FR3099823A1 - AUTONOMOUS AND INTELLIGENT DEFENSE SYSTEM - Google Patents

Abstract

Autonomous and intelligent defense system Defense and security robot (100), able to operate autonomously, comprising a detection unit (10), comprising at least one image sensor (11), a firing turret (20 ), and a base (30) containing a central computer (31), the firing turret is equipped with at least two weapons (21) of different calibers and is rotatably mounted around a longitudinal axis (Z) of the robot to make it possible to aim automatically at a target with the appropriate weapon, said weapon being chosen according to a classification of the target, obtained by artificial intelligence algorithms implemented by the central computer. The invention also relates to a defense and security method implemented by the robot as part of a military or surveillance operation. Figure for the abstract: figure 1

Description

Autonomous and intelligent defense system

The present invention belongs to the field of armaments, in particular autonomous weapons called "military robots", and relates more particularly to an autonomous and intelligent system for defending and securing space, of the land machine type, capable of neutralizing enemy targets. , and/or dangerous, of different natures by decision-making based on artificial intelligence.

State of the art

Historically, the development of weapons has been conditioned by several factors such as deterrence, efficiency and security. Thus, eager to have increasingly effective weapons, arms manufacturers are constantly imagining weapons incorporating the most recent technologies, going so far as to design weapon systems controlled remotely by human operators far from their area of action.

Recent advances in day and night aiming, laser ranging, stabilization, target acquisition and tracking, and digital processing have led to the creation of a new generation of highly accurate weapons. However, this evolution led to the development of remote-controlled weapon stations with a significant increase in weight and complexity, and of course, cost. In remotely operated weapon systems, target acquisition data, such as infrared imagery, laser ranging, and stabilization, is used to directly control a mechanical positioning device to automatically steer the gun.

US 5379676 titled "Fire Control System" describes a fire control system for a manual sight firearm. In it, a target is tracked by a video tracker and an optoelectronic device (EOD) laser, calculating the distance and direction to the target. A target image is sent to an operator's video monitor, the operator then takes a shot controlling the gun to match the target via the video monitor.

However, the shot monitoring system has a problem in that the monitoring range by a camera of the system is limited. In addition, the conventional surveillance system using a single video camera or a common surveillance camera is a basic system based on the concept of automation, not a system that can intelligently recognize a target and automatically track it.

The start of military robotics probably began during the second Iraq war, from 2003, with the use by the American army of a hundred robots mainly to carry out mine clearance and surveillance operations. In 2008, there were nearly twelve thousand military robots in service, whether land-based for mine clearance, or aerial for surveillance and reconnaissance “from the sky”.

Today, the use of robots for demining is still relevant, but more and more robots are being used for active surveillance because of the considerable tactical advantage they offer, by allowing in a way to "deport" the human senses (vision, detection of noise or toxic material, etc.) to hostile areas without risk of human loss. These possibilities have also made it possible to develop armed robots capable of firing, in both cases, fixed or mobile.

Typically, shooter robots are equipped with cameras and weapons of various calibers, and are remotely piloted (or teleoperated) by human operators. Subject to their scope of employment, these robots constitute advantageous tactical support and/or cover for soldiers in the event of intense combat. For example, when the enemy is entrenched behind a wall, the robot can advantageously go around the wall and shoot him.

The Samsung SGR-A1 is a sentry military robot, described in document US 2007/0208459, capable of detecting targets such as advancing human silhouettes, day and night using thermal and infrared cameras, to then point its weapon, automatically, on said targets, and possibly fire. Firing, as the last step in this process, requires the upstream of a human operator according to certain rules of military ethics.

Recently, the Russian army in Syria proceeded to use a ground robot equipped with a grenade launcher to attack enemy positions. This robot nevertheless remains devoid of any automatic decision-making.

Presentation of the invention

The present invention aims to overcome the drawbacks of the state of the art, in particular the absence of decision-making based on artificial intelligence which would make it possible to analyze the targets in order to choose the most suitable mode of defense.

