Teleoperation system

Abstract

The invention relates to a teleoperation system (1) comprising: - a teleoperated mobile device (2) provided with a teleoperation camera (3) configured to acquire images of a target (4) which appears in the field of view of the camera (3), this teleoperated mobile device (2) comprising, for example, a rotating turret (5); - a portable designator (10) configured to be carried by a human operator, this designator being configured to: • designate a target; • optionally remotely control the teleoperated mobile device (2) in order to automatically preposition it such that the target (4) is in the field of view of the teleoperation camera (3); • receive video feedback from the teleoperation camera (3) of the teleoperated mobile device; • allow the operator to use the video feedback to remotely control the teleoperated mobile device in order to adjust the aim of the teleoperated mobile device onto the target (4).

Description

Teleoperation system

[0001] The field of the present invention is that of remote operation systems using a designator, in particular intended for use on a ship or a land vehicle.

[0002] Patent application FR2758625 discloses a device capable of determining the direction of a target in a predefined reference frame, provided with aiming means with three gyrometers. Means for resetting the aiming means are also provided.

[0003] Patent application EP1407214 describes a step of determining the direction of geographic north, with a view to carrying out an algorithmic recalibration, which makes it possible to regularly correct the drift of the sighting instrument.

[0004] Patent application FR2929700 describes control means capable of ordering the defense means to move in a given direction.

[0005] Patent application FR3057656 describes a pointing device for designating targets comprising a direct aiming member associated with a gyroscopic unit with three non-parallel axes.

[0006] The present invention aims in particular to propose a new system for target processing, using a designator, this system being particularly suitable for being embarked on low tonnage vessels and for targets likely to be very mobile.

[0007] The invention thus relates to a teleoperation system comprising: a teleoperated mobile device equipped with a teleoperation camera configured to acquire images of a target that appears in its field, this teleoperated mobile device comprising for example a rotating turret, a portable designator configured to be carried by a human operator, this designator being configured to: designate a target, possibly remotely control the teleoperated mobile device to automatically preposition it so that the target is in the field of vision of the teleoperation camera, receive video feedback from the teleoperation camera of the teleoperated mobile device, allow the operator to use the video feedback to remotely control the teleoperated mobile device to adjust the pointing of the teleoperated mobile device on the target.

[0008] According to the invention, the portable designator thus serves as a manual remote control for teleoperating the remotely operated mobile device. The human operator can thus control, using the video feedback, the remotely operated mobile device to track a target, for example by being installed in a secure area of ​​a ship or a land vehicle, at a distance from the remotely operated mobile device which is likely to be exposed to risks of destruction. The invention makes it possible in particular to achieve good precision in the control of the remotely operated mobile device using the video feedback on the designator.

[0009] The designator is configured to provide, for example to a weapons system, angular coordinates of the target visually detected by the human operator using the designator, at which target the operator then points the designator.

[0010] The invention further allows the use of relatively low-cost sensors, which allows for a lower-cost designator.

[0011] The invention is particularly suitable for low-tonnage, generally fast, ships and land applications, for example for armored vehicles. Alternatively, the designator can also be used by an infantryman on the ground.

[0012] In the case of an application on a low-tonnage vessel, it should be remembered that currently the implementation of small-caliber on-board turrets is mainly, or even exclusively, manual, with a human operator positioned behind the weapon, outside. This human operator communicates with a second human operator inside the ship's bridge who indicates, if necessary, the threats to be dealt with. The human operator behind the weapon is exposed to return fire, which requires armored protection for the operator dedicated to operating the weapon. This has the effect of making the boat heavier and impacting its balance. Since the weapon is generally positioned at the front, this type of installation also masks part of the bridge operator's field of vision.The invention allows a human operator sheltered in a cabin but having a panoramic view of the outside, to be able to reflexively designate a target, then to control the remotely operated mobile device, for example the equipped turret. The invention thus offers an ergonomic, rapid and reliable means of implementing, for example, a light weapon, by an operator sheltered in a cabin behind armored windows. It is possible to assign the roles of designating the target and operating the weapon to a single human operator.

