RU2722301C1 - Autonomous mobile multifunctional robotic complex - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: autonomous mobile multifunctional robotic complex (MRC) is intended for urban and suburban transportation of goods, as well as for operation in conditions dangerous for presence of a person.

EFFECT: invention is aimed at expansion of functional capabilities of autonomous mobile robotic vehicle made on the basis of serial vehicle, ensuring its complete autonomy not only when driving on ground surfaces, but also on public roads, without operator's participation, based on reading the road scene, analyzing and transmitting commands to control the vehicle.

1 cl, 3 dwg

Description

The invention relates to the field of mechanical engineering, namely to autonomous mobile multifunctional robotic complexes (RTOs), designed for urban and suburban transportation of goods, as well as for work in dangerous conditions for human presence.

A known analogue, an autonomous mobile robotic vehicle containing a housing, power and transmission units, apparatus and means of motion control, devices and devices for collecting processing and transmission of information about natural processes (search equipment), other devices for storing information, communication and control, and also connecting blocks, on which one of the movers is installed: wheeled, tracked and rotor-screw.

The machine is equipped with a device for continuous monitoring of the state of the track surface and a device for selecting the direction of movement according to the strength of the support base.

As a device for continuous monitoring of the state of the track surface, range finders mounted on the protruding part of the machine body are used. They provide continuous recording of the distance to the undeformed surface of the track and data transmission to the computer, in which the rangefinder is compared with a predetermined limit value corresponding to the loss of mobility of one of the propulsion devices used.

The device for selecting the direction of movement is a hinged flexible console of sufficient length mounted rotatably on the machine body, at the free end of which a meter (for example, in the form of a conical hardness tester) of soil hardness is fixed, connected by an information channel to the onboard computer.

In the event of a threat of loss of mobility (approaching the readings of the rangefinders to a predetermined limit value), the mobile console with the help of a hardness tester "feels" the surface of the path to select the direction of movement.

As a result, the machine receives a command to perform a maneuver (turn) towards the most durable soil base.

An autonomous mobile robotic vehicle is intended for the delivery of instruments and equipment for environmental monitoring in an inaccessible (inaccessible or dangerous) environment for humans (see RF patent for utility model No. 158616, published January 20, 2016).

The disadvantages of this robotic complex are narrow specialization and limited autonomy, which makes it impossible to use on general roads.

The closest set of essential features is a robotic transport platform, related to special equipment designed for remote operation in combat conditions, as well as in remote and dangerous places for human presence. The robotic complex is designed to collect and transmit intelligence, guard or patrol civilian and military targets, conduct anti-terrorist operations in urban and field conditions, and fire at various types of targets in day and night conditions. As a self-propelled driven vehicle used wheeled off-road propulsion driven by an internal combustion engine. The platform is equipped with a topographic and navigation system, a vision system, an information and computing system consisting of two on-board computers, equipment for providing backup communications through the channels of a communication and data transmission system (see RF patent for invention №2506157, published 02.10.2014).

The disadvantages of this robotic complex are narrow specialization and limited autonomy, which makes it impossible to use it on general roads.

The proposed invention solves the problem of expanding the functionality of an autonomous, mobile robotic vehicle, made on the basis of a serial vehicle with minimal modifications, and ensuring its full autonomy not only when driving on dirt surfaces, but also on public roads, without the participation of a driver (operator) based on reading the road scene, analyzing (processing) and transmitting commands to drive the vehicle.

The problem is solved due to the fact that an autonomous, mobile multifunctional robotic complex (MRK), containing a self-propelled controlled off-road vehicle with an internal combustion engine, a remote control, satellite navigation system, a control system for nodes and assemblies, a communication and data transmission system, the vision system is additionally equipped with: a video surveillance system for the surrounding space and the road scene, on-board navigation equipment for determining the location and course of autonomous movement and movement in the convoy, a set of equipment for avoiding obstacles and preventing collisions, and an autonomous emergency stop and alarm system, in addition to this, the system machine vision is equipped with a stereo camera and a laser scanner, and the components and assemblies of the vehicle are controlled directly by computer signals.

