WO2016135348A1

WO2016135348A1 - Tangible interface for virtual environment

Info

Publication number: WO2016135348A1
Application number: PCT/EP2016/054254
Authority: WO
Inventors: Paul YVAIN; Damien Chablat; François GUILLAUME
Original assignee: Institut De Recherche Technologique Jules Verne; Centre National De La Recherche Scientifique
Priority date: 2015-02-28
Filing date: 2016-02-29
Publication date: 2016-09-01
Also published as: FR3033207B1; FR3033207A1

Abstract

The invention concerns a device for constituting a tangible interface, in particular for reproducing the environment of an aircraft fuselage, suitable for being installed on a so-called base plane support (100), characterised in that it comprises: a. two legs (101, 102) extending in the base plane (100) in a so-called transverse direction (111), suitable for being deployed in an extension direction comprising the direction normal to the base plane, said legs comprising an attachment end (131, 132) suitable for being attached in the base plane and a support end (140), that can be deployed relative to the attachment end, said support end being suitable for carrying an accessory; b. actuating means (150) acting on each leg (101, 102) to control the deployment of said leg, said actuating means acting on said leg in a direction parallel to the transverse direction.

Description

TANGIBLE INTERFACE FOR VIRTUAL ENVIRONMENT

The invention relates to a tangible interface for a virtual environment. The invention is more particularly dedicated to the field of simulation of assembly operations or installation of systems in the aeronautical field, implementing an operator operating in a virtual environment. However, the device and the method that are the subject of the invention are applicable to the simulation of assembly or installation operations of systems in any field presenting a similar configuration, in particular, but not exclusively, in the fields of shipbuilding. , car manufacturing or railway construction.

A tangible interface is a device allowing a subject evolving spatially in a virtual visual environment, to feel the interaction with objects of this virtual environment. According to various exemplary embodiments, said device consists of passive objects, representative of a part of the subject's physical environment, which when they come into tactile contact with said subject, give him a tactile impression similar to that which he would produce the actual object as it is projected in the virtual environment. According to this first example, said objects are of similar shape, dimension, rigidity or texture, but not necessarily identical, to a real object whose image is represented in the virtual environment of the subject. For example, there are obstacles or supports.

According to another embodiment, the device comprises a haptic interface that is to say a mechanism reproducing the resistance opposed by a medium or an object to the actions of the subject on said medium or said object.

Document US 5,557,981 describes an example of such a device combining a tangible interface and haptic devices.

The training of operators involved in the assembly of a structure or in the installation of systems, for example in aircraft fuselage sections, by reproducing the conditions of intervention in a virtual environment, makes it possible to train said operators or to validate assembly lines without requiring the physical presence of this environment. Thus, the operators are formed without interference on the production assembly stations and even before the actual production of the first section. However, the environment in which evolve operators involved, for example, on an aircraft fuselage, is, in particular due to aerodynamic shapes, changing from one area to another of the fuselage. These complex and closed forms, also prohibit the use of a fuselage model reproducing all or part of a subset, for such a virtual simulation, because such a model produces many gray areas vis-à-vis Optical monitoring system of the operator that allows to transcribe its position and its movements in the virtual environment. Similar situations are encountered in assembling or installing systems in shipbuilding and other areas where the configuration of the assembled subassemblies is similar.

The invention aims to solve the disadvantages of the prior art and concerns for this purpose a device for the constitution of a tangible interface, particularly for the reproduction of the environment of an aircraft fuselage, adapted to be installed on a support, said base plane, which device comprises:

at. two legs extending in the base plane in a so-called transverse direction, able to be deployed in an extension direction comprising the direction normal to the base plane, which legs comprise an attachment end adapted to be fixed in the plane of base and a support end, deployable relative to the attachment end, said support end being adapted to carry an accessory; b. actuator means acting on each leg to control the deployment of said leg, said actuator means acting on said leg in a direction parallel to the transverse direction. Thus, the deployable structure can reproduce different configurations corresponding to different portions of section. The two separate legs and the action of the actuator means in the transverse direction, allow clear visibility and reduce interference with vision systems detecting the movements and positions of the subject.

The invention is advantageously implemented according to the embodiments described below which are to be considered individually or in any technically operative combination.

