WO2012168796A1 - Système de repositionnement automatique d'un capteur de haut-mât - Google Patents

Système de repositionnement automatique d'un capteur de haut-mât Download PDF

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Publication number
WO2012168796A1
WO2012168796A1 PCT/IB2012/001505 IB2012001505W WO2012168796A1 WO 2012168796 A1 WO2012168796 A1 WO 2012168796A1 IB 2012001505 W IB2012001505 W IB 2012001505W WO 2012168796 A1 WO2012168796 A1 WO 2012168796A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
mast
support element
guide element
indexing means
Prior art date
Application number
PCT/IB2012/001505
Other languages
English (en)
Inventor
Christian Picard
Yves Lambert
Original Assignee
Cassidian Sas
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 Cassidian Sas filed Critical Cassidian Sas
Publication of WO2012168796A1 publication Critical patent/WO2012168796A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/041—Allowing quick release of the apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/18—Means for stabilising antennas on an unstable platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present invention relates to a system for automatic repositioning of a high-mast sensor. More specifically, the invention relates to the automatic repositioning of a sensor at the top of a mast mounted on a surveillance vehicle.
  • a surveillance vehicle has a set of sensors, such as cameras or radars or any other surveillance means. These sensors are distributed over the structure of the vehicle. Some sensors are to be installed on independent telescopic masts so as to be deployed in such a way as to make it possible to adjust the observation height.
  • Such a sensor installed at the top of a mast is generally, but not exclusively, used to selectively survey or observe roads or portions of road, or even crossing points of a land border.
  • the mast is integral with the structure of the vehicle, said mast is thus subjected to a multitude of vibrations. These vibrations are amplified at the ends of the mast, in particular at the top thereof. Since the sensor is very fragile by nature, it therefore needs to be decoupled from the mast during the transport phase so as to be prevented from being damaged or destroyed as a result of the vibrations.
  • the senor is arranged in a receiving box during the phase of movement of the vehicle.
  • This box is integral with the structure of the vehicle and is located at the level of the re-folded mast, such that deployment of said telescopic mast leads to removal of the sensor from its box,
  • the object of the present invention is to overcome all the drawbacks of the prior art. To do so, the invention proposes a system for repositioning a sensor mounted at the top of a mast.
  • the invention makes it possible to automatically and precisely reposition the sensor in a balanced position when it is mounted at the top of a mast. Moreover, the invention enables such a repositioning of the sensor independently of the nature of the terrain on which the vehicle has been stabilised beforehand and the mast placed in a vertical position.
  • the senor according to the invention is automatically repositioned without the involvement of an operator, thus enabling simple use.
  • the invention therefore relates to a system for automatic repositioning of a sensor mounted at the top of a mast, characterised in that it comprises a support element having a lower surface able to be joined to the mast, and an upper surface having three indexing means, said indexing means being designed so as to hold a guide element to support the sensor, said guide element having three receiving means able to receive, respectively, the three indexing means so as to make it possible to stabilise the sensor in a plane P orthogonal to the force of gravity G.
  • the invention also comprises one of the following features:
  • each indexing means is arranged, respectively, over an axis Oa, Ob, Oc concentric at a point O and spaced from one another by an angle substantially close to 120°;
  • the support element is provided in a substantially circular form
  • the indexing means are each provided in the form of fingers mounted integrally on the upper surface of the support element, each finger protruding beyond the periphery of the support element by a predefined length;
  • the guide element is provided in the form of a bell, since it has a substantially cylindrical part and a part provided in the form of a disc covering the cylindrical part integrally;
  • the three receiving means which are able to receive the indexing means, are indentations formed in the cylindrical part of the guide element;
  • the support element comprises a tube, said tube having a threaded surface.
  • the guide element comprises a holding means, designed in such a way that said holding means is able to receive a washer, which is perforated at the centre, such that a screw, together with the tube and the washer, is able to form an anti-fall system so as to limit the movement in translation of the support element relative to the guide element.
  • FIG. 1 to 2 show a schematic view of a surveillance vehicle according to an embodiment of the invention
  • FIG. 3 shows a perspective view of a sensor mounted at the top of a deployed mast according to an embodiment of the invention
  • FIG. 4 shows a perspective view of the gravity positioning system according to an embodiment of the invention
  • FIG. 5 shows a sectional view of figure 2
  • FIG. 6 to 8 show schematic views of the coupling and decoupling of the sensor at the top of a mast according to an embodiment of the invention
  • FIGS 1 and 2 are exemplary illustrations of a surveillance vehicle 1 according to the invention.
  • a vehicle 1 comprises a chassis 2 mounted on wheels 3, and on which a driver's cab 4 and a communications module 5 are mounted integrally.
  • This communications module 5 comprises a set of sensors 6 over its structure, such as cameras or radars or any other surveillance means. These sensors 6 are distributed over the structure of the vehicle 1.
  • Some sensors 6 are to be mounted on independent telescopic masts 7 so as to be deployed in such a way as to make it possible to adjust an observation height.
  • the masts 7 are mounted orthogonal to the chassis 2 of the vehicle 1 and integrally with the structure of the module 5.
  • Such a sensor 6 mounted at the top of a mast 7 is generally, but not exclusively, used to selectively survey or observe roads or portions of roads, or even crossing points of a land border.
  • the mast 7 is integral with the structure of the vehicle 1 , said mast is thus subjected to a multitude of vibrations. These vibrations are amplified at the ends of the mast 7, in particular at the top thereof. Since the sensor 6 is very fragile by nature, it therefore needs to be decoupled from the mast 7 during the transport phase so as to prevent said sensor 6 from being damaged or destroyed as a result of the vibrations.
  • the senor 6 is arranged in a receiving box 8 during the phase of movement of the vehicle 1.
  • This box 8 is integral with the structure of the module 5 and is located at the level of the re-folded mast 7, such that deployment of said telescopic mast 7 leads to removal of the sensor 6 from its box 8.
  • the reference plane of the sensor 6 is located in a plane P substantially parallel to the chassis 2.
