Device capable of moving on difficult terrain, such as a minefield, or on sensitive terrain, such as agricultural fields

Abstract

The invention relates to a device (1) capable of moving on difficult terrain, such as a minefield, or on sensitive terrain, such as agricultural fields, comprising: a body (10) of the device (1) having a lower face (101) and an upper face (102); at least a first and a second motorized track transmission system (200, 300) comprising, for one, a first track (200) and a first track wheelset (220) and, for the other, a second track (300) and a second track wheelset (320); and a first and a second plurality of arms (210, 310) respectively equipping the first and the second track. Each arm (210, 310) has a first portion (211, 311) for mounting and fixed along the track (200, 300) and a second portion (212, 312) extending from the first portion (211, 311) in a general direction away from the body (10) and from the corresponding track (200, 300).

Description

[0001] Device capable of moving over difficult terrain, such as a minefield, or over sensitive terrain, such as agricultural fields

[0002] Technical field

[0003]

[0001] The invention relates to the field of vehicles such as military equipment and military engineering vehicles, or even agricultural vehicles and exploration vehicles.

[0004]

[0002] The invention more particularly relates to a device capable of moving over difficult terrain, such as a minefield, or over sensitive terrain, such as agricultural fields.

[0005] State of the prior art

[0006]

[0003] Military devices specifically developed for moving over minefields, such as mine clearance vehicles, are generally devices based on tracked transmission and having relatively significant armour in order to limit the damage that can be caused by blasts linked to mine explosions.

[0007]

[0004] Such devices, thanks to the protection provided by their armor, can thus cross a minefield relatively safely. However, this armor combined with the width of the tracks, which are generally reinforced, makes these devices relatively heavy and imposing. They also have, at the front, equipment designed to trigger the explosion of mines. As a result, when moving over a minefield, these devices detonate a large number of mines, and must therefore move slowly. In addition, the mine explosions they generate are detrimental to the surprise effect on the enemy. This low velocity and low discretion in their movement can be particularly problematic in the context of certain operations, such as reconnaissance operations near enemy lines.

[0008]

[0005] Therefore, there would be an interest in developing devices that are capable of moving on minefields and which, when moving, present a reduced risk of triggering mines.

[0006] According to a similar problem, in the context of exploring difficult terrain, such as a terrestrial or extraterrestrial environment to be explored, or on sensitive terrain, such as agricultural fields, there is an interest in developing devices that are capable of moving on such terrain while having the smallest possible mass footprint thereon, while having good obstacle clearance capabilities and being relatively insensitive to dust or other materials that could hinder the movement of the device.

[0009]

[0007] By difficult terrain is meant, above and in the rest of this document, terrain presenting obstacles such as significant variations in elevation, uneven terrain, the presence of mines, or even passages conducive to sinking (snow and / or mud) which may prevent the movement of a common vehicle whether it is based on wheels or tracks.

[0010]

[0008] By sensitive terrain, we mean above and in the rest of this document, terrain presenting elements sensitive and / or fragile to the movement of a vehicle, such as certain plants or even precious or rare objects.

[0011] Statement of the invention

[0012]

[0009] The invention aims to remedy at least in part the problems mentioned above and thus aims to provide a device capable of moving over difficult terrain, such as a minefield, or over sensitive terrain, with a reduced mass footprint on the terrain, for example, to limit the risks of triggering mines or damaging sensitive elements, such as plants, located on the terrain.

[0013]

[0010] The invention relates to this end to a device capable of moving on difficult terrain, such as a minefield, or on sensitive terrain, such as agricultural fields, comprising: a body of the device having a first face, called the lower face, which is intended to be opposite a ground, and a second face, called the upper face, which is opposite the lower face, at least a first and a second transmission system with motorized tracks and arranged on either side of the body of the device, the first track transmission system comprising a first track and a first tracked train, the second track transmission system comprising a second track and a second tracked train, a first and a second plurality of arms equipping the first and second track respectively,each arm having: o a first mounting portion by which said arm is fixed along the track in such a way that the arms of the first and second plurality of arms are integral in movement with the corresponding track and distributed along the latter, o a second portion extending from the first portion in a general direction opposite to the body and to the corresponding track, in such a way that the second portion has at least one end which, in at least one configuration of the corresponding track, extends beyond the lower face in order to provide a support point for the device.,

