segment 1032. Advantageously, the segment input 103 ₂ of the second module can be guided in translation by a guide system 125 as described above as a rail 126 fixed on a flange 116 of the first module 101i and cooperating with a shoe fixed on the input segment 103 ₂ of the second module.

In the example illustrated in FIG. 110, the modules are associated to obtain a deployment essentially in one direction. Of course, it may be envisaged to connect the modules in different configurations using or not articulations to obtain a deployment in space along a desired path different from a linear direction.

In the examples described in FIGS. 107 to 110, the telescopic system 101 comprises several displacement modules 101i, IOI ₂ , to adapt the deployment amplitude to the intended use. In this respect, the input segment of the first module and the output segment of the last module are adapted to the intended use for the telescopic system. These segments can have any form of adaptation and be equipped with various equipment or equipment such as a tool holder, gripping system, sensors, actuators or other depending on the field of application. As is more particularly apparent from FIG. 109, the telescopic system 101 is intended to be equipped with a device for determining spatial orientation as an object, from one segment to another. In the example illustrated in FIG. 109, the telescopic system 101 comprises a first module 101i, and a second module IOI2. The input segment 103i of the first module 101i is considered fixed while the output segment 104 ₂ of the second module 10I ₂ corresponds to the object whose spatial orientation is to be known. The transmission system A of the device 1 is mounted integral with the input segment 103i of the first module while the receiving system B of the device is mounted integral with the output segment 104 ₂ of the second module. In general, in the presence of several modules connected in series, the transmission system A is mounted on the input segment of the first module while the reception system B is fixed on the output segment of the last module.

The device 1 for determining the spatial orientation of an object finds another particularly advantageous application for equipping a handling apparatus ensuring the displacement of a working head. For example, the working head may be a measuring head, machining or manipulation being provided with a sensor, an actuator and / or a tool holder. Of course, the device 1 is adapted to determine the spatial orientation of any type of object, different from a telescopic system or a handling device.

The invention is not limited to the examples described and shown because various modifications can be made without departing from its scope.

Claims

1 - Method for determining at least the spatial orientation of a moving object (2) having movements in at least yaw (z) and pitch (y) directions, this object being equipped with a receiving system ( B) comprising at least one plane optical detector (5) on which is sprayed at least one light spot (6) of a light beam (4) emitted by an emitting source (3), characterized in that it comprises the following steps: projecting a light spot having at least one determined contour, - acquiring at least a part of the contour of the light spot (6) formed on the optical detector (5), and comparing the variations of the contour of the light spot (6) ) appearing on the optical detector (5) according to the movements of the object so as to deduce a spatial orientation variation of the object. 2 - Process according to claim 1, characterized in that it consists in comparing the variations of the contour of the light spot (6) in one and / or the other direction of the optical detector to derive a yaw movement and / or pitching the object according to one and / or the other of these directions. 3 - Process according to claim 1 or 2, characterized in that it consists of:

projecting a light spot having a surface delimiting the determined contour,

acquiring at least a portion of the surface to determine a luminous intensity gradient of said surface, and comparing the variations in light intensity gradient of said surface in order to deduce therefrom the direction of variation of spatial orientation of the object.

4 - Process according to claim 1, characterized in that it consists in projecting on the optical detector (5), a light spot (6) whose distance between its center of gravity and its perimeter is not constant and detecting the variation of orientation of the light spot (6) in the plane of the optical detector (5) to determine the variation of position of the object in a rolling direction (x).

5 - Method according to one of claims 1 to 4, characterized in that it consists in determining the position of the light spot (6) and to compare these position variations to deduce a movement of the object.

6 - Method according to one of claims 1 to 5, characterized in that it consists in measuring the distance between the emitting source (3) and the optical detector (5) along the axis of roll (x). 7 - Device for determining the spatial orientation of a moving object (2) having movements in at least yaw (z) and pitch (y) directions, this object being equipped with a receiving system (B) having at least one planar optical detector (5) on which is projected a light spot (6) of a light beam (4) emitted by an emitting source (3) forming part of a transmission system (A), characterized in that it comprises a processing unit (8) able to acquire at least a part of the contour of the light spot (6) formed on the optical detector (5) and to compare the variations of the contour of the light spot (6). ) appearing on the optical detector according to the movements of the object so as to deduce a variation of spatial orientation of the object.

