RU2544740C1 - Management system of battle robotic platform - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: battle robotic platform comprises a control computer, a control unit, functional subsystems, hardware facilities, the navigation equipment, the sensors, the communication devices, power supply system, the matching devices. The control system in the information-management part has the structure of the type of "star", the central element of the control system is a control computer which provides control and management of all subsystems of the platform and having the Ethernet interface.

EFFECT: provision of the platform motion along the given algorithm in manual and automatic modes, geo location and navigation, control of actuators of chassis, the telecode video information exchange of the platform with the remote control unit.

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Description

The invention relates to information and computer systems and devices that provide solutions to the problems of remote control of the movement of moving objects according to a given algorithm in automatic and manual modes.

Known hardware and software complex (see patent No. 246833801, IPC G01C 23/00, G06F 19/00, publ. 11/27/12), adopted as a prototype. The hardware and software complex of the topplier contains the hardware complex of the on-board digital computer, devices providing interconnection with the on-board equipment, carrying out computational processes and presenting indication and control parameters (control point), software and algorithmic tools. The communication of the hardware complex of the on-board digital computer with the on-board equipment is carried out through additional matching modules: a matching unit made with the possibility of controlling the operation of primary navigation sensors (topographic and navigation system) and consisting of a central processor, RS-232 interface transceiver, radial interface transceiver serial, memory modules, buffered register of one-time input-output commands and power module, processing unit data compartments, configured to receive information from a temperature sensor and a digital atmospheric pressure meter, convert it and calculate the height value, as well as to generate a supply voltage for the sensors and consisting of four subunits: a controller, an interface, a voltage regulator, and an inverter. The hardware-software complex is additionally equipped with an auxiliary computer that performs the tasks of storing, displaying, processing information. The complex of software and algorithmic tools is made in the form of special mathematical software designed to solve direct and inverse navigation problems, integrate signals from navigation systems, work with digital electronic maps, support the operator interface, and solve service problems.

The disadvantages of the prototype are:

- lack of the ability to implement flexible control algorithms;

- low level of control of the "behavior" of the managed facility;

- the lack of the ability to receive continuous multichannel information necessary for motion control and the performance of functional tasks;

- limited ability to process and transmit information flows;

- limited application possibilities.

The proposed invention solves the problem of increasing the efficiency and reliability of the control system of a combat robotic platform.

The technical result obtained by carrying out the invention consists in creating a control system for a combat robotic platform that provides platform movement according to a predetermined algorithm in manual and automatic modes, solving topographic and navigation problems, controlling chassis drives, telecode sharing video platform information with a remote control point.

The specified technical result is achieved by the fact that in the proposed control system of a combat robotic platform containing a control computer, a control center, functional subsystems, hardware, navigation equipment, sensors, communication devices, a power supply system, matching devices, the new thing is that the control system in part of the information and control software has a structure of the "star" type, the central element of the control system is a control computer, which provides control and management control by all subsystems of the platform and having an Ethernet interface, additionally controlling a computer made with the possibility of monitoring the voltage, current, failure of individual elements and controlling the start of battery charge via the Ethernet interface, the topographic and navigation system is configured to implement all navigation calculations in the central control computer , communications are made in the form of a communications and data transmission subsystem having two independent channels: a telecode exchange channel of a control center from a platform the second and the channel of the telecode exchange of video information, which is carried out by means of Ethernet radios located on the platform and the remote control point, the remote control point includes the operator’s workstation, consisting of a table, chair and a shelter, an autonomous power supply, placed devices, a central element which is a tablet computer, the remote control point is additionally equipped with a hand-held remote control and an antenna-feeder device, functionally related msya to the subsystem of communication and data transfer.

The structural organization of the control system in terms of information and control software of the "star" type allows you to:

- to provide simplicity of circuit decisions during development;

- ultimately, reduce cost and increase the reliability of the control system.

The choice as the central element of the control system of the host computer, which provides control, management of all subsystems of the platform and has an Ethernet interface, allows you to:

- provide software and algorithmic tools for the interaction of all systems of the combat robotic platform;

- ensure uninterrupted functioning of the communication and data transmission systems;

- provide the necessary high-speed mode of information exchange.

Implementation of a control computer with the ability to control the voltage, current, failure of individual elements and control the start of battery charge via the Ethernet interface allows:

- constantly automatically test the power supply system;

- maintain batteries in a charged state;

- extend the life of the power system.

Implementation of a topographic and navigation system with the ability to implement all navigation calculations in a central control computer allows you to:

- implement an integrated navigation mode using data from various sources;

- implement the most advanced navigation algorithms.

The implementation of communications in the form of a communications and data subsystem allows you to:

- organize two independent channels for telecode information exchange;

- manage data exchange parameters.

The inclusion in the composition of the remote control point of the operator’s workplace, an autonomous power source allows you to:

- provide the necessary conditions for the operator to work in the field;

- place the necessary instrumentation;

- to ensure the autonomy of the functioning of the remote control point.

The choice as the central element of the remote control point of the tablet computer allows you to:

- in a short time, deploy a remote control point;

- ensure the compactness of the operator’s workplace;

- display all information coming from the platform.

Equipping a remote control point with a manual remote control allows you to:

- perform platform management in manual mode;

- perform platform management in technological mode with direct connection to the platform.