To this end, the present invention relates to a defense and security robot, able to operate autonomously, comprising a detection unit, comprising at least one image sensor, a firing turret, and a base containing a central computer . This robot is remarkable in that the firing turret is equipped with at least two weapons of different calibers and is rotatably mounted around a longitudinal axis Z of the robot to allow automatic aiming at a target with the appropriate weapon, said weapon being chosen according to a classification of the target, obtained by artificial intelligence algorithms implemented by the central computer.

Advantageously, the firing turret comprises a light weapon, of the assault rifle type, a cadence weapon, of the machine gun type, and a heavy weapon, of the artillery piece type such as a rocket launcher, each of said weapons being coupled to a mechanical positioning device.

According to one embodiment, the detection unit comprises three image sensors arranged so that their axes form two by two an angle of 120°, and each having an angular opening sufficient to allow 360° vision.

More specifically, each image sensor is a thermal, optical infrared or multispectral camera, implementing programs for automatic adjustment and tracking of moving objects.

Advantageously, the detection unit comprises a remote sensing instrument, of the radar or Lidar type, and the robot further comprises a radiofrequency communication module and a geolocation module for a satellite positioning system.

According to one embodiment, the robot comprises a telescopic deployment mechanism consisting of an upper part, placed between the firing turret and the detection unit, and a lower part, placed between the base and said turret, said mechanism vary the height of the robot between a closed position and an open position.

In addition, the base has retractable or retractable feet, inclined with respect to the longitudinal axis Z of the robot so as to stabilize the robot when it is in the firing phase.

Advantageously, the base is equipped with moving members, such as wheels and rollers to facilitate moving and transporting the robot.

The invention also relates to a method of defense and security in the context of a military or surveillance operation, implemented by the robot as it has been presented, and comprising:
- an observation stage;
- a target detection step;
- a stage of classification of the target by artificial intelligence;
- an automatic positioning step of the firing turret (20);
- a step of aiming at the target with the chosen weapon;
- a decision-making stage; And
- a decision execution step.

More particularly, the method further comprises, between the detection step and the classification step, the following steps:
- automatic adjustment of an image sensor;
- image capturing; And
- transmission of captured images to the central computer;

Advantageously, the method further comprises a secure communication step with a human operator, said step comprising sub-steps of:
- sending to a server secured by a chain of blocks (or blockchain) of the data resulting from the stage of classification of the target;
- timestamp of data received;
- storage of data and time-stamping certificates generated;
- transmission of the operator command to the defense robot.

Advantageously, the operations of the target classification step by artificial intelligence are based on specific standardized classifiers.

The fundamental concepts of the invention having just been explained above in their most elementary form, other details and characteristics will emerge more clearly on reading the description which follows and with regard to the appended drawings, giving by way of illustration non-limiting example of the embodiments of a defense and security robot and of an associated method in accordance with the principles of the invention.

Presentation of drawings

The appended figures are given for purely illustrative purposes for the understanding of the invention and in no way limit the scope of the latter. In all the figures, identical or equivalent elements bear the same reference numeral.

It is thus illustrated in:

: a schematic perspective view of a defense system according to one embodiment of the invention;

: a side view of the fender system in the closed position;

: a side view of the defense system in the open position;

: a schematic top view of the detection unit of the defense system according to one embodiment of the invention;

: a schematic bottom view of the base of the defense system according to one embodiment of the invention;

: a diagram of the different degrees of freedom in rotation of the firing turret according to the invention;

: a schematic section along a transverse plane of the firing turret according to one embodiment of the invention;

: a schematic block diagram of the defense system according to one embodiment of the invention;

: the main steps of the defense method according to the invention;

: the steps of the defense method according to one embodiment of the invention.

Detailed description of embodiments

In the particular embodiment described below, reference is made to an autonomous defense and security system based on artificial intelligence, intended primarily for the protection of a sensitive military area. This non-limiting example is given for a better understanding of the invention and does not exclude the use of the defense system in other situations, during an assault on enemy terrain for example. The different elements of the system can also be made according to other structural and/or functional variants.