8 - Device according to claim 7, characterized in that it comprises as an optical plane detector (5), an image sensor.

9 - Device according to claim 7, characterized in that the receiving system (B) also comprises a sensitive sensor (11) continuously at the change of position of the light spot (6) in order to detect the variation of position of the object.

10 - Device according to claims 8 and 9, characterized in that it comprises an optical separator (13) of the light beam (4) emitted by the emitting source, adapted to ensure the projection of a light spot (6) to both on the acquisition sensor (5) optical sensitive to a change of shape and to a sensitive sensor (11) continuously at the change of position of the light spot.

11 - Device according to one of claims 7 to 10, characterized in that it comprises a measuring system (20) of the distance in the direction of roll (x) between the emitting source (3) and the object ( 2).

12 - Telescopic system comprising at least one displacement module (100i, 100 ₂ ...) composed of an input segment and an output segment, characterized in that it comprises a device (1) according to one of claims 7 to 11 for determining the spatial orientation, as an object, of one segment relative to the other.

13 - telescopic system according to claim 12, characterized in that each displacement module comprises:

an input segment (103) and an output segment (104) respectively connected to an input gear (105) and to an output gear (106) movable in translation in parallel directions (x, x ') but in the opposite direction between two end-of-travel positions corresponding to deployed and folded positions of the input and output segments, the input segment of the first module being mounted integral with the transmission system (A) while the output segment of the last module is equipped with the receiving system (B),

at least two mechanisms (108, 109) for transforming a rotational movement into a translational movement each comprising a rotary system (180, 190) and a translation system (181, 191), the mobile crews (105, 106) being assembled to the translation systems (181, 191) in a symmetrically opposite manner between their end positions,

coupling means between the movement transformation mechanisms (108, 109), in order to ensure the simultaneous movement in the opposite direction of the moving crews, a motor system (111) for driving in rotation of at least one mechanism of transformation (108, 109). 14 - telescopic system according to claim 13, characterized in that the input segments (103) and output (104) are connected to the mobile crews (105, 106) so as to extend mainly between the end positions of race of crews when they occupy two symmetrically opposed positions of end of race.

15 - telescopic system according to claim 13 or 14, characterized in that at least one transformation mechanism (108, 109) comprises as translation system, at least one endless flexible drive means with two strands (181 , 191) and as a rotary system, a rotational drive motor system (190) and at least one return rotation drive system (180).

16 - telescopic system according to claim 15, characterized in that the rotary drive motor system (190) comprises at least one pulley rotated by a geared motor (111) and in that the drive system is return rotation (180) has at least one pulley connected to the other pulley by the endless flexible drive means (181, 191).

17 - telescopic system according to claim 13 or 14, characterized in that at least one transformation mechanism (108, 109) comprises as a rotary system, a ball screw (I8O3) and as a translation system, a nut (I8I1) of the ball screw.

18 - telescopic system according to claim 13 or 14, characterized in that the input segment (103) of a first module comprises fixing means (129) to a fixed support (130). 19 - telescopic system according to claim 13 or 18, characterized in that the output segment (104) of a module is connected to an input segment (103) of a consecutive module or forms the input segment of said consecutive module.

20 - telescopic system according to claim 13, characterized in that each displacement module comprises a carrier structure (115) supporting the rotary and translation systems. 21 - telescopic system according to claim 13, characterized in that each inlet (105) and outlet (106) is provided with at least one and preferably two guide systems (125) arranged symmetrically by relative to the axis of symmetry of the module, parallel to the direction of movement of the segments.

22 - telescopic system according to claim 21, characterized in that each guide system (125) comprises a guide pad (127) fixed to a segment (103, 104) and cooperating with a guide rail (126) fixed on the carrier structure (115). 23 - telescopic system according to claim 20 or 22, characterized in that the carrier structure (115) comprises two flanges (116) provided at their ends with connecting plates (117).

24 - telescopic system according to claim 13, characterized in that two consecutive modules (101i, IOI2) are arranged side by side, while the output segment of one and the input segment of the other are made by a common segment.