[0014]

[0011] In this way, in the case of difficult terrain such as minefields, the device being in contact with the minefield via the end of these arms, the contact surface with the minefield is reduced to a minimum, thus reducing the risks of triggering a mine. In addition, even in the event of a mine explosion, this explosion will be offset with respect to the tracks and the body, limiting the risks of damage to the latter. As a result, the damage will be mainly confined to the arm causing the explosion and possibly to the adjacent arms.

[0015]

[0012] Thus, with a device according to the invention, the armor of the body and the tracks can be reduced and thus allow a reduction in weight of the device. This reduction also helps to limit the risks of triggering a mine explosion. As a result, a device according to the invention is perfectly capable of moving on a minefield with a particularly reduced risk of triggering mines compared to devices of the prior art.

[0016]

[0013] With regard to other types of terrain such as extraterrestrial or terrestrial terrain to be explored and which may have irregularities, the multiplicity of arms equipping the track allows the propulsion unit, i.e. the first and second motorized track transmission systems, to be moved away from the ground and therefore from any dust and other materials which could hinder the movement of the device. Similarly, the arms provide improved ground clearance, thus providing good stability and a good ability to overcome obstacles.

[0017]

[0014] In an identical manner, such ground clearance and such distribution of the weight of the device over a plurality of arms allows the device to have a particularly reduced impact on sensitive elements located on the ground when moving.

[0018]

[0015] As another additional advantage of the device, the distance of the motorized track transmission systems from the ground allows the device to intervene on flooded plantations, such as rice fields, optimal propulsion even on dusty or muddy terrain (the distance limiting the risks of contamination of the transmission systems). In addition, in order to allow adaptation to terrain conducive to sinking, such as snow or mud, it is possible to equip the arms at the end of the second portion with platforms / skates increasing the support surface of each of the arms in order to limit sinking.

[0019]

[0016] The second portion of each arm may have a junction from which the second portion separates into at least two parts, each having one end.

[0017] In this way, each arm has at least two ends by which it is in contact with the ground, thereby limiting the forces exerted by each of these ends on the ground and therefore the risks of detonation of a mine or of damaging crops.

[0020]

[0018] Each of the parts of the second portion of each arm may have a breakable section so as to promote the separation of the end of said part from the rest of the arm corresponding to the level of the breakable section in the event of an explosion.

[0021]

[0019] Such a breakable section promotes the separation of the end of the arm which triggered the explosion of a mine and thus allows the arm to remain functional despite the loss of one of its ends during this explosion.

[0022]

[0020] The device may comprise a first and a second deflector element each fixed on the lower face and being arranged to be interposed between respectively the first and the second track and the ends of the corresponding arms which are in contact with the ground.

[0023]

[0021] In this way, in the event of an explosion being triggered by one of the arms, only the arm or arms near the location of the detonation will be damaged, since the body and the rest of the track transmission system comprising said arms are protected by the corresponding deflector element.

[0024]

[0022] The first and second deflector elements may be secured to the underside by means of a damping system configured to provide damping to the movement of the corresponding deflector element relative to the body.

[0025]

[0023] Such a damping system makes it possible to absorb part of the deflagration energy applied to the corresponding deflector element in the event of a mine explosion, making it possible to limit the effects of this deflagration on the body of the device and on the track transmission system.

[0026]

[0024] Each of the first and second tracked trains may comprise: at least one sprocket driven in rotation by an electric motor and arranged in engagement with the corresponding track, a primary damping system, comprising at least one cylinder, and a damping roller mounted on this damping system while being arranged to stress the corresponding track, at least one guide bearing for guiding the corresponding track when it is driven by said tracked train.

[0027]

[0025] The sprocket comprises: a main wheel, at least two toothed sectors each connected to the main wheel by means of a respective sprocket damper so that the toothed sectors are integral in rotation with the main wheel, the at least two sprocket dampers each connecting a respective toothed sector to the main wheel.