Advantageously, the device which is the subject of the invention comprises:

vs. means related to the legs fixing ends and able to adjust the spacing of said legs in a direction, called longitudinal, parallel to the base plane and perpendicular to the transverse direction Thus said device allows easy adjustment of several intercadre distances or intercouple.

According to a first embodiment, the device which is the subject of the invention comprises: d. a platform tied to the ends of leg support

This embodiment is more particularly adapted to the reproduction of a covered floor.

According to a second embodiment, the device which is the subject of the invention comprises:

e. a set of profiles, linked to the support ends of the legs and reproducing part of a structure, including a floor structure.

This embodiment is more particularly adapted to the reproduction of an uncovered floor structure, comprising, for example, sleepers and rails.

According to a third embodiment, the device which is the subject of the invention comprises: f. on each support end of each leg, a section articulated with respect to said end.

This variant embodiment is more particularly adapted to the reproduction of a fuselage or shell wall between two frames or between two pairs.

According to one embodiment, each leg comprises:

two connecting rods connected to each other by a pivot connection, one of the ends of one of the connecting rods being connected to the base plane by a pivot connection and one end of the other connecting rod being connected to the base by a sliding pivot connection.

This configuration makes it possible to obtain a large amplitude of deployment of said legs, while keeping the actuators in a plane parallel to the base plane. Thus, advantageously, the actuator means act on the rods connected by a pivot sliding to the base plane, by an action parallel to the sliding direction of this link, so that said actuators do not interfere with the visibility zone of the sensors movements to place the subject in the virtual environment. Advantageously, the device according to the invention comprises, according to this embodiment variant, means for moving the position of the link connecting the connecting rods in a chisel. Thus, the support interface of each leg is orientable along an axis parallel to the longitudinal axis by modifying the point of articulation of the scissors.

Advantageously, the platform of the device according to the invention, according to the first embodiment, consists of a transparent material. Thus, said platform does not obstruct the visibility of the position and motion sensors.

Advantageously, the device according to the third embodiment of the invention comprises:

boy Wut. a portal support between the legs, linked to the base plane by a pivot connection axis parallel to the base plane and perpendicular to the transverse direction.

Thus, said gantry support makes it possible to simulate the presence of a rail extending between two frames of a fuselage or a cabin between two pairs of a hull of a ship.

Advantageously, the device which is the subject of the invention comprises:

h. a plurality of targets for determining its position in space. Thus, the relative positions of the device object of the invention and the subject are determinable by optical sensors.

The invention also relates to the use of a device according to any one of the embodiments of the invention, for the creation of a tangible interface for a subject operating in a virtual environment.

The invention also relates to a method for creating a tangible interface for a subject operating in a virtual visual environment, which method comprises the steps of:

i. to associate any number of devices object of the invention according to any one of their embodiments;

ii. adjusting the height of each leg of each device by means of the actuator means;

iii. obtain the relative position of the subject and devices;

iv. create in the virtual environment of the subject, an image corresponding to real objects mimicked by devices.

Thus, this method makes it possible to mimic the obstacles of the real environment of the operator and to reconfigure this environment easily. The cooperation of several devices according to the three embodiments makes it possible to mimic most of the evolution patterns of the subject in an aircraft section or in a ship's hull.

In particular, the method which is the subject of the invention comprises a step consisting of: adjusting the height and orientation of the connecting rods of the legs and the gantry support of a device according to the third embodiment of the invention, in particular so as to reproduce an inter-deck space of an aircraft fuselage.

Advantageously, the method which is the subject of the invention comprises a step of:

vi. adjusting the height and the relative orientation of a device according to the first embodiment of the invention and a device according to the second embodiment of the invention so as to produce a tangible interface reproducing assembly conditions under the floor, especially in an aircraft section

This mode of implementation of the method of the invention allows to mimic the environment of most assembly conditions at an aircraft floor.