[0013] In the case of an application on an armored ground vehicle, the human operator is inside the vehicle with panoramic vision or sheltered behind it and controls the turret using the designator. In another situation, the operator, for example an infantryman on the ground, can, using the designator according to the invention, remotely maneuver a turret of an armed robot. The invention can be implemented in areas without GPS.

[0014] According to one aspect of the invention, the designator serves as an inertial remote control which directly and in real time controls the remotely operated mobile device, in particular of the type comprising an effector or a weapon. The invention preferably allows operation day and night. The human operator enjoys a wide freedom of movement, in particular because the designator can be provided wirelessly.

[0015] According to one aspect of the invention, the teleoperation system is configured to allow data transmission between the designator and the teleoperated mobile device directly, without relying on an intermediate computer unit for processing the exchanged data separate from the designator and the teleoperated mobile device. Optionally, a third-party unit may be provided between the designator and the teleoperated mobile device, to ensure data communication but without data processing.

[0016] An "effector" is understood to mean any system that can counter the progress of a target. An effector can be, for example, a water cannon system that can push back the target, or a sound cannon system that can deafen it, or a light cannon system that can dazzle it, or a tether launcher system that can hinder it, or a weapon system that can neutralize it.

[0017] According to one aspect of the invention, the designator comprises an inertial measurement unit.

[0018] According to one aspect of the invention, the inertial measurement unit comprises a trihedron of fiber optic gyrometers.

[0019] This type of gyrometer is called a “Fibre-optic gyroscope” or FOG.

[0020] Alternatively, the inertial measurement unit comprises a trihedron of MEMs (for "Microelectromechanical systems" in English) gyrometers.

[0021] According to one aspect of the invention, the inertial measurement unit is configured to enable a pointing direction to be continuously determined.

[0022] According to one aspect of the invention, the designator comprises a pointing camera operating in the visible light spectrum or in the infrared light spectrum, and configured to allow aiming at a target.

[0023] This pointing camera can be a day vision camera or a night vision camera, for example an infrared camera or a light intensification camera.

[0024] According to one aspect of the invention, the designator comprises a device for recalibrating the inertial measurement unit in order to correct any drifts of the sensors of this inertial measurement unit.

[0025] In fact, the sensors are likely to drift over time and need to be recalibrated with a reference position.

[0026] According to one aspect of the invention, the registration device comprises a registration camera or two registration cameras, in particular including at least one wide-angle camera, configured to allow internal registration of the orientation of the designator. The registration is done for example by the recognition by the registration camera(s) of a pattern, for example a tag or a QR code, fixed to the structure of the ship or land vehicle, and which is located in the field of vision of the registration camera(s). This advantageously allows registration without recourse to mechanical registration. The video registration camera can be of the night type so that it can be used at night by registering on tags visible in the infrared (IR) range. The tag can be for example a heating tag emitting in the infrared.

[0027] The system is configured to perform a fusion of video navigation data (from the registration camera) and data from the inertial measurement unit.

[0028] Alternatively, the portable designator is associated with a mechanical recalibration support rigidly fixed to the structure of the ship or land vehicle, making it possible to ensure a recalibration position for the inertial measurement unit and thus correct its drift by providing it with a known recalibration position in space. This forms an alternative recalibration device to video-based recalibration.

[0029] According to one aspect of the invention, the designator comprises a screen for video feedback from the teleoperation camera of the teleoperated mobile device.

[0030] According to one aspect of the invention, the system is configured so that the screen of the designator can receive and display the video feedback from the teleoperation camera of the teleoperated mobile device with a latency compatible with its control, in particular with a latency of less than 500 ms for example.

[0031] According to one aspect of the invention, the screen, for example of the LCD type, is configured to be adjustable in brightness. The screen may be of the touch type.