[0028]

[0026] Such sprockets make it possible to dampen the vibrations linked to the use of arms for movement and also make it possible to provide additional damping to absorb the deflagration energy transmitted to the device during the explosion of a mine triggered by one of the arms.

[0029]

[0027] The body may include a receiving space configured to receive a human body.

[0030]

[0028] With such a reception space, the device can be used to rescue a wounded person or recover a body from the middle of a minefield.

[0031]

[0029] The reception space can be mounted to move relative to the first and second track between a first position called high and a second position called low, in the low position, the reception space being positioned at a distance from the ground less than that of the reception space in the high position, the body preferably comprising a slide system, arranged in uprights of said body and on which the reception space is mounted, said slide system being associated with a motorization in order to allow movement of the reception space between its high position and its low position.

[0032]

[0030] With such an assembly of the reception space, it is possible to place it in a high position to facilitate the movement of the device and limit the risks of damage to the reception space in the event of an explosion. When the device reaches the injured person to be rescued or the body to be recovered, the reception space can be placed in a low position to facilitate the placement of the injured person or the body on the reception space.

[0033]

[0031] The device may be an autonomous or remotely controlled vehicle.

[0034] Such a vehicle is particularly suitable for reconnaissance behind enemy lines when it is necessary to pass through one or more minefields protecting said enemy lines.

[0035] Brief description of the drawings

[0036]

[0032] The present invention will be better understood upon reading the description of exemplary embodiments, given purely for informational purposes and in no way limiting, with reference to the appended drawings in which: Figure 1 is a front view of a device according to a first embodiment of the invention; Figure 2 is a perspective view of the device illustrated in Figure 1; Figure 3 is a close-up view of two examples of a second portion of arm equipping a track of a device according to the invention; Figure 4 is a close-up side view of a track transmission system of a device as illustrated in Figure 1;Figure 5 is an exploded view of the mounting of an arm on a link of the track, Figure 6 is a perspective view of three links of the track illustrated in Figure 5 showing their arrangement during mounting of the track, Figure 7 is a close-up sectional view of the track transmission system illustrated in Figure 4; Figure 8 is a close-up view showing rollers fitted to the device according to the invention in order to guide a track of the track transmission system; Figure 9 is a schematic view of a sprocket according to an option of a transmission system according to the invention; Figure 10 is a front view showing two configurations of a device according to a second embodiment in which the device is adapted to provide assistance to an injured person in the middle of a minefield;Figure 11 is a perspective view of a device illustrated in Figure 10 showing more specifically the structure of said device, Figure 12 is a close-up perspective view of a mechanism of the device illustrated in Figure 8 which allows it to pass between the two configurations illustrated in Figure 9, Figures 13A and 13B are respectively a perspective view of a device according to the invention adapted for exploring difficult terrain, and a device according to the invention adapted for agricultural exploitation on sensitive plantations.;

[0037]

[0033] Identical, similar or equivalent parts of the different figures bear the same numerical references so as to facilitate the transition from one figure to another.

[0038] The different parts represented in the figures are not necessarily shown on a uniform scale, in order to make the figures more readable. The different possibilities (variants and embodiments) must be understood as not being mutually exclusive and can be combined with each other.

[0039] Detailed description of specific embodiments

[0040]

[0034] Figure 1 illustrates a device 1 according to a first embodiment of the invention which is in particular capable of moving on a minefield.

[0041]

[0035] It will be noted that if the present embodiment of the device according to the invention and those described below (with the exception of figures 13A and 13B), relate to devices dedicated to interventions in minefields (in particular exploration and rescue of the wounded), the present invention is not limited to this sole application. Thus, a device according to the invention also targets the following applications:

[0042] Exploration of difficult terrain, including extraterrestrial terrain such as the lunar and Martian surfaces; agriculture, particularly for flooded plantations or sensitive plantations (including fruit growing and horticulture); and the transport of goods.

[0043]

[0036] Of course, if the present description only describes this application to the exploration of mine fields, the person skilled in the art is perfectly capable of applying the present teaching to the applications listed above by a simple transposition of the motorization system of the present device 1 to the devices of the prior art used for this type of application, this without having to demonstrate inventive activity.