In the rest of the description, the expression “sentinel robot”, or by extension “robot”, is used to designate an autonomous defense system according to the invention.

FIG. 1 schematically represents a sentry robot 100 comprising mainly a detection unit 10, capable of automatically recognizing different targets (humans, vehicles, etc.), a rotating firing turret 20, equipped with weapons of war of different calibers, and a base 30 supporting the rest of the robot and containing a central computer as well as other electronic components detailed below, said base also makes it possible to provide the inertia necessary for stabilizing the robot when it comes into action. Thus, the sentry robot 100 is capable, depending on the nature of the target, of aiming and firing at said target with the most suitable weapon by automatically orienting its firing turret 20. The firing protocol can be controlled automatically by a artificial intelligence or remotely controlled by a human operator. This last mode of operation complies with certain regulations in force. It is also possible to combine the two operating modes, which will be called "automatic" and "manual", for greater efficiency, taking advantage of the complementarity between man and machine.

The sentry robot 100, according to the embodiment illustrated, has a generally cylindrical shape with a circular base, which ends in a spherical portion housing the detection unit 10. The robot thus has a symmetry of revolution adapted to its operation at 360°. In addition, this shape gives the sentinel robot 100 an advantageous compactness for better discretion and reduced bulk.

The detection unit 10, with reference to Figures 2a, 2b and 7, includes image sensors 11, a remote sensing instrument 12, and, due to its positioning on top of the sentry robot 100, also includes a communication 13 connected to an antenna 131 and a geolocation module 14 for satellite positioning system. Therefore, the detection unit 10 allows, in addition to the detection of targets, to ensure the wireless functionalities of the sentry robot. Incidentally, the detection unit 10 can be equipped with additional components and sensors such as weather sensors, light sensors, laser rangefinders, etc.

The various elements of the detection unit 10 are placed under an envelope having a cylindrical lower part with a circular base, ensuring continuity with the shape of the firing turret 20, surmounted by a hemispherical part in the shape of a dome. This particular embodiment of the detection unit 10 offers advantageous compactness and discretion, and allows for example the integration of a 360° panoramic visor behind which the image sensors 11 are positioned. hemispherical part of the detection unit 10 can, like a radome, be used to house various sensors and components, and in particular radiocommunication components, and to protect them from bad weather.

Preferably, the casing of the detection unit 10 comprises on its periphery, vis-à-vis each image sensor 11, a flat and transparent facet 111 so as not to alter the optical properties of the rays reaching the objectives. image sensors. These facets 111 are shown schematically in FIG. 3. Thus, the objectives of the image sensors 11 are protected from impacts by the envelope, consisting for this purpose of a preferably thick and resistant bulletproof layer. In the event of light to medium impacts causing damage to the casing only, the casing only needs to be replaced, the image sensors remaining intact.

The image sensors 11 are configured and arranged in the detection unit 10 so as to allow permanent 360° vision, said unit can for example comprise three or more image sensors, arranged uniformly on a circle, with an angular offset of 120°, or less depending on the number of sensors.

FIG. 3 illustrates an example of an optimal embodiment with three image sensors 11 whose axes form two by two an angle substantially equal to 120°. Each image sensor 11 has an angular aperture α sufficient to allow 360° vision of the assembly without any dead zone, or with extremely negligible dead zones located in a very close vicinity of the detection unit 10 (s 'extending between two successive image sensors and exceeding the envelope of said unit by a few centimeters), in no way altering the detection of targets. These dead zones can be compensated for by slight rotations of the image sensors, for example.

For military surveillance and detection needs, the 11 Image Sensors are high-performance, high-definition (HD) cameras offering large resolution, depth of field, and angular aperture. Preferably, the image sensors 11 are thermal, optical infrared (IR), or multispectral cameras allowing daytime and nighttime visions, equipped with acquisition, imaging (thermographic, radiometric, etc.), communication , processing, monitoring (or “tracking”), as well as other specific electronic modules.