The set of distinctive features, namely, that an autonomous, mobile multifunctional robotic complex (RTO) is additionally equipped with: a video surveillance system for the environment and road conditions, on-board navigation equipment for determining the location and course of autonomous movement and movement in a column, a set of equipment for avoiding obstacles collision avoidance and an autonomous emergency stop and alarm system, in addition to this, the machine vision system is equipped with a stereo camera and a laser scanner, and the vehicle components and assemblies are controlled directly by computer signals, which allows expanding the functionality of a robotic vehicle based on a serial vehicle with minimal improvements and ensure complete autonomy not only when driving on dirt surfaces, but also when driving on public roads, without the participation of the driver (operator ), based on the reading of the road scene, analysis (processing) and transmission of commands to drive the vehicle.

The applicant is not aware of an autonomous, mobile multifunctional robotic complex (RTO), with the indicated combination of essential features and the claimed combination of essential features does not follow explicitly from the current level of technology, which confirms the compliance of the claimed technical solution with the condition of “novelty”.

The invention is illustrated by drawings, on which:

FIG. 1 - Autonomous mobile multifunctional robotic complex (RTOs). Structural scheme;

FIG. 2 - Autonomous mobile multifunctional robotic complex (RTOs). Front view;

FIG. 3-Autonomous mobile multifunctional robotic complex (RTOs). Left view.

An autonomous, mobile multifunctional robotic complex (RTO) is designed for urban and suburban cargo transportation, as well as for working in hazardous conditions where human life can be threatened (elimination of fires, zones of radiation infection, etc.), by:

- remote control;

- movement along a predetermined route using the navigation system;

- automatic movement along the route with detection of the possible direction of the vehicle from point A to point B, taking into account the known properties of the road scene of the test site, in the absence of a laid route along GLONASS / GPS with many points;

- automatic movement behind the lead vehicle (provided that the lead vehicle is in the field of view of the machine vision system and the use of one command vehicle in which the remote control is located as the lead vehicle).

The claimed technical solution allows you to create RTOs, which can be controlled both by the driver and remotely, or work offline, which greatly expands its functionality and applications.

The architecture of the remote and autonomous control system of the RTOs was developed taking into account the design features of the KAMA-5350 all-wheel drive vehicle while maintaining the normal mode of driving the car from the cab. To implement technical solutions, the control system uses modern high-performance computers with conductive cooling, equipment for wireless data transmission, high-precision navigation, video surveillance, sensors and sensors designed for severe operating conditions, remote and autonomous control algorithms and software have been developed

The inventive autonomous, mobile multifunctional robotic complex (RTO) consists of a chassis with an internal combustion engine 1, equipped with an onboard control system 2, including an onboard complex 3 comprising an onboard data transmission system 4, a machine vision system 5, a video surveillance system 6, onboard navigation equipment 7 , a set of equipment for avoiding obstacles and preventing collisions 8, an autonomous emergency stop and alarm system 9, a steering unit 10, an electronic engine control unit (ECU) 11, an electronic control unit for a gearbox 12, an electronic brake control unit 13, a light control unit and an audible alarm 14, a combination of devices 15, as well as a portable control panel 16, comprising: satellite navigation equipment 17, basic data transmission equipment 18 and a portable industrial computer with a monitor and joystick 19.

The inventive autonomous, mobile multifunctional robotic complex (RTOs) works as follows: to implement the basic functions of RTOs in remote and autonomous modes, the on-board control system collects and processes data from the following devices and electronic control units (ECUs) of vehicle systems: steering unit 10 (turn steering wheels depending on the chosen direction of movement), engine ECU 11 (start, stop and speed control), gearbox control ECU 12 (gearbox) (transmission control in accordance with the logic of operation), brake system ECU 13 (braking), central central control unit multiplex control unit for electrical equipment 14 (lighting system, light and sound alarm), instrument cluster 15 (parameter control).

In addition, the on-board control system 2 provides control over the operability of systems, units and components of the vehicle and emergency shutdown of RTOs in case of emergency.

On-board complex 3 provides remote and autonomous control of RTOs, data exchange via on-board Ethernet network with machine vision system equipment 5, on-board navigation equipment 7, video surveillance system 6, on-board data transmission system 4, set of equipment for avoiding obstacles and preventing collisions 8, power supply devices and audio control of the internal combustion engine.