[0044]

[0037] In the present embodiment of the invention, the device 1 is a reconnaissance device which is either autonomous or remotely controlled and which is therefore unmanned. Such a configuration allows the device 1 to have relatively small dimensions and therefore a relatively low weight. Of course, as is notably shown in the context of the device according to the second embodiment, if a device 1 according to the invention is particularly suitable for such use, the invention is not limited to this single application.

[0045]

[0038] As shown in Figures 1 and 2, the device 1 comprises: a body 10 of the device 1 having a first face 101, called the lower face, which is intended to be opposite a ground, not shown, and a second face 102, called the upper face, which is opposite the lower face 101, at least a first and a second track transmission system 20, 30 motorized and arranged on either side of the body 10 of the device 1, the first track transmission system 20 comprising a first track 200 and a first tracked train 220, the second track transmission system (30) comprising a second track 300 and a second tracked train 320, a first and a second plurality of arms 210, 310 equipping respectively the first and the second track 200, 300, each arm 210, 310 having: o a first mounting portion 211, 311 by which said arm 210, 310 is fixed along the track 200,300 such that the arms 210, 310 of the first and second plurality of arms 210, 310 are integral in movement with the corresponding track 200, 300 and distributed along the latter, o a second portion 212, 312 extending from the first portion 211, 311 in a general direction opposite to the body 10 and to the corresponding track 200, 300, such that the second portion has at least one end 313A, 313B which, in at least one configuration of the corresponding track 200, 300, extends beyond the lower face in order to provide a support point for the body 10.,

[0046]

[0039] The body 10 of the device, in the present embodiment, is in a substantially parallelepiped shape and houses all of the elements necessary for its operation and in particular for its control, its power supply, its motorization and its operational missions.Thus, in the present embodiment in which the tracked trains 220, 320 are electrically motorized, the body 10 of the device 1 houses the following elements of the device 1: control electronics, not shown, a radio frequency communication system, in communication with the control electronics so as to allow remote control of the device 1, not shown, at least a first and a second electric motor arranged to drive respectively the first and the second tracked train, each of the first and the second electric motor, not shown, a set of batteries arranged to power the control electronics, the radio frequency communication system, the first and second motor and the equipment, such as the sensors or armament.

[0047]

[0040] It will be noted that, in addition to the specific features linked to the first and second tracked transmission systems 200, 300, including in particular its control, which are described in the remainder of this document, these different elements of the device 1 housed in the body 10 are not described further in the present document.

[0048]

[0041] Concerning the specific features related to the first and second track transmission systems 20, 30, the control electronics is in particular configured to allow the movement of the first and second tracks 200, 300 to be synchronized from the first and second motors. It will be noted that according to one possibility of the invention, the first and second motors, and their power supply circuit, are adapted to recover energy during the braking phases of the device 1.

[0049]

[0042] As regards the body 10 itself, the latter may have armor adapted to the risk incurred by the device 1. Thus, according to a usual configuration of the invention, the lower face 101, being that most likely to be subjected to the blasts of the explosion of the mines, it may have suitable armor. As regards the rest of the body of the device, it may have bulletproof armor in order to protect the various elements of the device 1 housed in the body 10 from enemy fire. In accordance with the invention, in order to limit the weight of the device and thus the risks of triggering a mine, the armor may be obtained from materials chosen for their lightness and their mechanical resistance such as for example a composite material based on carbon and Kevlar or any other composite material having similar characteristics.

[0043] In this first embodiment, the body 10 also has on its upper face 102 an armament, here a machine gun turret, in order to allow it to respond in the event of an encounter with enemy troops. The body 10 also includes sensors in order to allow the device 1, and the possible operator who controls it, to obtain information concerning the environment in which the device 1 is located and moves. In the present embodiment, the sensors 106 comprise four photographic sensors (or imaging sensors) each capable of providing a stream of images to the control electronics.Of course, such sensors 106 are provided only as an example, and other types of sensors may be provided depending on the operational needs of the device 1, such as a laser remote sensing sensor (or LIDAR for the English acronym for “light detection and ranging”) or a possible infrared imaging sensor associated with an infrared light source.