The invention is explained below according to its preferred embodiments, in no way limiting, and with reference to FIGS. 1 to 4 in which:

- Figure 1 shows in a perspective view, an embodiment of a device object of the invention;

FIG. 2 represents an embodiment of the device that is the subject of the invention, comprising means for simulating a floor, linked to the support interface of the device according to the embodiment of FIG. 1;

FIG. 3 is an exemplary embodiment, in a perspective view, of the device according to the invention comprising legs as represented in FIG. 1 and comprising a platform;

and FIG. 4 represents, in a perspective view, another embodiment of embodiment of the device of the invention, comprising profiles individually linked to each leg and a gantry support between said legs. Figure 1, according to an exemplary embodiment, the device of the invention comprises two legs (101, 102) deployable, extending in a direction (1 1 1) transverse and fixed in a base plane (100). Said two legs (101, 102) are, according to this embodiment, substantially parallel and spaced in a direction, called longitudinal, perpendicular to the base plane, a distance (1 12) corresponding, for example, to the inter-deck distance in an aircraft fuselage section. According to this embodiment, the distance (112) longitudinal between said legs (101, 102) is adjusted during attachment thereof to the base plane. Alternatively this distance (1 12) is adjusted by means (not shown) for moving relatively one leg relative to the other. According to this embodiment, each leg (101, 102) comprises a plurality of rods (121, 122) articulated in a chisel in their center. The end (131) of one of the links (121) is connected to the base plane by a pivot connection axis parallel to the longitudinal axis. The end (131) of the other link (122) is connected to the base plane by a sliding pivot connection whose pivot axis is parallel to the longitudinal direction, and whose direction of translation is parallel to the direction (11). 1) transverse. An actuator (150), for example a screw jack, acts on this sliding pivot connection so as to move in translation the end (132) of the link (122) and to obtain the deployment of the leg (101) in the direction vertical, perpendicular to the base plane (100). According to this embodiment, the deployment of each leg (101, 102) is controlled separately. According to the intended application, the two legs (101, 102) are alternately linked together so that only one actuator is needed to move the two legs. At its end remote from the base plane, each leg (101, 102) has a support interface (140) for attaching environment mimicking pieces. Advantageously, these parts consist of a transparent material such as poly (methyl methacrylate), or PMMA.

2, by way of non-limiting example, an assembly (260) of profiles mimicking the structure of a floor is fixed on the support interface of the device according to the embodiment of FIG. The separate control of the height of each leg (101, 102) makes it possible to modify the orientation of this set (260) of profiles around an axis (21 1) parallel to the transverse axis. According to an advantageous embodiment, the hinge (220) of the scissors is displaceable so that said hinge (220) is not made in the center of the connecting rods. According to an exemplary embodiment, this displacement of the position of the hinge (220) of the scissors, is carried out during assembly or during the configuration of the device, each connecting rod comprising for this purpose, a plurality of bores (221) adapted to receiving the articulation means (220). Alternatively, the position of the articulation point is controlled continuously by means (not shown) motorized. The modification of the position of the hinge (220) of the scissors makes it possible to modify the orientation of the assembly (260) of profiles around an axis (212) parallel to the longitudinal direction of the device object of the invention.

Figure 3, according to another embodiment, a platform (360) made of a transparent material is bonded to the support interface of the legs so as to mimic a floor. According to this embodiment, the position of the hinge (320) of the scissors is also modifiable by placing this hinge (320) in one of the bores (321) provided for this purpose in the connecting rods constituting the legs.

According to the previous exemplary embodiments, FIGS. 2 and 3, the elements linked to the leg support interfaces connect the two legs. The nature of the connection between these elements and the support interfaces of the legs is a function of the degrees of freedom in the positioning of these elements, and more particularly the possibilities of orientation along the longitudinal and transverse axes.

Figure 4, according to another embodiment, each element (460) mimicking the actual structure is individually connected to one of the legs. This embodiment makes it possible to imitate, for example, two fuselage frames, or more generally transverse stiffeners. According to this embodiment, the device of the invention also comprises a support (470) portal between the legs to mimic the presence of a longitudinal stiffener such as a smooth.

The vertical position, perpendicular to the base plane, of the device which is the subject of the invention is determined by the position of the actuator.