[0032] According to one aspect of the invention, the designator comprises a control interface, for example for turning the designator on / off, and / or for adjusting the brightness of the screen, and / or for validating the aiming carried out by the designator of a target.

[0033] According to one aspect of the invention, the interface, of the man / machine type, can be used by a gloved human operator.

[0034] According to one aspect of the invention, the designator is configured to be held in one hand.

[0035] According to one aspect of the invention, the designator comprises a handle configured to allow it to be grasped with one hand by the operator.

[0036] According to one aspect of the invention, the designator comprises a main housing housing the components such as the inertial measurement unit.

[0037] According to one aspect of the invention, the housing is configured to receive, in particular at the rear, a screen, in particular a touch screen, serving as an interface with the human operator.

[0038] According to one aspect of the invention, the remote operation camera of the remote-operated mobile device is a daytime or night-time type camera, in particular operating in the visible or infrared light spectrum range.

[0039] According to one aspect of the invention, the teleoperation camera of the teleoperated mobile device is aligned with a firing system of the teleoperated mobile device so as to refine the aiming of the firing system on the target.

[0040] According to one aspect of the invention, the remote operation camera is for example aligned on the mount of a rotating turret so as to refine the pointing of the turret on the target.

[0041] According to one aspect of the invention, the designator display is configured to receive data overlays, including target designation data such as a reticle configured to position the target on the display.

[0042] The human operator can track the target by aligning the reticle with the target displayed on the screen.

[0043] According to one aspect of the invention, the screen of the designator is configured to receive data inlays chosen from at least: data on the state of the coupling of the designator with the remotely operated mobile device, data on the state of the remotely operated mobile device (position, status, etc.), data on the state of the designator (Nominal state, Degraded state, Fault state), data on the state of the communication between the designator and its resting support, an error / alert message, data on the image zoom level.

[0044] According to one aspect of the invention, the designator comprises a sight.

[0045] According to one aspect of the invention, the designator comprises an electronic data processing unit configured in particular to process data coming from the sensors of the inertial measurement unit and the registration camera, and to deliver control data to control the remotely operated mobile device.

[0046] According to one aspect of the invention, the system comprises a resting support for the designator, configured to receive the designator for its storage and / or its electrical recharging. This resting support can serve as a communication relay base between the designator and the remotely operated mobile device.

[0047] According to one aspect of the invention, the system comprises an automatic standby device of the "dead man" type configured to interrupt the sending of information to the remotely operated mobile device in the event of failure of the human operator.

[0048] According to one aspect of the invention, the system comprises a wireless communication channel, preferably secure, between the designator and a relay base, for example installed on the ship, and the remotely operated mobile device is connected by wire to the relay base.

[0049] Alternatively, the system comprises a wireless communication channel, preferably secure, directly between the designator and the remotely operated mobile device.

[0050] According to one aspect of the invention, the wireless communication may be of the Wifi, Bluetooth or infrared type.

[0051] According to one aspect of the invention, the designator comprises a wireless link transmitter / receiver, in particular of the Wifi or Bluetooth or infrared type.

[0052] According to one aspect of the invention, the teleoperation camera is configured to continuously transmit video to the designator.

[0053] According to one aspect of the invention, the designator is configured to switch video between the pointing camera and the teleoperation camera.

[0054] The invention also relates to a portable designator configured to be worn by a human operator and to be associated with a remotely operated mobile device, this designator comprising: an inertial measurement unit configured to designate a target, an electronic data processing unit configured to process data originating from the inertial measurement unit, and deliver piloting data to pilot the remotely operated mobile device, in particular with a view to automatically prepositioning it so that the target appears in the field of the remote operation camera, a screen, for example of the LCD type, to display the video feedback originating from a remote operation camera of the remotely operated mobile device, a control interface, in particular manual control, of the remotely operated mobile device to adjust the pointing of the remotely operated mobile device on the target.

