WO2008145676A2 - Observation tetrapod - Google Patents

Observation tetrapod Download PDF

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Publication number
WO2008145676A2
WO2008145676A2 PCT/EP2008/056562 EP2008056562W WO2008145676A2 WO 2008145676 A2 WO2008145676 A2 WO 2008145676A2 EP 2008056562 W EP2008056562 W EP 2008056562W WO 2008145676 A2 WO2008145676 A2 WO 2008145676A2
Authority
WO
WIPO (PCT)
Prior art keywords
machine according
transmitter
tetrapod
cameras
balloon
Prior art date
Application number
PCT/EP2008/056562
Other languages
French (fr)
Other versions
WO2008145676A3 (en
Inventor
Jean-Paul Prulhiere
Virginie Saavedra
Original Assignee
Commissariat A L'energie Atomique
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat A L'energie Atomique filed Critical Commissariat A L'energie Atomique
Publication of WO2008145676A2 publication Critical patent/WO2008145676A2/en
Publication of WO2008145676A3 publication Critical patent/WO2008145676A3/en

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/19619—Details of casing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/19621—Portable camera
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Definitions

  • the invention relates to an observation tetrapod.
  • Some areas are not visible directly (behind a wall, after a bend in a gallery) or may be considered potentially dangerous, for example due to the presence of a suspicious object in the middle of other objects.
  • the present invention specifically relates to an observation machine that overcomes these disadvantages. These goals are achieved by the fact that the observation apparatus consists of a tetrapod equipped with an optical sensor system and a radio transmission system (HF).
  • HF radio transmission system
  • the radio transmission system may be a single transmitter or a transceiver.
  • the transmitter or transceiver may be an analog or digital transmitter.
  • the optical sensor system may advantageously consist of cameras with a very wide angle of view.
  • the observation tetrapod of the invention allows the real-time visualization of images and their possible treatment (locally) for a remote observation of security according to a very wide angle see in the totality of the space (4 ⁇ steradians).
  • the cameras use CCD type cells (or other type used in Webcam).
  • the CCD sensors provide digital signals to a computer that multiplexes them.
  • the viewing quadrupole is equipped with four cameras.
  • the observation tetrapod is housed inside an inflatable transparent balloon.
  • the balloon has a calibrated orifice to deflate after a few seconds. This makes it possible to increase the desired range by giving the machine a spherical shape for roll it.
  • the balloon deflates naturally after a few seconds (programmable time) to release the feet of the tetrapod so that it regains its functionality.
  • the balloon does not deflate so as to ensure the buoyancy of the craft on a liquid.
  • This system ensures buoyancy on a liquid (water or kerosene web). In this case, the balloon remains inflated.
  • one of the feet is equipped with a ballast so that the machine takes a given position of equilibrium.
  • the machine can be equipped with a cable to recover it and the signals from the cameras can then pass through the cable, or in HF.
  • the machine may comprise a sensor to know the position of the tetrapod relative to the vertical.
  • Microphones or radar type sensors can provide access to the speed and speed of objects observed.
  • the machine may comprise an explosive charge remotely triggerable from a viewing station, and or an autonomous lighting system (LED diode) to see in the dark.
  • an explosive charge remotely triggerable from a viewing station
  • an autonomous lighting system LED diode
  • FIG. 1 is a perspective view of a viewing tetrapod according to the present invention
  • FIG. 2 is a view from above of the tetrapod shown in FIG. 1;
  • FIG. 3 is a block diagram of an observation machine according to the present invention.
  • FIG. 4 is a diagram illustrating the implementation of the observation machine
  • - Figure 5 is a view showing an observation device of the invention embedded in an inflatable transparent balloon.