On-board navigation equipment is used to provide autonomous movement of RTOs along a pre-recorded path or map with centimeter accuracy. To do this, the Trimble BX982 RTK REFERENCE / ROVER GPS / GLONASS + Heading on-board navigation receiver with two antennas 20 type AV59 L1 / L2 / L5 / G1 / G2 / Omnistar Aviation Antenna is installed on the cabin of an MRK. One antenna is used to determine the location (coordinates), and the second - the course of RTOs. Navigation equipment has a high protection class, which allows it to be used in harsh operating conditions.

The basis of the machine vision system 5 MRK is an industrial computer with software and a stereo camera based on two digital video cameras 21 high resolution. The video data support module consists of high-resolution digital video cameras (left and right cameras) and mounting equipment to provide stereoscopic vision. Two IDS UI-3360CP-C-HQ digital cameras with KOWA LM5JC10M lenses are used. The module provides a synchronized video stream from both cameras. The frequency of video data should be at least 7 frames / sec.

The composition of the machine vision system 5 RTOs includes the following equipment: an embedded computer with software (software) for machine vision tasks, uninterruptible power supply, digital video cameras 21.

The video surveillance system 6 is used to provide an overview of the space around the RTOs. Video surveillance system 6 uses Orlaco 22 AMOS color-coded analog video cameras fixed on brackets with infrared LED illumination (6 pcs.) With a set of mounts, protection and cable accessories, as well as single-channel integrated video encoders (6 pcs.) And a switch for implementing IP- video surveillance.

Video cameras 22 AMOS are made in a special protective cover and provide performance in harsh operating conditions.

The infrared LED illumination of the cameras ensures the operation of the CCTV system 6 in low light conditions.

The system of autonomous emergency stop and alarm 9 ensures the stop of the internal combustion engine, the inclusion of the parking brake in case of emergency, as well as the inclusion of light alarm in the autonomous and remote control mode of RTOs. Normally closed contacts of the E-Stop buttons are sequentially connected to the negative circuit of the relay coil. If an emergency occurs, pressing one of the buttons will trigger a relay that opens the circuit and the engine stops. At the same time, a voltage of +24 V is applied to the relay coil, which removes the power to the solenoid valve of the parking brake, which leads to braking.

The system includes the following equipment: a yellow push-button post assembly with a red button with a fixation, a radio information input / output module with a slot antenna 23, a timer and a flashing light 24 (2 pcs.). For remote emergency shutdown of the internal combustion engine and the application of the parking brake, two radio modules for input / output of information “Spectrum 433 iO” are used in the control scheme of the RTOs. One radio module is installed in the case of the operator of the portable control panel 16 (PPU), and the second in the integration cabinet. The Spectrum 433 iO I / O radio module has 4 inputs (dry contact) and 4 outputs (relay ~ 240 V, 4 A). Inputs and outputs are controlled by radio at a frequency of 433.92 ± 0.2% MHz (RS-485 data transmission interface, MODBUS RTU protocol).

In an autonomous, mobile, multifunctional robotic complex, the following modes of operation of the autonomous emergency stop and alarm system 9 are provided: forcing the internal combustion engine to stop and applying the parking brake when the on-board emergency stop button “E-Stop” 25 is installed on the outside of the MPC cabin or the additional button “ E-Stop ”in the cockpit (sequentially switched on), forced remote stop of the internal combustion engine and the application of the parking brake via a 433 MHz wireless data channel when the operator presses the portable control panel 16 (PPU) of the emergency stop button“ E-Stop ”on the portable control panel 16, automatic application of the parking brake when the software (software) of the computer for the on-board control system 2 or universal concentrator (KU) fails, the wireless data transmission system 4 fails or the data is lost on the 2.4 GHz control channel (timeout RA), the inclusion of a light alarm (flashing lights 24) when you click the "Autobot".

A set of equipment for avoiding obstacles and preventing collisions 8 serves to ensure the safety and reliability of detection of objects. It includes sensors of a different radiation range, placed around the perimeter of the car chassis - frontal radar 26 and laser scanner 27. This allows you to take advantage of each type of sensor. Radars operating in the microwave range, unlike laser scanners, are less susceptible to precipitation and are more reliable.