[0055] The invention also relates to a method for teleoperating a teleoperated mobile device, in particular of the type comprising an effector or a weapon, using a teleoperation system as described above, the method comprising the following steps: pointing of the designator, by a human operator, on the target, validation by the human operator of the aiming carried out by the designator, optionally, following this validation, coupling of the designator with the teleoperated mobile device which then joins the pointed position provided by the designator, display, preferably in real time, on a screen of the designator, of the video returned by the teleoperation camera of the teleoperated mobile device, control by the human operator, of the teleoperated mobile device on the target by controlling the video return, the human operator being able to move if necessary for example on the bridge of a ship.

[0056] According to one aspect of the invention, the homing of the remotely operated mobile device to the pointed position obtained by the designator uses circular and elevation homing information relating to the reference frame of the remotely operated mobile device. Thus the designator is configured to transmit relative angular data of line of sight in a reference frame of the remotely operated mobile device, for example of a turret, in circular and elevation.

[0057] The intended target can be a floating, terrestrial, or aerial object.

[0058] According to one aspect of the invention, the designator is configured to be used continuously, for example throughout the duration of an engagement, with a device for dynamically adjusting the measurement error over time of the sensors not requiring mechanical adjustment.

[0059] According to one aspect of the invention, the system is configured to convert designation data, obtained by implementing the designator, into a reference frame of the remotely operated mobile device, for example a turret, to pre-position the remotely operated mobile device such that the target is in the field of view of the remote operation camera of the remotely operated mobile device.

[0060] After pre-positioning the remotely operated mobile device, for example a turret, with a precision allowing the target to be observed in the field of vision of the remote operation camera, the operator switches on his screen, via a dedicated selector fitted to the designator, from the video provided by the pointing camera to the video provided by the remote operation camera. The operator can then, using the dedicated interface, direct the remotely operated mobile device in order to bring the target back to the center of the reticle displayed on the image to improve the pointing accuracy of the remotely operated mobile device on the target and track it manually. The switch to the video return can, alternatively, be carried out automatically. Generally speaking, the switching of images makes it possible to switch on the screen of the designator, from a video image of the pointing camera of the designator to a video image of the remote operation camera of the remotely operated mobile device.For example, the switch is triggered when it is ensured that the target is in the field of the teleoperation camera of the teleoperated mobile device.

[0061] According to one aspect of the invention, the designator comprises an autonomous energy source, in particular in the form of a battery.

[0062] The designator thus does not need to be powered by an external electrical source. The designator can therefore be wireless. This allows greater freedom of movement for the human operator carrying the designator, allowing them to easily track the target.

[0063] According to one aspect of the invention, the remotely operated mobile device comprises a firing system configured to project a projectile or a substance onto the target.

[0064] According to one aspect of the invention, the remotely operated mobile device comprises a combat weapon, in particular of small or medium caliber.

[0065] According to one aspect of the invention, the remotely operated mobile device comprises a water cannon, and / or a cable launcher, and / or a sound cannon, and / or a light cannon.

[0066] The designator allows the target to be precisely targeted and the remote-controlled mobile device to fire at the target, for example by spraying water onto the target, or for example by directing a dazzling beam of light onto the target.

[0067] According to one aspect of the invention, the remotely operated mobile device is a drone, for example a combat drone which may or may not be of the "running munition" type. The drone may be aerial, terrestrial or maritime. The invention may be of interest in a terrestrial / urban or maritime environment.

[0068] According to one aspect of the invention, the teleoperation method is devoid of a step of pre-positioning the drone, or the running-in munition, and the teleoperation method implements only the teleoperation using the video feedback from the teleoperation camera on board the drone, on the designator screen.

[0069] Alternatively, the teleoperation method comprises the step of sending one or more rallying points to the remotely operated mobile device, for example to the drone, or the running-in munition. For example, the drone can thus automatically rally this rallying point before being implemented thanks to the video feedback from the teleoperation camera on board the drone, on the designator screen.