[0050]

[0044] According to one possibility of the invention, the upper face of the body 10 may also include attachment points 107 in order to allow the manipulation and handling of the device 1.

[0051]

[0045] The first and second motors are arranged in the body 10 by being mechanically coupled to the first and second track transmission systems 20, 30 respectively, so as to drive their track 200, 300 in motion. Each track 200, 300 has the respective plurality of arms 210, 310, in the present embodiment eight arms 210, 310. As shown in FIG. 2, the eight arms of the first and second plurality of arms 210, 310 are arranged around the first and second track 200, 300 respectively, being regularly spaced apart so as to maintain, on each side of the body 10 and regardless of the configuration of the tracks 200, 300, a holding of the body 10 at a distance from the ground.

[0052]

[0046] The fixing of the arms 210, 310 along the corresponding track 200, 300 is carried out by means of the first portion 211, 311 of said arms 210, 310. To do this, said first portion extends transversely to the track 200, 300 over the entire width of the latter. It will be noted that, according to one possibility of the invention, the first portion 211, 311 of the arms 210, 310 can be removably mounted, in such a way as to allow an arm damaged by a blast to be replaced by an undamaged arm or to allow the number of arms 210, 310 to be adapted to the mission and to the equipment carried by the device 1. Such a removable mounting is explained below in connection with FIGS. 5 and 6 in the context of the description of the tracks 200, 300 of the device.Alternatively, not illustrated, the arms 210, 310 can be formed (for example by molding or machining) or made integral (for example by welding) with the corresponding track (or more precisely with links of the latter).

[0053]

[0047] The second portion 212, 312 of each arm 210, 310 extends from the first portion 211, 311 in a general direction opposite the body 10 and the corresponding track 200, 300 and comprises, as shown in FIGS. 2 and 3, two ends 313, 313A, 313B which, in at least one configuration of the corresponding track 200, 300, extend beyond the lower face in order to provide a support point for the device 1. The second portion thus comprises a junction from which the second portion separates into two parts 312A each having an end 313A, 313B.

[0054]

[0048] As shown in Figure 3, each arm 210, 310 has at each of its two parts 312A a breakable section 313 so as to promote the separation of the end 313, 313A, 313B of said part 312A from the rest of the arm 210, 310 corresponding to the breakable section 313 in the event of a deflagration. Such a breakable section 313 has a lower breaking stress than the rest of said part 312A, this weakened breaking stress can be obtained for example by a reduced section width, the provision of cavities or even the use of a material other than the rest of said part 312A.

[0055]

[0049] In order to provide stable support and to limit the forces applied by the arms 210, 310 at the point of contact with the ground, each end 313, 313A, 313B may comprise a pad. Figure 3 thus illustrates two types of pads that may be presented by said ends 313, 313A, 313B, an elongated pad, such as comprised by the end 313A or a rounded pad such as comprised by the end 313B. Of course, these pad shapes are provided only by way of example and are in no way limiting.

[0050] Figure 4 shows the first track transmission system 20 and in particular the first track 200 and the first track 220 that it comprises.

[0051] Figures 5 and 6 illustrate more specifically the arrangement of each of the first and second tracks 200, 300 and their links 201A, 201B and show, in particular, the mounting of the arms 210, 310 on dedicated links 201A of said tracks 200, 200, called carrying links 201A.

[0056]

[0052] As shown in Figure 5, the load-bearing links 201A have a lateral housing 2011 capable of receiving the first portion 211, 311 of the corresponding arm 210, 310. In order to ensure the fixing of the first portion 211, 311 of the arm in the lateral housing 2011 by bolting, the first portion 211, 311 of each arm 210, 210 and each load-bearing link 201A have two complementary threaded orifices so as to allow the placement of two bolts when a first portion 211, 311 of an arm 210, 310 is received in the transverse housing 2011 of the corresponding load-bearing link 201A. With such a configuration, it is easy to replace the arms 210, 310 when they are damaged and / or to modify the configuration of the arms (in particular the number, their length or whether or not they are equipped with skates) depending on the desired application or the configuration of the terrain to be explored.