Returning to FIG. 3, a plurality of targets (380) placed on the platform (360) according to this exemplary embodiment makes it possible to define the position in the space of the device that is the subject of the invention by detecting said targets (380) by means (390) for optical measurement of the environment. Figure 3 schematically represents these optical measuring means by a camera (390). In practice the device of the invention comprises as many cameras as necessary. According to exemplary embodiments, the elementary targets are in the form of reflective circles or circles linked to the objects. Each target is advantageously composed of several spheres, in practice 3 to 4 spheres, linked and oriented together according to a particular configuration, called constellation. Thus, each arrangement, or constellation, is representative of a particular object which allows the optical measurement system to discriminate each element of the device object of the invention present in the scene, and also to discriminate these elements of the operator. speaker.

The above description and the exemplary embodiments show that the invention achieves the desired objectives, in particular it enables the creation of a reconfigurable tangible interface capable of mimicking a large variety of environments with a reduced number of means and retaining significant visibility of the scene and subject involved in this scene. The device and the method which are the subject of the invention are advantageously used in the design assistance of assembly stations by anticipating the postures of the operators and by optimizing the tools accordingly. Thus, the device and the method that are the subject of the invention make it possible to reduce the development time of tools and assembling ranges while reducing, by a better anticipation of the postures, the musculoskeletal disorders of the operators using the tools thus designed.

Claims

Device for the constitution of a tangible interface, especially for the reproduction of the environment of an aircraft fuselage, adapted to be installed on a support said base plane (100), characterized in that it comprises:

at. two legs (101, 102) extending in the base plane (100) in a direction (11 1) called transverse, able to be deployed in an extension direction comprising the normal direction to the base plane, which legs comprise a fixing end (131, 132) adapted to be fixed in the base plane and a support end (140), extendable relative to the fixing end, said support end being able to carry an accessory;

b. actuator means (150) acting on each leg (101, 102) for controlling the deployment of said leg, said actuator means acting on said leg in a direction parallel to the transverse direction.

Device according to claim 1, comprising:

vs. means connected to the ends (131, 132) for fixing the legs (101, 102) and able to adjust the spacing (1 12) of said legs in a direction, called longitudinal, parallel to the base plane (100) and perpendicular to the direction (1 1 1) transverse.

Device according to claim 1, comprising:

d. a platform (360) connected to the support ends of the legs.

Device according to claim 1, comprising:

e. a set (260) of profiles, linked to the support ends of the legs and reproducing a structural part, in particular the structure of an aircraft floor.

Device according to claim 1, comprising: f. on each support end of each leg, a profile (460) articulated with respect to said end.

The device of claim 1, wherein each leg comprises:

two connecting rods (121, 122) connected together by a pivot connection, one of the ends (131) of one of the connecting rods (121) being connected to the base plane by a pivot connection and one of the ends (132) the other link (122) being connected to the base plane by a sliding pivot connection.

7. Device according to claim 6, comprising means (220, 320;

221, 321) to move the position of the link connecting the connecting rods to a chisel.

8. Device according to claims 6 or 7, wherein the means (150) actuators act on the rods connected by a pivot sliding to the base plane acting parallel to the sliding direction of the link.

9. Device according to claim 3, wherein the platform (360) is made of a transparent material.

10. Device according to claim 4, wherein the assembly (260) of profiles connected to the support interface are made of a transparent material. 11. Device according to claim 5, comprising:

boy Wut. a portal support (470) between the legs, connected to the base plane by a pivot connection axis parallel to the base plane and perpendicular to the transverse direction.

12. Device according to any one of claims 1 to 11, comprising:

h. a plurality of targets (380) for determining its position in space.

13. Use of a device according to any one of the claims 1 to 12, for the creation of a tangible interface for a subject evolving in a virtual environment.

Method for creating a tangible interface for a subject evolving in a virtual visual environment, characterized in that it comprises the steps of:

i. associating any number of devices according to claim 12;

iii. obtain the relative position of the subject and devices;

iv. create in the virtual environment of the subject, an image corresponding to the real objects imaged by the devices.

The method of claim 14 including a step of: v. adjusting the height and orientation of the legs and the gantry support rods of a device according to claim 10 so as to reproduce an inter-deck space of an aircraft fuselage.

The method of claim 14, comprising a step of: vi. adjust the height and the relative orientation of a device according to claim 3 and a device according to claim 4 so as to produce a tangible interface reproducing conditions of sub floor assembly of an aircraft.