For example, the image sensors 11 are so-called "military" advanced technology cameras characterized by their optical systems for precise measurements (of temperature for example) under extreme conditions, their ultra-sensitive detectors, their processing power, their resolution, their compactness, their automatic orientation mechanism, etc.

Obviously, these cameras also allow video recordings, which are very useful in the military context.

The various cameras 11, uniformly distributed in the detection unit 10, have overlapping fields of view, and as a result, they each give an image for the same region of space. So that the image analysis does not relate to a redundant image provided by two different cameras, the cameras 11 send their information to an on-board computer responsible for merging the different images. More reliable and precise images of the overlapping zones are then obtained.

The remote sensing instrument 12 is a mobile type radar that allows 360° surveillance. For this purpose, the radar 12 can be mounted on a rotating platform actuated by a specific electric motor. Preferably, the radar 12 is of military technology and is characterized by a range and a radius of action adapted to the operation of the sentry robot 100. For example, the radar 12 has a range at least equal to double or triple the largest gun turret firing range 20.

Depending on the military tactics desired for the sentry robot 100, the radar 12 can ensure one or more defense functions, and serve for example as a “counter-battery” ballistic radar, by determining the starting point of an artillery fire opponent (guns, mortars or even rocket launchers) by calculating the trajectory of the projectiles in order to retaliate as quickly as possible (by shooting from the robot or from another source chosen by the operator), and/or as a "watch" radar by monitoring the movements of any aircraft or missile in a combat zone, the Sentinel robot operators can then coordinate the movement of friendly troops, warn them of danger and avoid friendly fire.

For example, the implementation of the radar 12 may consist of detecting shots within a radius of several kilometers, whatever the weather conditions, then identifying the type of missile and analyzing its trajectory, in order to calculate the point of impact. If the sentry bot is threatened, it springs into action and shoots down the target mid-air, or moves to avoid the shot.

The communication module 13 mainly comprises a radioelectric transmitter and receiver connected to the antenna 131, and allows, via secure radio frequency communication, an exchange of data between the sentry robot 100 and a remote operator station, located in a command base 200 For example.

Securing the telecommunications of the sentinel robot 100 can be achieved by an on-board “hardware” material solution, or by any cryptographic protocol with the highest security standards.

The geolocation module 14 for satellite positioning system is of the GPS module type, incorporating a receiver terminal, and making it possible to determine the position of the sentry robot 100.

For spatial sovereignty or other reasons, different geolocation modules (compatible with different systems: GPS, Galileo, GLONASS, etc.) can be used in the Sentinel 100 robot.

Knowing its position thanks to the geolocation module 14, the sentry robot 100 can, by determining the relative positions of the targets (positions relative to the robot), calculate their absolute positions (geographical positions), to transmit them to the command center as it will be described further.

The detection unit 10 as described thus allows the sentry robot 100 to constantly monitor a determined area, to detect any suspicious intrusion and to be on the lookout for any threat, in order to then activate its firing turret 20.

The firing turret 20 is rotatably mounted around the longitudinal axis Z of the sentry robot 100 and mainly comprises weapons 21, integral with the turret and arranged in radial directions thereof, as well as a motor 22, actuating the rotational movement of the turret. The rotation of the firing turret 20 is provided by a mechanism, not shown, coupled to the motor 22, the motor-mechanism assembly allowing rotations, in fractions of a turn or in complete turns, with extreme angular precision to ensure the correct positioning of the firing turret 20, even at very high angular speed.

Indeed, the various servo-controls of the sentry robot 100, and in particular the speed and angular position servo-control of the firing turret 20, have great robustness in performance and stability.