[0057]

[0053] It will also be noted that in the example illustrated in Figures 5 and 6, each track 200, 300 comprises load-bearing links 201A and so-called conventional links 201B, i.e. not suitable for alternating mounting of arms 210, 310. Of course, such a configuration is given only as an example and other configurations such as a configuration in which the track only comprises load-bearing links are perfectly conceivable without departing from the scope of the invention.

[0058]

[0054] As shown in Figure 4, in the context of this first embodiment, each of the first and second track 220 may comprise: two double sprockets 221 driven in rotation by the corresponding electric motor and arranged in engagement with the corresponding track 200, a primary damping system 222, comprising in this first embodiment two (or more) cylinders, and damping rollers 223 mounted on this damping system while being arranged to stress the corresponding track 200, two guide bearings 225 (or more) for guiding the corresponding track 200 during its driving by the tracked train 220, two carrier plates 224, only one being shown, which is integral with the two double sprockets 221 and which offer, in addition to stiffening the tracked train, protection for the tracked train against projections that may be generated the explosion of a mine.

[0059]

[0055] In order to enable the guidance of its track 200, 300 and as shown in FIGS. 7 and 8, each tracked train 220 may comprise rollers 225, 325 in order to provide guidance to said track 200, 300 and a movement surface for the latter. Thus, during its driving, said track 200, 300 moves in support of said rollers 225, 325. It will be noted that in order to reduce the weight of the device 1, at least a portion of the elements 221, 222, 223, 224, 225 of each tracked train 220, 320 may be made at least in part from metal alloys known for their robustness and lightness, such as alloys based on cobalt, nickel, chromium and / or molybdenum.

[0060] In order to protect the tracks and the tracked trains 220, 320, the device may comprise, as shown in FIGS. 7 and 8, a first and a second deflector element 41, 42 each fixed on the lower face and being arranged to be interposed between respectively the first and the second track 200, 300 and the ends of the corresponding arms 210, 310 which are in contact with the ground. In this way, in the event of a mine being triggered, only the arms 210, 310 are subjected to the explosion, the tracks 200, 300 being protected by the deflector elements 41, 42.

[0061]

[0056] Each of the deflector elements 41, 42 is in the form of a concave plate, in order to reflect the explosion towards the ground, made of a material resistant to explosion (for example of the same type as those of the shielding of the device). In order to dampen the effects of the explosion on the rest of the device 1, the deflector elements 41, 42 may be fixed on the lower face by means of a damping system 411, 421 configured to provide damping to the movement of the corresponding deflector element with respect to the body 10. Such a damping system 411, 421 may be provided by a pneumatic damper or by a block of an elastically deformable material, such as a material made from an elastomer.

[0057] As shown in Figure 9 and as a variant of the present embodiment, the device may comprise one or more “self-damping” sprockets 221.Such a damping sprocket comprises: a main wheel 221A, driven in rotation by the corresponding motor, four toothed sectors 221C connected to the main wheel by means of sprocket dampers 221B so that the toothed sectors 221C are integral in rotation with the main wheel 221A, the four sprocket dampers 221B each connecting a respective toothed sector 221C to the main wheel 221A.

[0062]

[0058] The toothed sectors are configured to mesh with the track and thus have a pitch adapted to interact with the track 200, 300.

[0063]

[0059] Such sprockets 210 make it possible to dampen the vibrations linked to the use of arms for moving and also provide additional damping in order to absorb the deflagration energy transmitted to the device 1 during the explosion of a mine triggered by one of the arms 210, 310.

[0064]

[0060] It will be noted that, as a safety measure, the sprocket 221 according to this possibility can comprise a secondary toothed wheel 221D (the teeth not being shown) capable of driving the track 200, 300 in the event of failure of the sprocket dampers 221B and therefore disengagement of the toothed sectors 221C.

[0065]

[0061] Similarly, if such a “self-shock absorbing” sprocket 221 is particularly advantageous in the context of the invention, it can also equip other types of tracked vehicles not included in the context of the invention, such as construction machinery, agricultural machinery or even military vehicles, designed to move by means of their tracks. Such a tracked vehicle therefore comprises at least two tracked trains similar to those of the device according to the present possibility, differing from those according to the invention only in that they are devoid of arms 210, 310 and in that the links of the tracks are adapted for movement on the ground (for example by having studs or pads).

