SENSOR DEVICE AND POSITION DETERMINATION PROCESS AND THEIR USE FOR THE CONTROL OF AN INSERTION ROBOT

摘要

The detection device comprises a planar code carrier (1) on one of the objects and, on the other object, a scanning device for a viewing angle, for determining a viewing direction set at this angle, a calculation circuit. A photodetector detects an illumination density during the scanning of the viewing angle, according to the orientation of the incident light. On the code carrier (1) is disposed a rectangular code field (6A-6D, 8AB-8CD) whose center line is parallel to the scanning plane. This field comprises at least two rectangular positioning fields (6A-6D) and a rectangular interfield (8AB-8CD) disposed between the two positioning fields. The positioning fields include information on the position of objects that can be evaluated by the scanning device. In an intermediate field at least, the code comprises at least one parting line obliquely intersecting the center line and whose scanning causes a strong variation of the illumination density depending on the direction of incident light, which corresponds to a viewing direction to be determined. The intermediate field can be subdivided into two intermediate field regions, optically identical, a diagnonale line, or diagonally into two intermediate field regions, optically different, by a separation line, and this configuration can be doubled by reflection symmetry.