  • FIG. 1 and 2 There is shown in Figures 1 and 2 a tetrapod according to the present invention. It has four arms referenced respectively 2, 4, 6 and 8.
  • the arm 4 is vertical is directed upwards.
  • the arms 4, 6 and 8 rest on the ground. Thanks to this feature we can see that there is always a vertical arm directed upwards (perpendicular to the ground).
  • the tetrapod is equipped with several cameras with a very wide viewing angle 10, for example 3 as in the example shown or even four cameras. These cameras may consist of commercial components used in Webcam, that is to say CCD cells supplying digital signals to a computer that multiplexes them.
  • Tetrapod 12 comprises several cameras 10, for example four in the example shown. These cameras are connected to a multiplexer computer 14 connected to a single transmitter or to a transmitter / receiver. Other sensors 16 are connected to the multiplexer computer 12, for example an infrared sensor or a microphone.
  • the transmitter or transceiver transmits signals via the antenna 18. These signals are received on the antenna 20 of a station 22 and transmitted to the receiver 24 or to a receiver / transmitter in which they undergo a possible treatment.
  • the receiver / transmitter 24 is connected to a display device, for example a screen 26 which makes it possible to display the images collected by the cameras 10.
  • the block 26 also makes it possible to send commands for example if one wants to zoom in on a detail from the control station, or order an adjustment according to the light.
  • the quadrupole 12 is battery powered (not shown).
  • FIG. 4 shows the use of the observation tetrapod.
  • the tetrapod has the property, unlike a sphere, to have only four positions of equilibrium. As a result, there is always an arm perpendicular to the ground surface. Tetrapod is light, of a weight typically less than 1kg. It is small, the size of a tennis ball. Its useful volume is less than 0.5 liter.
  • the user throws the tetrapod like a grenade or a petanque ball over obstacles to the area to be observed while remaining protected.
  • the user 30 throws the quadrupole 12 over the wall 32.
  • the quadrupole lands at 34 and makes it possible to observe zones 36 and 38 that can not be seen directly by the user.
  • FIG. 5 An alternative embodiment. It consists of an inflatable transparent balloon 40 manually or with an integrated inflation system.
  • This balloon increases the desired range by giving the craft a spherical shape to roll it.
  • the balloon deflates after a few seconds in order to release the feet of the tetrapod.
  • the balloon does not deflate which ensures its buoyancy on a liquid such as water or a kerosene web.
  • the system can be equipped with a ballast placed on one of the arms of the tetrapod in order to reach a position of equilibrium identical to that of the system without balloon.
  • Such a system can be equipped with a cable to recover it.
  • the tetrapod comprises a sensor which makes it possible to know its position relative to the vertical. Indeed, the ground on which it rests is not necessarily horizontal. All types of commercially available sensors can be used, for example, an electronic level sensor.
  • the optical and / or infrared cameras can be associated with microphones and radar type sensors making it possible to access the speed of the objects observed.
  • the presence of the tetrapod coupled with surveillance cameras ensures a panoramic view regardless of how to launch the object.
  • the tetrapod of the invention which has just been described has many advantages. It is lightweight, standalone, portable (low cost using consumer components). It allows the real-time transmission of optical, infrared, radar, sound, etc. information, in an independent landmark. Unlike the system based heavy robots, expensive it is easily transportable in a backpack put in several copies. On the other hand it allows to ensure a total vision of the field with a mark perfectly positioned relative to the ground. It is easy to use without specialized personnel. Given its low cost can be used in large numbers. One can imagine for example, a firefighter has a dozen in his backpack with a single receiving station. In addition, the observation tetrapod of the invention does not require maintenance. Its applications in dangerous environments are numerous.