[0066]

[0062] If a device 1 according to this first embodiment is particularly suitable for enabling the exploration and reconnaissance of a minefield or one likely to contain mines, it is perfectly conceivable to adapt the device 1 according to the invention for other applications such as, for example, the rescue of injured people 5 (see figure 10) and / or the recovery of remains.

[0067]

[0063] This is the object of the device 1 according to the second embodiment which is illustrated by figures 10 and 11. Such a device 1 according to the second embodiment differs from a device 1 according to the first embodiment in that the body 10 of the device is configured to accommodate a crew and in particular the injured person (or the remains) and is therefore adapted to be controlled by said crew.

[0068]

[0064] Thus, as shown in Figure 11, the device 1 comprises a control station 111 by which a member of the crew, not shown, is able to control the device 1. It will be noted that this control station 111 is arranged above a housing 108 in which the control electronics of the device 1 are housed. Given that a device according to this second embodiment has a greater width, the central part of the lower face 101 is less likely to be subjected to a mine explosion, the batteries 104 can be arranged on the lower face with low shielding, not shown.

[0069]

[0065] As shown in Figure 10, the body 10 in this second embodiment is open and has a platform 103 for receiving the injured person and a location for the crew at the rear of the device 1 and at the level of the control station 111. To allow access to the platform 103 from the location for the crew, the body 10 has two doors 112 and two ladders 113. This platform 103 forms a reception space capable of receiving the injured person 5 or the remains to be recovered from the minefield.

[0070]

[0066] As shown in Figure 10, according to one possibility of the invention, within the framework of this second embodiment, to facilitate the installation of the injured person 5 on the platform 103, the device 1 can have two configurations: a raised configuration 101A in which the platform 113 is arranged high above the ground so as to protect the body 10 of the device 1, and the crew of the latter, in the event of a mine explosion, this configuration being used during movement of the device 1, a lowered configuration 101B shown in dotted lines, in which the platform 113 is close to the ground in order to facilitate the recovery and placing on board of the injured person, this configuration being used when the device 1 is stopped.

[0071]

[0067] In order to allow such a movement between the raised configuration 101A and the lowered configuration 101B, the body 10 of device 1 may comprise, in uprights of the body 10, a slide system 115 associated with a motorization arranged at the level of the upper face 102 of the body 10. In such a configuration, the platform 103 is mounted on the slide system and is moved by the latter system upon activation of the motors 109 arranged on the upper face of the body 10.

[0072] In this way, when a wounded person 5 has to be rescued, or a body has to be recovered, in the middle of a minefield, the crew, comprising for example an operator and a nurse, or a doctor, can position themselves in the crew location with the operator who has access to the control station 111 to control the movement of the device 1. From the control station 111 and the controls located there, the operator is able to move the device to the place in the minefield where the wounded person 5 (or the body) is located, this in complete safety, in accordance with the principle of the invention.

[0073]

[0068] Once arrived near the injured person 5 (or the remains), the operator can position the device 1 in such a way that the front of the latter is facing the injured person 5, in particular by using the sensors 106, such as a camera. Once the device 1 is placed, the operator moves the platform 103 from its high position 101A to the low position 101B in order to facilitate the boarding of the injured person 5 (or the remains). Once the platform 103 is in position, the nurse or doctor can enter the platform 103 via one of the doors 112 and come to rescue the injured person 5 (or recover the remains). It will of course be noted that to do this, the crew has ideally taken with them what is necessary to carry out first aid such as applying a tourniquet. The injured person 5, stabilized by the nurse or doctor, can be mounted on the platform 103, access to which is facilitated by the passage in the lower position 101B.Once the injured person is in place on the platform, and possibly harnessed by means of straps, the nurse or doctor remains with the injured person 5 and the operator returns the device to the high position 101A. In order to allow safe exit from the minefield, the device 1, via its control electronics, can be configured to perform the reverse route used to reach the position of the injured person 5 (of the body). This possibility can in particular be implemented by means of GPS data obtained from a GPS module equipping the control electronics.