[0070] The invention thus makes it possible to remotely operate a drone, for example equipped with a payload, on a target using the portable designator.

[0071] Other characteristics, details and advantages of the invention will emerge more clearly on reading the description which follows on the one hand, and an example of embodiment given for informational and non-limiting purposes with reference to the appended schematic drawings on the other hand, in which:

[0072] This is a schematic representation of a ship equipped with a remote operation system according to an example of the invention;

[0073] This is a view of the different elements of the teleoperation system of the;

[0074] This is a perspective representation of the system designator illustrated in Figures 1 and 2;

[0075] This is a block diagram of the steps involved in implementing the system.

[0076] The features, variants and different embodiments of the invention may be combined with each other in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention may be conceived comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to confer a technical advantage and / or to differentiate the invention from the prior art.

[0077] Figures 1 to 3 show a teleoperation system 1 comprising:a teleoperated mobile device 2 equipped with a teleoperation camera 3 configured to acquire images of a target 4 (for example a drone) which appears in the field of view of the camera 3, this teleoperated mobile device 2 comprising a rotating turret 5 equipped with a water cannon 6 on board a low-tonnage ship 50,a portable designator 10 configured to be carried by a human operator, this designator being configured to:designate a target 4,remotely control the teleoperated mobile device 2 to automatically preposition it so that the target 4 appears in the field of view of the camera 3 of the teleoperated mobile device 2,receive video feedback from the teleoperation camera 3 of the teleoperated mobile device 2,allowing the operator to use the video feedback to remotely control the teleoperated mobile device 2 to adjust the pointing of the teleoperated mobile device 2 on the target 4.,

[0078] The designator 10 serves as an inertial remote control which controls, directly and in real time, the remotely operated mobile device 2, day and night.

[0079] The designator 10 comprises an inertial measurement unit 11 formed by a trihedron of fiber optic gyrometers. This type of gyrometer is called in English “Fiber-optic gyroscope” or FOG.

[0080] Alternatively, the inertial measurement unit comprises a trihedron of MEMs (for "Microelectromechanical systems" in English) gyrometers.

[0081] The inertial measurement unit 11 is configured to enable continuous determination of a pointing direction.

[0082] In the example described, the designator 10 comprises a pointing camera 12 operating in the visible light spectrum or in the infrared light spectrum, and configured to allow aiming at a target.

[0083] The designator 10 comprises a device 14 for resetting the inertial measurement unit 11 in order to correct any drifts in the sensors of this inertial measurement unit.

[0084] The registration device 14 comprises a registration camera or two wide-angle registration cameras, configured to allow internal registration of the orientation of the designator 10. The registration is done for example by recognition by the registration camera(s) of a pattern, for example a tag or a QR code, attached to the structure of the ship or land vehicle, and which is located in the field of vision of the registration camera(s). This advantageously allows registration without recourse to mechanical registration.

[0085] The system is thus configured to perform a fusion of video navigation data (from the registration camera) and data from the inertial measurement unit.

[0086] Alternatively, the portable designator is associated with a mechanical recalibration support rigidly fixed to the structure of the ship or land vehicle, making it possible to ensure a recalibration position for the inertial measurement unit and thus correct its drift by providing it with a known recalibration position in space. This forms an alternative recalibration device to video recalibration based on pattern recognition.

[0087] The designator 10 comprises a screen 15 for use in aiming and, after switching, for displaying the video from the teleoperation camera 3 of the teleoperated mobile device 2.

[0088] The system 1 is configured so that the screen 15 of the designator can receive and display the video feedback from the teleoperation camera of the teleoperated mobile device 2 with a latency compatible with its control, in particular with a latency of less than 500 ms for example.

[0089] The screen 15, for example of the LCD type, is configured to be adjustable in brightness. The screen may be of the touch type.

