RU2405122C2 - Antimine robot - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: antimine robot consists of multiple single-axis mobile modules delivered to demining place by means of separate transport vehicle and performing group actions, demining of individual weapons or mine fields. Single-axis mobile modules are independent and have the possibility of data exchange between them and constituent parts of multi-agent system. At that, they are equipped with navigation systems with orientation devices relative to check points and/or satellite navigation system, equipment for remote detection and identification of weapons, actuators for their marking and disposal, and neuron network devices for information processing and command generation for actuators in group control mode.

EFFECT: increasing demining efficiency of mine fields and usability of navigation systems of independent modules.

Description

The invention relates to robotics and is intended for the disposal of ammunition, mainly minefields, and for diversion and reconnaissance activities.

Known devices for the disposal of ammunition, consisting of a variety of self-propelled modules, which through collective actions carry out the clearance of individual ammunition or minefields, in the area where the device is delivered by the operator through a separate transport device.

The closest analogue of the claimed invention is the invention protected by the patent of Russian Federation No. 2298761 "Method of clearance". The essence of the invention lies in the fact that for mine clearance use an excessive number of modules in the form of low-cost autonomous mobile uniaxial minesweeper robots delivered to the treated area on a self-propelled platform. Destruction of mines is provided due to the detonation of minesweeper robots on them. Gaps in the order in which the minesweeper robots occur as a result of the detonation of individual ones are restored by spare minesweeper robots based on a self-propelled platform. When the supply of robotic minesweepers is depleted, the restoration of the density of a number of moving minesweeper robots is ensured by reducing its average density. It is assumed that the invention improves the efficiency and safety of the clearance process due to the possibility of self-healing groups of minesweepers spare and the use of remote control.

The disadvantages of this invention are: the low efficiency of demining by blasting minesweepers that are not equipped with equipment for detecting and recognizing mines, the need to use a large number of minesweepers to mine minefields, and the low efficiency of using navigation systems that minesweepers must be equipped with to ensure the positioning of minesweeper robots in the remote control device, to ensure the ability to maintain certain a new order of arrangement of the modules relative to each other and self-healing of the group in case of undermining of minesweeper robots.

The objectives of the claimed invention are to reduce the number of used sapper robots, increase the efficiency of mine clearance of minefields and increase the efficiency of the use of navigation systems of autonomous sapper modules.

These goals are achieved by the fact that the sapper robot is made in the form of a multi-agent system consisting of specialized autonomous uniaxial modules equipped with navigation systems with orientation devices relative to rappers and / or satellite navigation system, equipment for remote detection and identification of mines and other ammunition, actuators for their marking or destruction, by neural network devices for processing information and developing commands for executive mechanisms in governing the movement of the individual modules of the minefield and their actions on the search, identification and labeling or destruction of ammunition in collective decision mode.

The robot sapper operates as follows.

The operator delivers a set of autonomous modules to the area of minefields or other ammunition, sets benchmarks, enters into the control unit of one of the modules the coordinates of the processed area or the proposed location of ammunition (ammunition) relative to the benchmarks and activates the information exchange program between the modules. The module orientation devices determine the directions to the benchmarks, according to the numerical parameters of which the information processing system calculates the location and orientation of the modules on the site. The satellite navigation systems of the modules determine the geographical coordinates of the location of the modules, and the information processing system compares them with the coordinates of the processed section and positions the modules in the section. If all modules or parts of them are equipped with orientation devices relative to benchmarks, and satellite navigation systems, the information processing system reconciles their data and determines the locations of the modules as data accumulate when the modules move. Information processing devices on the modules form a hidden layer of a neural network collective control system, which receives information from the input layer formed by the navigation systems of the modules, devices for detecting and identifying ammunition and devices for monitoring the state of the actuators of the modules. The control system, using the resources of a distributed information processing system, generates tasks for the modules and adjusts the progress of their implementation.

The uniaxial arrangement of the module chassis provides the cross-country ability, maneuverability, controllability and observability of the module movement control.

The use of such robots will make it possible, due to the automation of the device for automatic clearance, to significantly increase the efficiency of mine clearance, eliminate or significantly reduce the risk of destruction of technical devices and sappers during mine clearance and other ammunition and use the data from navigation systems of autonomous modules for automatic planning of collective actions of specialized modules of the sapper robot.

The widespread use of such robotic systems will allow us to begin solving global humanitarian problems - the elimination of numerous anti-personnel minefields and increasing the effectiveness of anti-terrorist activities.

Claims (1)

A sapper robot consisting of many uniaxial self-propelled modules delivered to a demining site by means of a separate vehicle and carrying out collective actions to clear individual munitions or minefields, characterized in that the uniaxial self-propelled modules are autonomous with the ability to exchange information between them and components of a multi-agent system, however, they are equipped with navigation systems with orientation devices relative to the rappers and / or satellite navigation system topic, equipment for remote detection and identification of ammunition, actuators for marking and destroying them, and neural network devices for processing information and generating commands for actuators in collective control mode.