  • the invention proposes to place, between the mast 7 and the sensor 6, a system 10 for automatically repositioning the sensor in the plane P orthogonal to the force of gravity G.
  • Figure 3 illustrates in greater detail the sensor 6 mounted at the top of the mast 7.
  • the sensor 6 is a border surveillance camera assembly.
  • This sensor 6 comprises, in a non-limiting manner, an infrared camera 61 for visualisation, preferably at night, and a camera 63 for visualisation during the day.
  • Such cameras 61 , 63 enable visualisation of a target located a few metres or kilometres away.
  • Target means a targeted person or a group of individuals, or an object, passing through or located in a field of vision of the cameras 61 , 63.
  • the sensor 6 also comprises a rangefinder 62 in a preferred embodiment.
  • This rangefinder 62 is of the laser type and makes it possible to determine the distance of the target in relation to the sensor 6.
  • the cameras 61 , 63 and the rangefinder 62 are connected to a control unit (not shown).
  • control unit is known to a person skilled in the art and does not form part of the subject of our invention. A more detailed description of this control unit therefore is unnecessary. However, this control unit is able to allow the user to switch the signal visualised from one camera to the other and/or to take a series of measurements regarding the target/sensor distance with ease by means of a dedicated keyboard and/or joystick (not shown).
  • the sensor 6 is mounted at the top of the mast 7.
  • the mast 7 is telescopic.
  • «Telescopic mast» 7 means a mast 7 of which the tubular elements 71 , 72 forming said mast fit inside one another. This telescopic mast 7 is designed such that its length extends or shortens according to an observation height desired by the operator.
  • the sensor 6 used is preferably calibrated beforehand so as to function correctly when its field of vision is located in a plane P orthogonal to the force of gravity.
  • a system 10 is placed between the sensor 6 and the mast 7.
  • the system 10 comprises a support element 101.
  • This support element 101 is rigid and has a lower surface 101a and an upper surface 0 b.
  • the lower surface 101a of the support element 101 can be joined to the mast 7, and the upper surface 101b has three indexing means 102a, 102b, 102c.
  • These three indexing means 102a, 102b, 102c are designed to hold a guide element 103.
  • Said guide element 103 has three receiving means 104a, 104b, 104c able to receive, respectively, the three indexing means 102a, 102b, 102c.
  • each indexing means 102a, 102b, 102c is arranged, respectively, over an axis Oa, Ob, Oc belonging to the plane P.
  • These axes Oa, Ob, Oc are aligned respectively with the bisectors of a triangle formed by the indexing means 02a, 02b, 02c so as to intersect at a point O.
  • the point O is the point of birth of the force of gravity for the system 10, either alone or with the sensor 6 mounted above.
  • the axes Oa, Ob and Oc are spaced from one another by an angle substantially close to 120°. So that the sensor 6 is balanced in relation to gravity, it is necessary for each indexing means to be located at a predefined distance from the point O.
  • the support element 101 is provided in a substantially circular form so as to pass more easily through the box 8 in which the sensor 6 rests whilst the vehicle 1 is moving.
  • the support element 101 is provided in a triangular form.
  • the support element 101 is provided in the form of a joint, at the point O, of the three indexing means 102a, 102b, 102c.
  • the indexing means 102a, 102b, 102c are each provided in the form of fingers mounted integrally on the upper surface 101 b of the support element 101. Furthermore, each finger 102a, 102b, 102c is illustrated as protruding beyond the periphery of the support element 101 by a predefined length. In a variant (not shown), the fingers 102a, 102b, 102c do not protrude beyond the periphery of the support element 101 , and the receiving means able to receive the fingers 102a, 102b, 102c are adapted accordingly.
  • the invention is not limited to indexing means in the form of fingers 102a, 102b, 102c.
  • Other embodiments of indexing means 102a, 102b, 102c can be envisaged to ensure this function of holding the guide element 103.
  • the guide element 103 is provided in the form of a bell, since it has a substantially cylindrical part 105 and a part 106 provided in the form of a disc, covering the cylindrical part 105 integrally.
  • the cylindrical part 105 has three indentations designed so as to correspond to the three receiving means 104a, 104b, 104c able to receive, respectively, the three indexing means 102a, 102b, 102c.
  • each indentation has a large opening and a base substantially equal in size to the size of the indexing means so as to prevent play between the indexing means 102a, 102b, 102c and the respective indentation 104a, 104b, 04c thereof.
  • an anti-fall system is engaged between the guide element 103 and the support element 101.
  • This anti-fall system as illustrated in figure 5 comprises in particular a tube 107 concentric with the disc forming the support element 101.
  • This tube 107 has a predefined length and an inner surface which is partially or completely threaded (not shown), the role of which will be explained hereinafter.
  • the disc 106 has an indented holding means 108, designed such that this holding means 108 is able to receive a retaining washer 109.
  • This retaining washer 109 is perforated at its centre in such a way that a threaded shank 110a of a screw 110 is able to pass through said washer 109, and a head of said screw 110 is able to rest against the washer 109.
  • the screw 110, the washer 109, and the tube 107 are able to form the anti-fall system so as to prevent the guide element 103 from falling onto the support element 101.
  • a movement in translation of the guide element 103 relative to the support element 101 and vice versa is possible along the tube 107. This movement in translation is limited by the washer 109 fixed by means of the screw 110 at the end of the tube 107.
  • the guide element 103 has orifices 111a, 111b, 111c, 111d over its part 106. These orifices 111a, 111 b, 111c, 111d are able to receive, respectively, shanks 112a, 112b, 112c, 112d of a support 112 (figure 5) of the sensor 6.
  • the support 112 is fixed beforehand to the base of the sensor 6.
  • «Base of the sensor» 6 means the surface on which the sensor 6 rests.
  • the operator When the vehicle 1 is stopped, the operator opens the box 8 or removes its protective cover (not shown) so as to be able to remove the sensor 6.
  • the operator activates the deployment of the mast 7 using a control unit (not shown).
  • the support element 101 equipped with its indexing fingers 102 pushes the guide element 103 through an opening (not shown) placed underneath the box 8.
  • the indexing fingers 102 are designed so as to engage in the indentations 104 in the guide element 103 provided for this purpose, as illustrated in figure 7.
  • the sensor 6 When the operator wishes to retract the mast 7 into a re-folded position, as in figure 8, the sensor 6 is housed in the box 8 on a cushioned support 81 , such that the mast 7 is uncoupled from the sensor 6 just before the end of the extent of the mast 7. There is thus no longer contact between the two respective parts 101 and 103 of the system 10.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