In addition to the rotation of the firing turret 20, each weapon 21 is mounted articulated and can be animated with a movement relative to the turret to aim at the target. Such a movement essentially breaks down into two rotations (θ, φ) in spherical coordinates in a local frame (centered on the joint between the weapon and the turret) linked to the turret. Therefore, each weapon 21 is mounted on the turret 20 by means of a motorized mechanism 211, comprising for example a gear motor and a controller, which makes it possible to orient the barrel of said weapon to aim at a given target. The different degrees of freedom in rotation of the firing turret 20 and its weapons 21 are shown schematically by curved arrows in Figure 5.

FIG. 6 represents an exemplary embodiment in which the firing turret 20 comprises weapons of different firepowers: a light weapon 21a, a high-speed weapon 21b and a heavy weapon 21c.

The light weapon 21a is preferably a precision automatic weapon such as an assault rifle, suitable for targets made up of less than ten individuals grouped together and without cover (vehicle or other shield).

The 21b high-speed weapon, or machine gun, is reserved for targets that are scattered or very close to the sentry robot.

The 21c heavy weapon is an artillery piece such as a rocket launcher or, if the dimensions of the sentry robot allow it, an anti-tank type missile launcher. This weapon is suitable for large targets such as military vehicles, tanks, etc.

The barrels of the different weapons are placed in firing windows provided in the firing turret 20 and each having the dimensions necessary for the movement of the corresponding weapon.

The operation of the sentry robot 100 necessarily involves coordination between the firing turret 20 and the detection unit 10. This coordination is ensured for the most part by the base 30 which processes the information coming from the detection unit 10 to establish instructions for the firing turret 20.

The base 30 of the sentinel robot 10 provides both a functional role, by centralizing all the processing necessary for the operation of the robot and by managing the interactions between its various elements, and a structural role by providing the inertia necessary for the dynamic stability of the robot.

Thus, the base 30 mainly comprises a central computer 31, the real "brain" of the operations, an electrical energy supply device 32, a motor 33 for moving the sentry robot 100, (will possibly be completed).

The central computer 31 comprises a processor 311, or several processors in parallel on a "multi-core" server, executing the various programs of the sentry robot and which can also be linked to, or contain, specific auxiliary processing units such as a digital signal processing optimized for signal filtering and extraction operations for example, said computer also comprises a memory and storage unit 312, making it possible to store data and operate the on-board software, and a transmission unit data 313 shared between the different elements of the sentry robot in the form of computer buses and allowing exchanges of data between said elements by electric lines.

According to a fundamental aspect of the invention, the central computer 31 implements artificial intelligence algorithms 314 (hereinafter referred to as "artificial intelligence"), developed by the applicant, reproducing cognitive decision-making processes according to the situations and carrying out various object recognition with very high accuracy. This artificial intelligence provides the Sentinel 100 robot with both autonomy and efficiency surpassing human performance, and in particular that of elite soldiers, in particular with regard to the recognition/identification of distant targets as well as rapid analysis and precise situations, taking into account a large amount of data (big data). This operation based on artificial intelligence is described below.

The electrical energy supply device 32 is a rechargeable electric battery with long autonomy, supplying the electrical energy necessary for the operation of each electrical component of the sentry robot 100. Preferably, the management and distribution of the electrical energy are ensured by a power management integrated circuit 321.

The motor 33 makes it possible to tow the sentry robot 100, which can then move at low speed in order to improve the firing positions or to reach targets entrenched behind obstacles. To this end, the sentry robot 100 is provided, at the level of the base 30, with a set of wheels, composed for example of two steerable wheels 34 coupled to the motor 33 and of a free spherical wheel 35, as represented on the figure 4.

Incidentally, the base 30 of the sentry robot 100 may include cooling fins 36, visible in Figures 2a and 2b, as well as fans to cool the on-board electronics in the event of overheating, especially in a hot environment.

The base 30 can also comprise an annular base 37 having a large mass to ballast the sentry robot, and in which fixing holes 371, visible in FIG. , vehicle, armored vehicle, etc.) for a static mode of operation, more suited to border surveillance missions for example.