The laser scanner 27 uses infrared radiation, which provides a higher resolution and scanning speed of the viewing area.

The set of equipment for avoiding obstacles and preventing collisions of 8 RTOs includes the following devices: radar 26 of the Delphi DELESR-15 brand operating in the 77 GHz band, the accuracy of determining the direction, speed and frontal range of which is three times higher compared to 28 Orlaco radars operating in the 24 GHz band. It is used for front view of the space together with the laser scanner 27 brand "LMS511-20100". A review of the space in the blind areas (left, starboard and rear) is provided by six Orlaco 28 radars of the 24 GHz band. Data from radars 26 and 28 and a laser scanner 27 are used in the operation algorithm to automatically reduce the speed or completely stop the RTOs when obstacles are detected while moving along a trajectory and maneuvering. Front-end radar 26 Delphi DEL-ESR-15 (Electronically Scanning Radar) with electronic scanning operates in two modes of object detection in the frequency range of 77 GHz:

- in the 90 ° sector at a range of up to 60 m.

- in the 20 ° sector at a range of up to 174 m.

The laser scanner 27 provides a front view of the space and the detection of objects in the 190 ° sector at a range of 0.7 to 80 m with an angular resolution of 0.167 to 1 °. It has a protected case and an internal heater to ensure operation at low temperatures and in difficult fog and rain conditions. The programmed switching on of heating is ensured using the R2DIO DO-16 discrete signal output device and P9 relay interface module.

Side and rear radars 28, providing side and rear visibility of the space, have a viewing area in azimuth of 70 °, in elevation 11 °, in range from 2 to 20 m. Programmed setting of five range ranges is provided. The use of dual radars on adjustable brackets allows you to create a total radiation pattern in azimuth up to 140 ° on each side of the installation.

Data from radars 26 and 28 and a laser scanner 27 are used in the operation algorithm to automatically reduce the speed or completely stop the RTOs when obstacles are detected while moving along a trajectory and maneuvering.

The on-board data transmission system 4 is used to receive and transmit data in the on-board control system 2. When operating an RTO, a mobile Mesh router with two car antennas 20 is used.

The mesh router provides a safe and reliable wireless broadband connection with the basic data transmission equipment of the portable control panel 16, reception and transmission of data and control commands, telemetry information, video stream from CCTV cameras 6, speakerphone signals and audio monitoring of the internal combustion engine.

The portable control panel 16 includes: a portable industrial computer with a monitor and control joysticks 19, with software for remote and autonomous control of one car, satellite navigation system 17 and basic data transmission equipment 18.

The inventive car with RTOs meets the requirement of industrial applicability and can be made from serial samples of KAMAZ vehicles using modern materials, equipment and technologies.

Claims (1)

Autonomous mobile multifunctional robotic complex (RTO), containing a self-propelled driven off-road vehicle with an internal combustion engine, a remote control, satellite navigation system, a control system for nodes and assemblies, a communication and data transmission system, a machine vision system, characterized in that it equipped with an onboard control system for RTOs with a portable control panel consisting of an industrial computer with software, the aforementioned satellite navigation system, data transmission equipment and a control joystick, which allows remote and autonomous control, while the basis of the machine vision system is an industrial computer with software and a stereo camera based on two high-resolution digital video cameras providing a synchronized video stream with a video data arrival rate of at least seven frames per second, and It is equipped with a video surveillance system for the surrounding area and the road scene based on color analog video cameras with infrared LED illumination, on-board navigation equipment for determining the location and course of autonomous movement and movement in a column as part of a navigation receiver with two antennas for determining location and course, a set of equipment for Avoiding obstacles and preventing collisions as part of a front-end microwave operating in the microwave range and a laser scanner using infrared radiation, an autonomous emergency stop and alarm system consisting of two radio modules for input and output of information in a hand-held remote control and in a self-propelled vehicle, and a push-button station with fixation, while the mentioned systems and equipment of RTOs are made with the possibility of exchanging data via the on-board data transmission system as part of a mobile Mech router with two antennas, and the components and assemblies of self-propelled transport medium The products are made with the ability to control directly using computer signals.

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