RU2615714C1 - Method of group control of mobile ground and air robotic tools - Google Patents

Abstract

FIELD: fire-fighting equipment.

SUBSTANCE: invention relates to the field of the application technology of fire-fighting equipment, namely the control of mobile robotic fire-fighting tools. The method of group control of mobile ground and air robotic tools provides the control of robots by radio and satellite communication channels. The robotic tools are controlled from any operator workstation or two workstations simultaneously, where, respectively, one operator controls basic mobile chassis of the robotic tool, and other operator controls the technological equipment of this robotic tool. And in the zones of absence of radio coverage the external radio channel repeaters are used as the robotic tools themselves, which belong to the group composition.

EFFECT: invention provides continuous operation of the group of robotic fire-fighting tools.

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Description

The invention relates to the field of technology for the use of fire fighting equipment, namely, to control mobile robotic fire extinguishing means. The method of group control of mobile ground and air robotic means (RTS) in a fire place and performing rescue operations is intended to provide group control of multifunctional mobile robotic means for fighting fires, performing emergency rescue operations in conditions associated with a high risk to life and health of personnel .

Robotics are used in many fields of science, technology and industry, primarily where human life is either difficult or even impossible, for example, in areas of radioactive or chemical contamination.

One robot is not able to effectively solve large-scale tasks in a short period of time due to limited capabilities. The group use of robots can significantly increase the radius of action during emergency rescue operations and expand the range of functions performed, reducing the time allocated for emergency rescue operations.

A known control method, implemented by the terrestrial-satellite radio channel of communication of the robotic complex, is described in patent RU 133375 U1 of 05/14/2013, cl. HB04 7/24.

This control method provides remote control of robotic complexes (RTK) with the receipt of telemetric and multimedia information from the area of the task and can be used to transmit signals through both the main terrestrial and backup satellite radio channels in the absence of radio visibility.

The disadvantages of this method are, firstly, the "mixed" control channel, designed to control only one robot; secondly, in an area with obstacles and the presence of "radio shadow", only a satellite communication channel is used as a backup.

Of the known technical solutions, the closest in purpose and technical essence to the claimed method is a ground control station based on the chassis of a special vehicle described in patent RU 2486078 C1 of 04/03/2012, cl. B60P 9/00, B60P 3/00, adopted as a prototype of the proposed method.

The disadvantage is that the control is carried out only by unmanned aerial vehicles, it is not intended to control ground-based RTS and RTK.

The inventive method of group control of ground and air RTS in a fire place and performing rescue operations eliminates these disadvantages, since when controlling a group of robotic equipment in difficult terrain, especially in the complex infrastructure of residential and industrial zones, a radio channel and a satellite communication channel can be used and the RTS themselves as repeaters of the radio channel.

The problem to which the invention is directed is the continuous operation of the RTS grouping in the zone of lack of radio visibility using a satellite communication channel and external relays.

To do this, in the group control method for mobile ground and air robotic equipment, providing robot control over radio channels and a satellite communication channel, by adapting control commands for the equipment of robotic equipment, robot equipment is controlled from any operator’s workstation or from two workstations simultaneously, where respectively one operator controls the base mobile chassis of a robotic tool, and another operator controls the technological equipment Niemi of robotic tools, as well as a lack of radio coverage in areas as external radio repeaters used robotic tools themselves, are part of the group.

The technical result of the invention is to increase the efficiency of the use of mobile grouping of ground and air RTS.

The drawing shows a diagram of a group method for controlling mobile ground and air robotic means (up to four RTS), containing a stand-alone set of equipment, including remote control units of robotic means 1, a hardware-software unit for processing and distributing information 2, equipment for a satellite communication channel 3, radio channel equipment 4, as well as an orbital repeater of the satellite communication channel 5, an air repeater of the radio communication channel 6 and an on-board set of equipment, including ayuschy satellite communication channel equipment 7, 8, radio communication equipment, hardware and software processing and distribution unit 9, and information vision system and actuators 10.

The method of group control of mobile ground and air robotic means operates as follows.

In the control mode of any RTS from the RTC, information (control signals for the RTS) is transmitted using the controls from the control units of the RTS 1 operators, where a series of control commands are issued to the hardware-software block for processing and distribution of information 2, which encodes and distributes it. Coded control signals are transmitted into space and received by the on-board RTS unit. When the RTS is operating in conditions of indirect visibility (with a sharp deterioration in the conditions of transmission and reception of information), the encoded signals are relayed by an air relay of a radio communication channel 6 or an orbital relay of a satellite communication channel 5. Received encoded signals through the equipment of satellite communication channel 7 and / or radio communication channel 8 are transmitted to hardware and software unit for processing and distribution of information 9, which are part of the on-board set of equipment. RTS, receiving information (decoded control signals in accordance with an individual code), perform manipulations on the instructions of the operator. The RTS is controlled by the system of technical vision and actuators 10. Through the same system, the operator receives environmental information in the area of the RTS.

Thus, in the zone of lack of radio visibility, information flows are automatically switched to the backup air or satellite communication channels, and the RTS itself can also be used as a relay.

When the RTS leaves the zone of lack of radio visibility, the equipment operating on duty at the stand-by set of complex equipment detects the appearance of a sounding signal from the on-board set of equipment via the radio channel. The hardware-software unit for processing and distribution of information 2 automatically switches the transmission of the information stream from the satellite communication channel to the radio channel.

The inventive method of group control of the RTS allows you to simultaneously support up to four RTS (ground, air) in especially dangerous conditions. Operational radio communication is provided between all RTS of the mobile complex of group control of robotic equipment, RTKs, unmanned aerial vehicles (UAVs) and emergency response personnel (ES) with the display of their location on an electronic map of the area. Signals are relayed using satellite equipment through external relays, which may be RTS (UAV), which are part of the group. The method can function as part of a single state system for the prevention and elimination of emergencies.

To do this, a hierarchical centrally-decentralized group management system has been developed, consisting of operators, a mobile complex for group management of robotic equipment, a RTK (UAV), which ensures the distribution between them in accordance with the specialization of the tasks and the information volume. Specialized configuration of group management system equipment allows you to expand the database when connecting newly created robots.

Thus, the use of the proposed organizational and technical solutions increases the efficiency of fire fighting and expands the functionality of the mobile grouping of ground (air) robotic equipment.

Claims (1)

The method of group control of mobile ground and air robotic means, providing control of robots by radio channels and satellite communication channel, characterized in that by adapting control commands for the equipment of robotic means, they control robotic means from any operator’s workstation or from two workstations simultaneously, where accordingly, one operator controls the base mobile chassis of the robotic means, and another operator controls the technological the equipment of this robotic means, as well as in areas of lack of radio visibility, use the robotic means themselves that are part of the group as external repeaters of the radio channel.

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