In addition to the rotary connection of its firing turret 20, the sentry robot 100 comprises a telescopic deployment mechanism between a closed position, of minimum height, represented in FIG. 2a and an open position, of maximum height, represented in FIG. 2b. This telescopic mechanism comprises an upper part 41, between the detection unit 10 and the firing turret 20, and a lower part 42 between said turret and the base 30, each part of the mechanism being actuated, for example, by a mechanical device adapted or by cylinder. Each part, upper 41 and lower 42, of the telescopic mechanism preferably consists of two interlocking sections as illustrated in FIG. 2b.

The telescopic mechanism can be designed so that in the closed position of the sentry robot 100, the upper part 41 is contained in the firing turret 20, and the lower part 42 in the base 30.

The base 30 can also be provided with feet 38, visible in FIG. 2b, which deploy under the sentry robot 100 to, on one side, raise it by an additional height, both in the open position and in the closed position. , and on the other hand, stabilize it during a firing sequence. To this end, each foot 38 includes a plate 381 by which it rests on the ground.

According to the embodiment illustrated in Figures 2b and 4, the base 30 comprises three legs 38 arranged in a triangle, and whose axes are inclined with respect to the longitudinal axis Z of the robot, thus forming a tripod. The deployment of the feet 38 is automated and can be achieved by sliding said feet inside the base 30 between a retracted position, in which each foot is housed for the most part in a complementary volume inside the base, and a deployed position in which each foot supports the sentry robot 100.

The Sentinel 100 robot can also tilt with respect to the vertical by uneven the runs of 38 different feet (two feet sticking out more than the third for example). The inclination of the robot makes it possible to increase the range of the weapons of the firing turret 20 by favoring tense shots (with an initial velocity vector inclined with respect to the horizontal).

Like most vehicles and combat devices, the Sentinel 100 robot is equipped with armor on most of its external surface to resist bullet impacts, explosions and the projection of various debris. For example, the armor of the firing turret 20 and of the base 30 is of the reactive or homogeneous laminated type, the casing of the detection unit 10 is for its part manufactured in a material allowing the vision of the on-board cameras while being armored, such as armored glass.

In view of the description of the sentry robot 100, a multitude of implementation scenarios can be envisaged. Nevertheless, the operation of the robot necessarily respects the steps of a generic method illustrated in FIG. 8, which method comprises:
- a step 510 of monitoring and surveillance;
- a step 520 of detecting a potential target;
- a step 530 of identifying the detected target and analyzing the circumstances relating thereto;
- a step 540 (systematic) orientation of the firing turret;
- a step 550 of aiming at the locked target;
- a decision-making step 560; And
- a step 570 of executing the decision taken.

The monitoring and surveillance step 510 consists in securing a perimeter around the sentry robot, which could for example correspond to a sensitive military zone (base, camp, test site, etc.) or simply to a border post between two countries in conflict, by permanent observation carried out by means of the detection unit 10, and more particularly by means of the cameras 11 and/or the radar 12 which constitute the detection and tracking devices.

The detection step 520 corresponds to the recording by the detection unit 10 of an anomaly occurring in the observed zone, such as a human intrusion, and/or a vehicle, captured by the cameras 11 or a projectile passage probed by radar 12.

The identification and analysis step 530 corresponds to the processing carried out by the central computer in order to determine the nature of the target. Identification is based on the execution of artificial intelligence with the implementation of standardized classifiers to recognize objects, people, a set of objects, a combination of these elements, etc. Identification makes it possible, for example, to distinguish friendly or enemy soldiers by specific indicators (uniforms, coats of arms, vehicles, etc.) entered into the artificial intelligence. The analysis of the circumstances is also based on the execution of artificial intelligence with the consideration of contextual data to carry out a predictive analysis and anticipate threats.

Step 530 also allows the sentry robot to determine the appropriate weapon depending on the target. Depending on the typology of the detected threat, a procedure based on a warning shot can be activated, as well as a silent or non-silent alert procedure, and a warning message. This procedure will be activated by the command according to the class of use of the robot and the level of security required according to the potential threats envisaged.