[0069] Figures 13A and 13B illustrate the possibilities of the invention in applications other than minefield exploration.Thus, Figure 13A illustrates a device 1 adapted for the exploration of difficult terrains such as extraterrestrial terrains while Figure 13B illustrates a device 1 intended for exploitation in sensitive terrains such as fruit agricultural production.

Claims

Claims 1. Device (1) capable of moving on difficult terrain, such as a minefield, or on sensitive terrain, such as agricultural fields, comprising: a body (10) of the device (1) having a first face, called the lower face, which is intended to be opposite a ground, and a second face, called the upper face, which is opposite the lower face, at least a first and a second motorized track transmission system (20, 30) arranged on either side of the body (10) of the device (1), the first track transmission system (20) comprising a first track (200) and a first tracked train (220), the second track transmission system (30) comprising a second track (300) and a second tracked train (320), a first and a second plurality of arms (210, 310) respectively equipping the first and the second track (200, 300), each arm (210, 310) presenting: o a first portion (211,311) mounting by which said arm (210, 310) is fixed along the track (200, 300) in such a way that the arms of the first and second plurality of arms are integral in movement with the corresponding track (200, 300) and distributed along the latter, o a second portion (212, 312) extending from the first portion (211, 311) in a general direction opposite to the body (10) and to the corresponding track (200, 300), in such a way that the second portion has at least one end (313A, 313B) which, in at least one configuration of the corresponding track (200, 300), extends beyond the lower face in order to provide a support point for the device (1)., 2. Device (1) according to claim 1, in which the second portion (212, 312) of each arm (210, 310) has a junction from which the second portion separates into at least two parts (312A) each having an end (313A, 313B).

3. Device (1) according to claim 2, in which each of the parts of the second portion (212, 312) of each arm (210, 310) has a breakable section (313) so as to promote the separation of the end (313A, 313B) of said part (312A) from the rest of the arm (210, 310) corresponding to the level of the breakable section in the event of an explosion.

4. Device (1) according to any one of claims 1 to 3 comprising a first and a second deflector element (41, 42) each fixed on the lower face while being arranged to be interposed between respectively the first and the second track (200, 300) and the ends of the corresponding arms (210, 310) which are in contact with the ground.

5. Device (1) according to claim 4, wherein the first and second deflector elements are fixed on the lower face by means of a damping system configured to provide damping to the movement of the corresponding deflector element relative to the body (10).

6. Device (1) according to any one of claims 1 to 5, wherein each of the first and second track assembly comprises: at least one sprocket (221) driven in rotation by an electric motor and arranged in engagement with the corresponding track (200, 300), a primary damping system (222), comprising at least one jack, and a damping roller (223) mounted on this damping system while being arranged to stress the corresponding track (200, 300) in tension, at least one guide bearing (225) for guiding the corresponding track (200, 300) when it is driven by said track assembly (220, 320).

7. Device according to claim 6, in which the sprocket (221) comprises: a main wheel (221A), at least two toothed sectors (221C) each connected to the main wheel (221A) by means of a respective sprocket damper (221B) so that the toothed sectors (221C) are rotationally integral with the main wheel (221A), the at least two sprocket dampers (221B) each connecting a respective toothed sector (221C) to the main wheel (221A).

8. Device (1) according to any one of claims 1 to 7, wherein the body (10) comprises a receiving space (103) configured to receive a human body (5).

9. Device (1) according to claim 8, wherein the receiving space (103) is mounted to move relative to the first and second track (200, 300) between a first so-called high position and a second so-called low position, wherein in the low position, the receiving space (103) is positioned at a distance from the ground less than that of the receiving space (103) in the high position, wherein the body (10) preferably comprises a slide system (115), arranged in uprights of said body (10) and on which the receiving space (103) is mounted, said slide system being associated with a motorization (109) in order to allow movement of the receiving space (103) between its high position and its low position.

10. Device (1) according to any one of claims 1 to 9, wherein the device (1) is an autonomous or remotely controlled vehicle.

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