La présente invention concerne un système (10) de repositionnement automatique d'un capteur (6) monté au sommet d'un mât (7), caractérisé en ce que ledit système comprend un élément support ayant une surface inférieure apte à être liée au mât (7) et une surface supérieure ayant trois moyens d'indexation, lesdits moyens d'indexation étant conçus de façon à maintenir un élément de guidage pour supporter le capteur (6), ledit élément de guidage ayant trois moyens de réception aptes à recevoir, respectivement, les trois moyens d'indexation de façon à rendre possible la stabilisation du capteur (6) dans un plan (P) orthogonal à la force de gravité G.
PCT/IB2012/001505 2011-06-07 2012-06-01 Système de repositionnement automatique d'un capteur de haut-mât WO2012168796A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1101723A FR2976397B1 (fr) 2011-06-07 2011-06-07 Systeme de repositionnement automatique de capteur de haut mat
FR1101723 2011-06-07

Publications (1)

Publication Number Publication Date
WO2012168796A1 true WO2012168796A1 (fr) 2012-12-13

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Application Number Title Priority Date Filing Date
PCT/IB2012/001505 WO2012168796A1 (fr) 2011-06-07 2012-06-01 Système de repositionnement automatique d'un capteur de haut-mât

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FR (1) FR2976397B1 (fr)
WO (1) WO2012168796A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110395196A (zh) * 2019-07-05 2019-11-01 大连理工大学 一种车载多姿态全场景视频设备

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0267352A2 (fr) * 1986-10-10 1988-05-18 Büchler B-SET AG Dispositif pour fixer d'une manière réitérable et très précise la position dans l'espace d'un premier objet par rapport à d'autres objets
WO2004095386A1 (fr) * 2003-04-16 2004-11-04 David Barry Murphy Appareil, systeme et procede de surveillance

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0267352A2 (fr) * 1986-10-10 1988-05-18 Büchler B-SET AG Dispositif pour fixer d'une manière réitérable et très précise la position dans l'espace d'un premier objet par rapport à d'autres objets
WO2004095386A1 (fr) * 2003-04-16 2004-11-04 David Barry Murphy Appareil, systeme et procede de surveillance

Also Published As

Publication number Publication date
FR2976397A1 (fr) 2012-12-14
FR2976397B1 (fr) 2014-02-14

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