[0090] The designator 10 comprises a control interface 16, for example for turning the designator on / off, and / or for adjusting the brightness of the screen, and / or for validating the aiming carried out by the designator of a target. Part of this human / machine interface 16 can be implemented on the touch screen 15.

[0091] The designator 10 includes a handle 17 configured to allow it to be grasped with one hand by the operator.

[0092] The designator 10 comprises a main housing 18 housing the components such as the inertial measurement unit and the pointing camera 12. The screen 15 is placed at the rear of this main housing 18.

[0093] The teleoperation camera 3 of the teleoperated mobile device 2 is a day or night type camera, operating in the visible or infrared light spectrum range.

[0094] The teleoperation camera 3 of the teleoperated mobile device 2 is aligned with the mount of the rotating turret 5 so as to refine the aiming of the firing system on the target 4.

[0095] The screen 15 of the designator 10 is configured to receive data overlays, including a reticle 19 configured to position the target 4 on the screen 15.

[0096] The human operator can track target 4 by aligning reticle 19 with the target displayed on screen 15.

[0097] The screen 5 of the designator is configured to receive data inlays chosen from at least: data on the state of the coupling of the designator with the remotely operated mobile device, data on the state of the remotely operated mobile device (position, status, etc.), data on the state of the designator (Nominal state, Degraded state, Fault state), data on the state of the communication between the designator and a resting support, an error / alert message, data on the image zoom level.

[0098] The designator 10 comprises an electronic data processing unit 20 configured in particular to process data coming from the sensors of the inertial measurement unit and the registration camera 14, and to deliver control data for controlling the remotely operated mobile device 2.

[0099] The system 1 may include a resting support for the designator, configured to receive the designator for storage and / or electrical recharging.

[0100] The system 1 comprises a wireless communication channel, preferably secure, between the designator 10 and a relay base, for example installed on the ship, and the remotely operated mobile device 2 is connected by wire to the relay base.

[0101] Alternatively, the system 1 comprises a wireless communication channel, preferably secure, directly between the designator 10 and the remotely operated mobile device 2.

[0102] Wireless communication can be WiFi, Bluetooth or infrared.

[0103] The designator can thus include a wireless link transmitter / receiver 21, for Wi-Fi, Bluetooth or infrared communication.

[0104] The designator 10 comprises an autonomous energy source, in particular in the form of a battery 22 housed in the handle 17.

[0105] To remotely operate the remotely operated mobile device 2 (including the water cannon 6) using the remote operation system 1 as described above, the following steps are implemented (illustrated in the): pointing of the designator, by a human operator, at the target 4 (step 110), validation by the human operator of the aiming carried out by the designator 10 (step 111), following this validation, coupling of the designator with the remotely operated mobile device which then reaches the pointed position provided by the designator (step 112), display, in real time, on the screen 15 of the designator 10, of the video returned by the remote operation camera 3 of the remotely operated mobile device 2 (step 113), control by the human operator, of the remotely operated mobile device on the target 4 by controlling the video return, the human operator being able to move if necessary for example on the bridge of a ship (step 115).

[0106] It should be noted that system 1 implements a data fusion step (step 105) based on video navigation data (from the registration camera) (step 103) and data from the inertial measurement unit (step 102).

[0107] The homing of the remotely operated mobile device to the pointed position obtained by the designator uses circular and elevation homing information relating to the reference frame of the remotely operated mobile device. Thus the designator 10 is configured to emit relative angular data of line of sight in a reference frame of the remotely operated mobile device, for example of a turret, in circular and elevation.

[0108] On the, the screen 15 of the designator 10 can display the image Im1 given by the pointing camera 12 on the designator 10. If necessary, the screen 15 of the designator 10 can display the image Im2 given by the teleoperation camera 3 on the turret 5.