Abstract

The invention relates to observation equipment comprising a regular tetrapod (2, 4, 6, 8) fitted with an optical sensor system (10) and a radio transmission system that may consist of a transmitter or a transceiver (14, 24). The optical sensor system may include cameras (10) with a very wide shooting angle.

Description

TETRAPODE D'OBSERVATION TETRAPOD OF OBSERVATION
DESCRIPTIONDESCRIPTION
DOMAINE TECHNIQUETECHNICAL AREA
L' invention concerne un tétrapode d'observation.The invention relates to an observation tetrapod.
Dans des environnements dangereux, par exemple en cas d' incendie ou de lutte anti-terrorisme ou bien lorsqu'il est nécessaire d'accéder à des locaux difficiles d'accès ou inaccessible (canalisations, égouts, grottes ...) il est nécessaire d'effectuer une reconnaissance des lieux pour définir les moyens adaptés à l'intervention, avant d'envoyer du personnel.In dangerous environments, for example in case of fire or counter-terrorism or when it is necessary to access difficult or inaccessible premises (pipes, sewers, caves ...) it is necessary perform a site reconnaissance to define the appropriate means for the intervention, before sending staff.
Certaines zones ne sont pas visibles directement (derrière un mur, après un coude dans une galerie) ou peuvent être considérées comme potentiellement dangereuses, par exemple en raison de la présence d'un objet suspect au milieu d'autres objets .Some areas are not visible directly (behind a wall, after a bend in a gallery) or may be considered potentially dangerous, for example due to the presence of a suspicious object in the middle of other objects.
De nombreux moyens ont été développés pour éviter que les spécialistes chargés de cette reconnaissance ne prennent des risques.Many ways have been developed to prevent the specialists responsible for this recognition from taking risks.
Il est connu par exemple, d'envoyer des robots autonomes. Mais ces moyens lourds nécessitent des sources d'énergie importantes pour leur déplacement. Leur autonomie est donc limitée. En outre, lorsque les volumes à contrôler sont petits, ces moyens ne peuvent pas être employés.For example, it is known to send autonomous robots. But these heavy means require important sources of energy for their displacement. Their autonomy is therefore limited. In addition, when the volumes to be controlled are small, these means can not be used.
La présente invention a précisément pour objet un engin d'observation qui remédie à ces inconvénients. Ces buts sont atteints par le fait que l'engin d'observation est constitué d'un tétrapode équipé d'un système de capteurs optiques et d'un système de transmission hertzien (HF) .The present invention specifically relates to an observation machine that overcomes these disadvantages. These goals are achieved by the fact that the observation apparatus consists of a tetrapod equipped with an optical sensor system and a radio transmission system (HF).
Grâce à ces caractéristiques on dispose d'un système léger, de petites dimensions, autonome, à coût réduit .Thanks to these features we have a light system, small size, autonomous, low cost.
Le système de transmission radio peut être un émetteur simple ou un émetteur/récepteur. L'émetteur ou l'émetteur/récepteur peut être un émetteur analogique ou numérique.The radio transmission system may be a single transmitter or a transceiver. The transmitter or transceiver may be an analog or digital transmitter.
Le système de capteur optique peut être avantageusement constitué de caméras à très grand angle de prise de vue.The optical sensor system may advantageously consist of cameras with a very wide angle of view.
Ainsi, le tétrapode d'observation de l'invention permet la visualisation en temps réel d'images et leur éventuel traitement (en local) pour une observation à distance de sécurité selon un très grand angle voir dans la totalité de l'espace (4π stéradians) . Dans un mode de réalisation particulier les caméras utilisent des cellules de type CCD (ou autre type utilisé dans des Webcam) . De préférence, les capteurs CCD fournissent des signaux numériques à un calculateur qui les multiplexe. De préférence, le tétrapode d'observation est équipé de quatre caméras.Thus, the observation tetrapod of the invention allows the real-time visualization of images and their possible treatment (locally) for a remote observation of security according to a very wide angle see in the totality of the space (4π steradians). In a particular embodiment the cameras use CCD type cells (or other type used in Webcam). Preferably, the CCD sensors provide digital signals to a computer that multiplexes them. Preferably, the viewing quadrupole is equipped with four cameras.