Equipping a remote control point with an antenna-feeder device allows you to:

- increase the stability of the passage of the radio signal through communication channels;

- increase the range of radio capture.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows a structural diagram of a part of a control system of a combat robotic platform, placed on the platform; figure 2 is a structural diagram of a part of a control system of a combat robotic platform, placed at a remote control point.

The control system of the combat robotic platform consists of a central control computer (TsU computer) 1, a conjugation unit (BS) 2, a topographic and navigation system (STN) 3, including mechanical speed sensors (MDS) 4 and 5, a strapdown inertial navigation system (SINS) 6, satellite navigation equipment (ASN) 7, video surveillance systems of motion (SVD) 8, including video cameras (VK) 9 and 10, a unit for interfacing with video cameras (BSV) 11, chassis drive systems (SPS) 12, power supply systems (SE) 13 , including rechargeable batteries (joint stock bank) 14 and 15, to control the charge of the batteries (BKZ) 16, a diesel generator (DG) 17, a remote control point (RC) 18. The remote control 18 includes a workstation operator (RMO) 19, containing a table 20, a shelter 21 and a chair 22, a tablet computer ( PleVM) 23, manual control panel (RPU) 24, autonomous power supply (AIE) 25, consisting of a diesel generator (DG) 26, charge control unit (BKZ) 27, battery (battery) 28. Communication and data transmission subsystem consists of three radio stations (PC) 29, two of which are located on the platform (P) 30, and one - on the remote control 18, with which anizovany two independent channels telecode exchange 31 and 32. On the remote control 18 is also deployed antenna-feeder device (AFD) 33. In addition, 30 P and 18 remote process associated communication channel 34.

The control system of the combat robotic platform operates as follows. The control system of the combat robotic platform performs the functions of ensuring the movement of P 30 according to a predetermined algorithm in automatic and manual control modes, provides control of the SE 13. The control system in terms of information support has a star structure. The central element of the control system is the control center of computer 1, which provides control and management of all subsystems: STN 3, SVD 8, SPSh 12, SE 13, communication and data transmission subsystem.

The function of STN 3 is to determine the geographical coordinates of the location P 30, autonomous orientation and determination of the angular position in space. Most of the BINS 6 developers implement all navigation and topographic algorithms in the built-in computer, while closing the interfaces of the sensor equipment (MDS 4 and 5, ASN 7). However, this scheme has the disadvantage that usually the developer of SINS 6 does not have modern navigation algorithms. Therefore, all navigation calculations in STN 3 for P 30 are implemented in the central computer 1.

To ensure the normal functioning of the SE 13 with the BKZ 16 via the Ethernet interface, the voltage (and as a result of the charge level), current and failure of individual battery cells 14 and 15 are monitored, and the charge onset is also controlled.

Remote control 18 when performing combat or training missions deployed in the field. The PCM 23, PC 29 are placed on the table 20, the operator is on the chair 22, shelter 21 is installed to mask and protect from rain or solar radiation 21. To ensure stable radio communications in the immediate vicinity of the RMO 19, the AFU 33 is installed. RPU 24 is designed to control the manual mode, as well as in technological mode with direct connection to P 30 (for example, independent exit of BP from the transportation machine). The main control of the P 30 is carried out using the PC 23, which also displays all the information coming from the P 30.

Power supply for the remote control 18 is autonomous from the battery 28; in addition, for ensuring a long operating time of the remote control 18 and charging the battery 28, DG 26 is used.

The communication and data transmission subsystem is represented by two independent channels:

- channel 31 telecode exchange remote control 18 with P 30;

- channel 32 telecode exchange video information from the GNI 8.

The telecode exchange of P 30 with the remote control 18 is carried out using PC 29. The specified radio station has an Ethernet interface, which allows full control of parameters such as radio data settings (frequency, channel mode), radiation power, data masking parameters, etc., as well as direct data exchange. The video signal using BS 2 with VK 9 and 10 is converted into a digital signal, packaged and transmitted over the Ethernet channel to the computer control center 1. After additional processing, the video data is also transmitted over the Ethernet channel to the second PC 29.

In this case, one of the main tasks of the remote control 18 is to track the position of P 30 against the background of an electronic map of the area (ECM).

Thus, in the present invention, the task is achieved to achieve a technical result, which consists in creating a control system for a combat robotic platform that provides platform movement according to a given algorithm in manual and automatic modes, solving topographic and navigation problems, controlling chassis drives, telecode sharing platform video information with a point remote control.

Claims (1)

A control system for a combat robotic platform containing a control computer, a control center, functional subsystems, hardware, navigation equipment, sensors, communication devices, a power supply system, matching devices, characterized in that the control system in terms of information and control support has a star structure ”, The central element of the control system is the host computer, which provides control and management of all subsystems of the platform and has an Ethernet interface, additionally In fact, the control computer is configured to control the voltage, current, failure of individual elements and control the start of battery charge via the Ethernet interface, the topo-referencing and navigation system is capable of implementing all navigation calculations in the central control computer, and the communication tools are designed as a communication subsystem and data transmission, which has two independent channels: the channel of telecode exchange of the control point with the platform and the channel of telecode exchange of video information, which implements can be accessed via radio stations with Ethernet interface located on the platform and the remote control point, the remote control point includes the operator’s workstation, consisting of a table, chair and shelter, an autonomous power supply, placed devices, the central element of which is a tablet computer, a remote control point It is additionally equipped with a manual control panel and an antenna-feeder device, functionally related to the communication and data transmission subsystem.

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