The aiming turret stage 540 consists of rotating the turret so that the chosen weapon (depending on the nature of the target) points in the direction of the target. This rotation can be done at different angular speeds depending on several parameters such as the imminence of the threat, the distance from the target, the number of simultaneous targets, the energy saving of the electric battery, etc. Preferably, the sentry bot's attitude, including the rotation speed of its gun turret, should remain faster than the gestures of a human soldier, to ensure a tactical advantage in terms of performance and accuracy. Thus the basic characteristic time, corresponding to an entire turn of the turret, should preferably be of the order of a fraction of a second.

The target aiming step 550 corresponds to an automatic maneuver performed by the appropriate weapon pointing the target, to orient the barrel of the appropriate weapon according to the target location and typology data received from the central computer. As long as the shot or the sequence of shots is not executed, this step is maintained. In other words, the weapon continues to aim at the target, which in this case becomes a locked target.

The decision-making step 560 can be automatic or manual.

In the first case, artificial intelligence is responsible for determining what action the robot should take in view of the identified and analyzed target. Some decisions may be obvious, such as shooting down an enemy soldier who is shooting at allies, who is targeting the sentry robot, or who is trying to enter a sensitive area while being armed with explosives, for example. Other decisions require deeper analysis so that the outcome is relatively consistent with a human reaction. This analysis can result from machine learning based on data from simulations carried out by human soldiers during training sessions, for example. In addition, this automatic learning can be manually fine-tuned on an ongoing basis to minimize the robot's error rate. The artificial intelligence developed by the applicant achieves correlations with human decisions exceeding 90%.

In the second case, a human operator takes control of the sentry robot to control it remotely and orchestrate its various actions (shooting, interventions, taking control of the cameras of the detection unit, etc.).

It is important to note that the human operator can at any time switch between automatic mode and manual mode, and moreover, favor a combined mode in which the robot works in automatic mode along the whole process except for the execution of the decision, in which case a validation is requested from the human operator. Thus, the human operator confirms or cancels the decision of the artificial intelligence and, if necessary, takes another decision which seems to him to be more appropriate.

The execution step 570 completes the (punctual) action of the sentinel robot and can be operated in automatic mode or in manual mode, the latter case necessarily being accompanied by human authorization.

FIG. 9 represents the steps for implementing the method according to a particular embodiment.

According to this example, the method comprises:
- step 510 of observation;
- step 520 of detecting a target X;
- a step 521 of automatic adjustment and adjustment of the image sensors;
- a step 522 of tracking the target X, executed in parallel with the previous step;
- a step 523 of capturing images of the target X;
- a step 524 of transmitting the images to the central computer;
- a step 525 of image processing and analysis by artificial intelligence;
- step 530 of classification (recognition/identification) of the target X;
- a step 531 of sending instructions to the firing turret based on the coordinates of the target X obtained thanks to the tracking step 522;
- step 540 of movement (orientation) of the firing turret in execution of the instructions received;
- step 550 of aiming at target X;
- the decision step 560, which can be executed just after the classification step 530, in parallel with the steps 531, 540 and 550;
- a step 561 for validating the decision;
- Step 570 of executing the validated decision.

This method is also accompanied by a step 600 of communication with the operator comprising sub-steps of:
- Sending to a server 210 secured by chain of blocks (or blockchain) of the data resulting from step 530 of classification of the detected target;
- timestamp of data received;
- storage of data and time-stamping certificates generated;
- operator command based on the data received.

The automatic adjustment and adjustment step 521 corresponds to the various processing operations carried out by the cameras of the robot, such as automatic focusing (or autofocus), magnification, framing and others, with a view to obtaining a usable image. by the central computer.

The target tracking step 522 is carried out by means of dedicated functionalities installed in the cameras' computers and makes it possible to continuously calculate the position of the moving target to allow the robot, if necessary, to aim and shoot quasi instantly.