Dans un mode de réalisation particulier, le tétrapode d'observation est logé à l'intérieur d'un ballon transparent gonflable. Le ballon est muni d'un orifice calibré afin de se dégonfler au bout de quelques secondes. Cela permet d'augmenter la portée souhaitée en donnant à l'engin une forme sphérique pour le faire rouler. Le ballon se dégonfle naturellement au bout de quelques secondes (temps programmable) afin de libérer les pieds du tétrapode pour qu' il retrouve sa fonctionnalité. On peut imaginer son emploi par exemple, pour examiner l'intersection d'une canalisation secondaire en pente avec une canalisation principale .In a particular embodiment, the observation tetrapod is housed inside an inflatable transparent balloon. The balloon has a calibrated orifice to deflate after a few seconds. This makes it possible to increase the desired range by giving the machine a spherical shape for roll it. The balloon deflates naturally after a few seconds (programmable time) to release the feet of the tetrapod so that it regains its functionality. One can imagine its use for example, to examine the intersection of a secondary pipe sloping with a main pipe.
Dans une variante de réalisation le ballon ne se dégonfle pas de manière à assurer la flottabilité de l'engin sur un liquide. Ce système permet d'assurer la flottabilité sur un liquide (eau ou nappe de kérosène) . Dans ce cas, le ballon reste gonflé.In an alternative embodiment the balloon does not deflate so as to ensure the buoyancy of the craft on a liquid. This system ensures buoyancy on a liquid (water or kerosene web). In this case, the balloon remains inflated.
Avantageusement l'un des pieds est équipé d'un lest afin que l'engin prenne une position d'équilibre donnée.Advantageously one of the feet is equipped with a ballast so that the machine takes a given position of equilibrium.
L'engin peut être équipé d'un câble permettant de le récupérer et les signaux des caméras peuvent alors transiter par le câble, ou en HF.The machine can be equipped with a cable to recover it and the signals from the cameras can then pass through the cable, or in HF.
L'engin peut comporter un capteur permettant de connaître la position du tétrapode par rapport à la verticale. Des microphones ou des capteurs de type radar peuvent permettre d'accéder à la vitesse et à la vitesse des objets observés.The machine may comprise a sensor to know the position of the tetrapod relative to the vertical. Microphones or radar type sensors can provide access to the speed and speed of objects observed.
Enfin, selon une autre variante de réalisation, l'engin peut comporter une charge explosive déclenchable à distance à partir d'une station de visualisation, et ou un système d'éclairage autonome (diode LED) pour voir dans l'obscurité.Finally, according to another embodiment, the machine may comprise an explosive charge remotely triggerable from a viewing station, and or an autonomous lighting system (LED diode) to see in the dark.
L'engin est de petite taille. Il a approximativement la taille d'une balle de tennis. D'autres caractéristiques et avantages de l'invention apparaîtront encore à la lecture de la description qui suit d'exemples de réalisation donnés à titre illustratif en référence aux figures annexées. Sur ces figures :The craft is small. It is approximately the size of a tennis ball. Other features and advantages of the invention will become apparent on reading the following description of exemplary embodiments given by way of illustration with reference to the appended figures. In these figures:
- la figure 1 est une vue en perspective d'un tétrapode d'observation conforme à la présente invention ;FIG. 1 is a perspective view of a viewing tetrapod according to the present invention;
- la figure 2 est une vue de dessus du tétrapode représenté sur la figure 1 ;FIG. 2 is a view from above of the tetrapod shown in FIG. 1;
- la figure 3 est un schéma synoptique d'un engin d'observation conforme à la présente invention ;FIG. 3 is a block diagram of an observation machine according to the present invention;
- la figure 4 est un schéma qui illustre la mise en œuvre de l'engin d'observation ; - la figure 5 est une vue qui représente un engin d'observation de l'invention intégré dans un ballon transparent gonflable.FIG. 4 is a diagram illustrating the implementation of the observation machine; - Figure 5 is a view showing an observation device of the invention embedded in an inflatable transparent balloon.
