APPARATUS FOR DETECTING OBJECTS IMMERSED IN INCOHERENT MATERIALS, AND CORRESPONDING DETECTION METHOD

摘要

Apparatus for location of objects immersed in incoherent materials, comprising a three-dimensional sensor (2), provided with a plurality of feeler elements (12), which can be extended under the thrust of motor means, each feeler element being provided with an end portion (14p) mobile with respect to a reference; a control system (20), designed to interrupt extension of each feeler element (12) when the respective end portion (14) comes to bear upon an object (4) immersed in the incoherent material (5); and sensors, designed to detect the information associated to the position of the end portion (14p) with respect to the reference (10) to define a set of points P that represents a sampling of the surface of the object touched by the feeler elements.