The defense and security process as described applies regardless of the number of targets. In other words, the method is implemented repeatedly on each target detection. However, when the robot detects several targets at the same time, or more precisely in a shorter period of time than the loop time of the method, it performs a scheduling of the targets according to several factors to then trigger an optimized action. These factors are, for example, the distance to the target, the typology of the target, the time required to neutralize the target, the ammunition available, the speed of progression of the target, as well as other priority criteria which may be allowed in the robot optimization algorithms.

For example, when the robot detects a slowly advancing tank and a lightly armed soldier very close, and the turret's light weapon and heavy weapon cannot simultaneously target both targets, the robot chooses to priority attack the tank with the heavy weapon to cancel the threat of an imminent fire with more serious consequences, before neutralizing the soldier who, in the meantime, can only do limited damage to the robot.

In addition, the operation of the sentry robot necessarily respects the steps of a maintenance process allowing the batteries to be changed quickly and the ammunition tanks to be filled for the various weapon systems.

Claims (12)

Defense and security robot (100), able to operate autonomously, comprising a detection unit (10), comprising at least one image sensor (11), a firing turret (20), and a base ( 30) containing a central computer (31), characterized in that the firing turret is equipped with at least two weapons (21) of different calibers and is rotatably mounted around a longitudinal axis (Z) of the robot to allow automatically aiming at a target with the appropriate weapon, said weapon being chosen according to a classification of the target, obtained by artificial intelligence algorithms implemented by the central computer. Robot according to claim 1, in which the firing turret (20) comprises a light weapon (21a), of the assault rifle type, a cadence weapon (21b), of the machine gun type, and a heavy weapon (21c), of the artillery piece type such as a rocket launcher, each of said weapons being coupled to a mechanical positioning device (211). Robot according to one of Claims 1 or 2, in which the detection unit (10) comprises three image sensors (11) arranged so that their axes form an angle of 120° in pairs, and each having a angular opening sufficient to allow 360° vision. A robot according to any preceding claim, wherein each image sensor (11) is a thermal, infrared optical or multispectral camera, implementing programs for automatic adjustment and tracking of moving objects. Robot according to any one of the preceding claims, in which the detection unit (10) comprises a remote sensing instrument (12), of the radar or Lidar type, the said robot further comprising a radiofrequency communication module (13) and a geolocation module (14) for satellite positioning system. Robot according to any one of the preceding claims, comprising a telescopic deployment mechanism consisting of an upper part (41), placed between the firing turret (20) and the detection unit (10), and a lower part ( 42), placed between the base (30) and said turret, said mechanism varying the height of the robot between a closed position and an open position. Robot according to any one of the preceding claims, in which the base (30) comprises retractable or retractable feet (38), inclined with respect to the longitudinal axis (Z) of the robot so as to stabilize said robot during firing. Robot according to any one of the preceding claims, in which the base (30) is equipped with displacement members, such as wheels (34) and rollers (35). Defense and security method in the context of a military or surveillance operation, characterized in that it is implemented by a defense and security robot according to one of the preceding claims, and in that it understand :
- a step (510) of observation;
- a step (520) of detecting a target;
- a step (530) of classification of the target by an artificial intelligence;
- a step (540) for automatically positioning the firing turret (20);
- a step (550) of aiming at the target with the chosen weapon;
- a decision making step (560); And
- a step (570) for executing the decision. A method according to claim 9, further comprising:
- a step (521) of automatic adjustment of an image sensor (11);
- a step (532) of capturing images; And
- a step (524) of transmitting the captured images to the central computer (31);
between step 520) of detection and step (530) of classification. Method according to one of claims 9 or 10, further comprising a step (600) of secure communication with a human operator, said step comprising sub-steps of:
- sending to a server (210) secured by a chain of blocks (or blockchain) of the data resulting from the step (530) of classifying the target;
- timestamp of data received;
- storage of data and time-stamping certificates generated;
- transmission of the operator command to the defense robot (100). Method according to one of Claims 9 to 11, in which the operations of the step (530) of classifying the target by artificial intelligence are based on specific standardized classifiers.