On a représenté sur les figures 1 et 2 un tétrapode conforme à la présente invention. Il comporte quatre bras référencés respectivement 2, 4, 6 et 8. Le bras 4 est vertical est dirigé vers le haut. Les bras 4, 6 et 8 reposent sur le sol. Grâce à cette caractéristique on peut constater qu'il y a toujours un bras vertical dirigé vers le haut (perpendiculaire au sol) .There is shown in Figures 1 and 2 a tetrapod according to the present invention. It has four arms referenced respectively 2, 4, 6 and 8. The arm 4 is vertical is directed upwards. The arms 4, 6 and 8 rest on the ground. Thanks to this feature we can see that there is always a vertical arm directed upwards (perpendicular to the ground).
Le tétrapode est équipé de plusieurs caméras à très grand angle de visée 10, par exemple 3 comme dans l'exemple représenté voire quatre caméras. Ces caméras peuvent être constituées de composants du commerce employés dans les Webcam, c'est-à-dire des cellules CCD fournissant des signaux numériques à un calculateur qui les multiplexe.The tetrapod is equipped with several cameras with a very wide viewing angle 10, for example 3 as in the example shown or even four cameras. These cameras may consist of commercial components used in Webcam, that is to say CCD cells supplying digital signals to a computer that multiplexes them.
On a représenté sur la figure 3 un schéma synoptique d'un tétrapode d'observation conforme à l'invention relié à une station. Le tétrapode 12 comporte plusieurs caméras 10, par exemple quatre dans l'exemple représenté. Ces caméras sont reliées à un calculateur multiplexeur 14 relié à un émetteur simple ou à un émetteur/récepteur. D'autres capteurs 16 sont reliés au calculateur multiplexeur 12, par exemple un capteur à infrarouge ou un micro. L'émetteur ou l'émetteur/récepteur émet des signaux par l'intermédiaire de l'antenne 18. Ces signaux sont reçus sur l'antenne 20 d'une station 22 et transmis au récepteur 24 ou à un récepteur/émetteur dans lequel ils subissent un traitement éventuel.There is shown in Figure 3 a block diagram of a tetrapod observation according to the invention connected to a station. Tetrapod 12 comprises several cameras 10, for example four in the example shown. These cameras are connected to a multiplexer computer 14 connected to a single transmitter or to a transmitter / receiver. Other sensors 16 are connected to the multiplexer computer 12, for example an infrared sensor or a microphone. The transmitter or transceiver transmits signals via the antenna 18. These signals are received on the antenna 20 of a station 22 and transmitted to the receiver 24 or to a receiver / transmitter in which they undergo a possible treatment.
Le récepteur/émetteur 24 est relié à un dispositif de visualisation, par exemple un écran 26 qui permet de visualiser les images recueillies par les caméras 10. Le bloc 26 permet également d'envoyer des commandes par exemple si l'on veut zoomer sur un détail depuis la station de contrôle, ou commander un réglage suivant la lumière.The receiver / transmitter 24 is connected to a display device, for example a screen 26 which makes it possible to display the images collected by the cameras 10. The block 26 also makes it possible to send commands for example if one wants to zoom in on a detail from the control station, or order an adjustment according to the light.
Le tétrapode 12 est alimenté par batterie (non représentée) .The quadrupole 12 is battery powered (not shown).
On a représenté sur la figure 4 l'utilisation du tétrapode d'observation. Le tétrapode possède la propriété, contrairement à une sphère, d'avoir seulement quatre positions d'équilibre. De ce fait il y a toujours un bras perpendiculaire à la surface du sol. Le tétrapode est léger, d'un poids typiquement inférieur à lkg. Il est de petite dimension, de la taille d'une balle de tennis. Son volume utile est inférieur à 0,5 litre. L'utilisateur lance le tétrapode comme une grenade ou une boule de pétanque par-dessus les obstacles vers la zone à observer tout en restant protégé. Ainsi, sur la figure 4, l'utilisateur 30 lance le tétrapode 12 par-dessus le mur 32. Le tétrapode atterrit en 34 et permet d'observer des zones 36 et 38 qui ne peuvent être vues directement par l'utilisateur.FIG. 4 shows the use of the observation tetrapod. The tetrapod has the property, unlike a sphere, to have only four positions of equilibrium. As a result, there is always an arm perpendicular to the ground surface. Tetrapod is light, of a weight typically less than 1kg. It is small, the size of a tennis ball. Its useful volume is less than 0.5 liter. The user throws the tetrapod like a grenade or a petanque ball over obstacles to the area to be observed while remaining protected. Thus, in FIG. 4, the user 30 throws the quadrupole 12 over the wall 32. The quadrupole lands at 34 and makes it possible to observe zones 36 and 38 that can not be seen directly by the user.