[0109] After having pre-positioned the remotely operated mobile device 2, here a turret, with a precision allowing the target to be observed in the field of vision of the remote operation camera 3, the operator switches to his screen 15, via a dedicated selector 25 equipping the designator 10. He can then, using the dedicated interface, direct the remotely operated mobile device 2 in order to bring the target 4 back to the center of the reticle 19 displayed on the image (Im3) to improve the pointing precision of the remotely operated mobile device 2 on the target and follow it manually. The image Im3 is indeed that seen by the remote operation camera 3 on the turret 5, which makes it possible to effectively bring the target 4 back to the center of the reticle 19.

[0110] We can see on the figure that the data exchanges are in both directions between the designator 10 and the turret 5, to receive the video feedback and control the remotely operated mobile device 2.

Claims

Teleoperation system (1) comprising:a teleoperated mobile device (2) equipped with a teleoperation camera (3) configured to acquire images of a target (4) which appears in its field, this teleoperated mobile device (2) comprising for example a rotating turret (5),a portable designator (10) configured to be carried by a human operator, this designator being configured to:designate a target,optionally remotely control the teleoperated mobile device (2) to automatically preposition it so that the target (4) is in the field of vision of the teleoperation camera (3),receive video feedback from the teleoperation camera (3) of the teleoperated mobile device,allow the operator to use the video feedback to remotely control the teleoperated mobile device to adjust the pointing of the teleoperated mobile device on the target (4). System according to claim 1, in which the designator (10) serves as an inertial remote control which controls, directly and in real time, the remotely operated mobile device, in particular of the type comprising an effector or a weapon. System according to one of the preceding claims, in which the designator comprises an inertial measurement unit (11), in particular with a trihedron of fiber optic gyrometers or a trihedron of MEM gyrometers. System according to one of the preceding claims, in which the designator comprises a pointing camera (12) operating in the visible light spectrum or in the infrared light spectrum, and configured to allow aiming at a target. System according to one of the preceding claims, in which the designator comprises a registration device (14) comprising one or two registration cameras, in particular including at least one wide-angle camera, configured to allow internal registration of the orientation of the designator. System according to one of the preceding claims, in which the designator (10) comprises a screen (15) for the video feedback from the teleoperation camera (3) of the teleoperated mobile device, the screen (15) being in particular configured to receive data overlays, in particular target designation data such as a reticle configured to position the target on the screen. System according to one of the preceding claims, in which the teleoperation camera (3) is aligned on a mount of a rotating turret (5) so as to refine the pointing of the turret (5) on the target (4). System according to one of the preceding claims, in which the system comprises a wireless communication channel, in particular of the Wifi type, preferably secure, between the designator (10) and a relay base, for example installed on the ship, and the remotely operated mobile device (2) is connected by wire to the relay base. Portable designator (10) configured to be worn by a human operator and to be associated with a remotely operated mobile device (2), this designator comprising: an inertial measurement unit (11) configured to designate a target, an electronic data processing unit (20) configured to process data coming from the inertial measurement unit, and deliver piloting data to pilot the remotely operated mobile device, in particular with a view to automatically prepositioning it so that the target (4) is in the field of vision of the remote operation camera, a screen (15), for example of the LCD type, to display the video feedback coming from a remote operation camera of the remotely operated mobile device, a control interface (16), in particular manual control, of the remotely operated mobile device to adjust the pointing of the remotely operated mobile device on the target. Method for teleoperating a teleoperated mobile device (2), in particular of the type comprising an effector or a weapon, using a teleoperation system according to one of claims 1 to 8, the method comprising the following steps: pointing of the designator (10), by a human operator, on the target, validation by the human operator of the aiming carried out by the designator, optionally, following this validation, coupling of the designator with the teleoperated mobile device which then reaches the pointed position provided by the designator, display, preferably in real time, on a screen (15) of the designator, of the image returned by video feedback by the teleoperation camera of the teleoperated mobile device, control by the human operator, of the teleoperated mobile device on the target by controlling the video feedback, the human operator being able to move if necessary for example on the bridge of a ship.

Images