On a représenté sur la figure 5 une variante de réalisation. Elle est constituée d'un ballon transparent gonflable 40 manuellement ou avec un système intégré de gonflage. Ce ballon permet d'augmenter la portée souhaitée en donnant à l'engin une forme sphérique pour le faire rouler. Dans un premier cas, le ballon se dégonfle au bout de quelques secondes afin de libérer les pieds du tétrapode. Dans un autre cas le ballon ne se dégonfle pas ce qui permet d'assurer sa flottabilité sur un liquide tel que de l'eau ou une nappe de kérosène. Le système peut être équipé d'un lest placé sur l'un des bras du tétrapode afin d'aboutir à une position d'équilibre identique à celle du système sans ballon. Un tel système peut être équipé d'un câble permettant de le récupérer. Dans ce cas il est possible de transmettre les signaux par cette voie (câble coaxial ou fibre optique) . Selon un autre mode de réalisation le tétrapode comporte un capteur qui permet de connaître sa position par rapport à la verticale. En effet, le terrain sur lequel il repose n'est pas obligatoirement horizontal. Tous les types de capteurs du commerce peuvent être utilisés, par exemple, un capteur de niveau électronique.There is shown in Figure 5 an alternative embodiment. It consists of an inflatable transparent balloon 40 manually or with an integrated inflation system. This balloon increases the desired range by giving the craft a spherical shape to roll it. In the first case, the balloon deflates after a few seconds in order to release the feet of the tetrapod. In another case the balloon does not deflate which ensures its buoyancy on a liquid such as water or a kerosene web. The system can be equipped with a ballast placed on one of the arms of the tetrapod in order to reach a position of equilibrium identical to that of the system without balloon. Such a system can be equipped with a cable to recover it. In this case it is possible to transmit the signals by this way (coaxial cable or optical fiber). According to another embodiment, the tetrapod comprises a sensor which makes it possible to know its position relative to the vertical. Indeed, the ground on which it rests is not necessarily horizontal. All types of commercially available sensors can be used, for example, an electronic level sensor.
Les caméras optiques et/ou infrarouges peuvent être associées à des microphones et des capteurs de type radar permettant d' accéder à la vitesse des objets observés.The optical and / or infrared cameras can be associated with microphones and radar type sensors making it possible to access the speed of the objects observed.
La présence du tétrapode couplé à des caméras de surveillance permet de garantir une vision panoramique quelle que soit la manière de lancer l'objet.The presence of the tetrapod coupled with surveillance cameras ensures a panoramic view regardless of how to launch the object.
Le tétrapode de l'invention qui vient d'être décrit présente de nombreux avantages. Il est léger, autonome, portatif (de coût réduit l'utilisant de composants grand public) . Il permet la transmission en temps réel d'information optiques, infrarouges, radar, sonores, etc, dans un repère indépendant du terrain. Contrairement au système à base de robots lourds, chers il est aisément transportable dans un sac à dos mise en plusieurs exemplaires. D'autre part il permet d'assurer une vision totale du champ avec un repère parfaitement positionné par rapport au sol. Il est facile d'utilisation sans personnel spécialisé. Etant donné son faible coût de revient on peut l'utiliser en grand nombre. On peut imaginer par exemple, qu'un pompier en dispose d'une dizaine dans son sac à dos avec une seule station de réception. De plus, le tétrapode d'observation de l'invention ne nécessite pas de maintenance. Ses applications dans les environnements dangereux sont nombreuses. The tetrapod of the invention which has just been described has many advantages. It is lightweight, standalone, portable (low cost using consumer components). It allows the real-time transmission of optical, infrared, radar, sound, etc. information, in an independent landmark. Unlike the system based heavy robots, expensive it is easily transportable in a backpack put in several copies. On the other hand it allows to ensure a total vision of the field with a mark perfectly positioned relative to the ground. It is easy to use without specialized personnel. Given its low cost can be used in large numbers. One can imagine for example, a firefighter has a dozen in his backpack with a single receiving station. In addition, the observation tetrapod of the invention does not require maintenance. Its applications in dangerous environments are numerous.

Claims

REVENDICATIONS
1. Engin d'observation (12) caractérisé en ce qu'il est constitué d'un tétrapode régulier (2, 4, 6, 8) équipé d'un système de capteurs optiques (10) et d'un système de transmission radio (14, 24) .1. Observation machine (12) characterized in that it consists of a regular tetrapod (2, 4, 6, 8) equipped with an optical sensor system (10) and a radio transmission system (14, 24).
2. Engin selon la revendication 1, caractérisé en ce que le système de transmission (14, 24) est un émetteur simple ou un émetteur/récepteur.2. Machine according to claim 1, characterized in that the transmission system (14, 24) is a single transmitter or a transmitter / receiver.
3. Engin selon la revendication 2, caractérisé en ce que l'émetteur ou l'émetteur/récepteur (14, 24) est un émetteur analogique ou un émetteur numérique.3. Machine according to claim 2, characterized in that the transmitter or the transmitter / receiver (14, 24) is an analog transmitter or a digital transmitter.
4. Engin selon la revendication 1 ou 2, caractérisé en ce que le système de capteurs optiques (10) est constitué de caméras à très grand angle de prise de vue.4. Machine according to claim 1 or 2, characterized in that the optical sensor system (10) consists of cameras with a very wide angle of view.
5. Engin selon la revendication 4, caractérisé en ce que les caméras (10) utilisent des cellules de type CCD. 5. Machine according to claim 4, characterized in that the cameras (10) use CCD type cells.
6. Engin selon la revendication 5, caractérisé en ce que les capteurs de type CCD fournissent des signaux numériques à un calculateur (14) qui les multiplexe.6. Machine according to claim 5, characterized in that the CCD type sensors provide digital signals to a computer (14) which multiplexes them.
7. Engin selon l'une des revendications 1 à 6, caractérisé en ce qu'il est équipé de quatre caméras7. Machine according to one of claims 1 to 6, characterized in that it is equipped with four cameras
(10) .(10).
8. Engin selon l'une quelconques des revendications précédentes, caractérisé en qu'il est logé à l'intérieur d'un ballon transparent gonflable (40) . 8. Machine according to any one of the preceding claims, characterized in that it is housed inside an inflatable transparent balloon (40).
9. Engin selon la revendication 8, caractérisé en ce que le ballon gonflable (40) est muni d'un orifice calibré afin de se dégonfler au bout de quelques secondes. 9. Machine according to claim 8, characterized in that the inflatable balloon (40) is provided with a calibrated orifice to deflate after a few seconds.
10. Engin selon la revendication 8, caractérisé en ce que le ballon (40) ne se dégonfle pas de manière à assurer la flottabilité de l'engin sur un liquide .10. Machine according to claim 8, characterized in that the balloon (40) does not deflate so as to ensure the buoyancy of the craft on a liquid.
11. Engin selon la revendication 10, caractérisé en ce que l'un des bras (2, 4, 6, 8) est équipé d'un lest afin que l'engin prenne une position d'équilibre donnée.11. Machine according to claim 10, characterized in that one of the arms (2, 4, 6, 8) is equipped with a ballast so that the machine takes a given equilibrium position.
12. Engin selon l'une des revendications 8 à 11, caractérisé en ce qu'il est équipé d'un câble permettant de le récupérer.12. Machine according to one of claims 8 to 11, characterized in that it is equipped with a cable for recovering it.
13 Engin selon la revendication 12, caractérisé en ce que les signaux des caméras (10) transitent par le câble.13 Machine according to claim 12, characterized in that the signals from the cameras (10) pass through the cable.
14. Engin selon l'une des revendications 1 à 13, caractérisé en ce qu'il comporte un capteur permettant de connaître la position du tétrapode (12) par rapport à la verticale.14. Machine according to one of claims 1 to 13, characterized in that it comprises a sensor for knowing the position of the tetrapod (12) relative to the vertical.
15. Engin selon l'une des revendications 1 à 14, caractérisé en ce que des microphones et/ou des capteurs de type radar permettent d'accéder à la vitesse des objets observés.15. Machine according to one of claims 1 to 14, characterized in that microphones and / or radar-type sensors provide access to the speed of objects observed.
16. Engin selon l'une des revendications 1 à 15, caractérisé en ce qu'il comporte une charge explosive déclenchable à distance à partir d'une station de visualisation et ou un système d'éclairage autonome pour voir dans l'obscurité. 16. Machine according to one of claims 1 to 15, characterized in that it comprises an explosive charge remotely triggerable from a viewing station and or an autonomous lighting system to see in the dark.
17. Engin selon l'une des revendications 1 à 16, caractérisé en ce qu'il a approximativement la taille d'une balle de tennis. 17. Machine according to one of claims 1 to 16, characterized in that it is approximately the size of a tennis ball.
PCT/EP2008/056562 2007-05-31 2008-05-28 Observation tetrapod WO2008145676A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0755369 2007-05-31
FR0755369A FR2916865A1 (en) 2007-05-31 2007-05-31 TETRAPOD OF OBSERVATION

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WO2008145676A2 true WO2008145676A2 (en) 2008-12-04
WO2008145676A3 WO2008145676A3 (en) 2010-04-01

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US10015259B1 (en) 2015-04-27 2018-07-03 Los Alamos National Security, Llc Deployable sensor system using mesh networking and satellite communication
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WO2008145676A3 (en) 2010-04-01

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