RU2523874C1 - Information control system for robot system for combat deployment - Google Patents

Abstract

FIELD: information technology.

SUBSTANCE: information control streams of a robot system are divided into first level exchange and control channels: exchange and control channel of an information computation system of a robotic transport platform with a remote control station, which includes second level exchange channels, and an exchange and control channel of the kernel of a control unit located at the remote control station, with the kernel of a revolving platform located on the robotic transport platform and equipped with a weapons system, which includes second level exchange channels.

EFFECT: information control system for a robot system for combat deployment has sufficient throughput of wire and radio links which link internal and external devices to each other, and provides high accuracy of determining navigation parameters, high degree of automation and faster information processing.

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Description

The invention relates to means for solving problems of information exchange and control and can be used in ground-based mobile robotic complexes equipped with a combat functional module.

Known distributed information management complex of moving objects (see patent RU No. 223237701, publ. 10.07.04), adopted as a prototype. The distributed information and control complex of moving objects contains survey and sighting devices, pattern recognition systems, inertial sensors and systems, air sensors and systems, indicating and controlling devices, and the computer system of the complex, including interconnected systems, interconnected by inputs and outputs along the highway of information exchange of radio electronic navigation systems along the line of computational information exchange, the unit for the formation of state parameters, the complex processing unit and information, an input-output and information exchange control unit, the other input-output of which is the input-output of the computer system of the complex. The complex is additionally equipped with a unit for bringing information, a unit for synthesizing motion and state parameters, a unit for calculating the parameters of movements and strains connected to each other and with a unit for generating state parameters, with an integrated information processing unit, with an input-output and control unit information exchange of a computing system along the highway of computational information exchange.

The disadvantages of the prototype are:

- the lack of the ability to adapt "behavior" when performing a combat mission in a changing environment;

- a large number of peripheral devices, leading to a complication and increase in the number of hardware;

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

- insufficient number of basic technologies for working with the complex, which can be worked out by operators during the training process and applied in combat conditions;

- low efficiency of using the control system in areas with a large number of obstacles;

- insufficient degree of automation of the complex, leading to a high degree of influence on the result of the "human factor".

The proposed invention solves the problem of increasing the efficiency and reliability of robotic weapons systems.

The technical result obtained by carrying out the invention is to create an information-control system for a robotic complex for combat use, which has sufficient bandwidth of wired and radio channels that connect internal and external devices to each other and provides high accuracy in determining navigation parameters, a high degree of automation and speed of processing information, the ability to implement adapted "behavior" when performing combat mission chi in changing environmental conditions by obtaining continuous multichannel information for controlling traffic and performing functional tasks.

The specified technical result is achieved by the fact that in the proposed information-control system of a robotic complex for combat use, containing highways of information exchange, sighting and sighting means, image recognition systems, sensors, the principle of which is based on various physical principles, indicating and controlling devices, a computing system , new is that the information and control flows of the robotic complex are divided into distributed channels of exchange and control first level: an exchange and control channel for a communication system and data transmission system of a robotic transport platform with a remote control point, including second-level exchange channels: an exchange channel with cameras of the vision system, an exchange channel with ultrasonic sensors, an exchange channel with sensors and actuators of the motion control system, an exchange channel with a topographic and navigation system: satellite navigation equipment and an inertial ori orientation in space, and an exchange and control channel for a communication system and data transmission of the computing core of the control unit located at the remote control point, with the computing core of the turntable located on a robotic transport platform and equipped with an armament system, including second-level exchange channels: exchange channel of the computing core of the control unit with an information display device and controls, exchange channel of the computing core of a rotary platform with a gyroscope , the exchange channel of the computing core of the turntable with the vertical and horizontal displacement motors, the exchange channel of the computing core of the rotary platform with the electric launch of the weapon system, the exchange channel of the computing core of the rotary platform with the observation and target designation unit: laser rangefinder, thermal imager, wide field of view camera, narrow video camera field of view.

The separation of information and control flows into two distributed channels of exchange and control of the first level allows;

- to effectively control the movement of the robotic transport platform to the place of combat use, maneuvering on the ground, the choice of firing position;

- to carry out remote control of fire weapons located on a moving object;

- monitor and detect targets in a controlled area;

- conduct guidance of fire weapons on targets and defeat them in automated and semi-automated modes.

The inclusion in the distributed channel of the first level of the second level channel of exchange - the channel of exchange with cameras of the technical vision system, allows you to:

- to control the movement of the robotic transport platform forward;

- carry out control maneuvering, reversing;

- be able to observe front and rear with a sufficient viewing angle;

- Recognize the condition of the road and obstacles;

- carry out remote switching of cameras.

The inclusion in the distributed channel of the first level of the second level channel of exchange - the channel of exchange with ultrasonic sensors, allows you to:

- ensure detection in the area of movement of the robotic transport platform the presence of obstacles of any configurational complexity;

- prevent the collision of the robotic transport platform with the detected obstacles;

- to increase the degree of adapted "behavior" when performing a combat mission in changing environmental conditions.

The inclusion in the distributed channel of the first level of the second-level exchange channel - the exchange channel with the sensors and actuators of the motion control system, allows for a high degree of controllability of the robotic transport platform when driving on the ground.

The inclusion in the distributed channel of the first level of the second level exchange channel - the exchange channel with the topographic and navigation system: satellite navigation equipment and an inertial orientation system in space, allows you to:

- increase the autonomy of the robotic transport platform;

- ensure the programmed extension of the platform to a given point and its return along a previously traveled route;

- determine the coordinates of landmarks located on the route of movement of the platform.

The inclusion in the distributed channel of the first level of the second level exchange channel - the exchange channel of the computing core of the control unit with information display devices, controls, allows you to:

- to control the drives of the turntable, switching cameras, measuring distances and firing from the weapons system;

- carry out data input / output via internal communication channels;

- display graphic and text video information.

The inclusion in the distributed channel of the first level of the second level exchange channel - the exchange channel of the computing core of the rotary platform with the gyroscope, allows you to transmit signals to the computing core during stabilization.

The inclusion in the distributed channel of the first level exchange channel of the second level - the exchange channel of the computing core of the turntable with the Executive engines of vertical and horizontal movement, allows you to control the movement of the turntable.

The inclusion in the distributed channel of the first level of the second-level exchange channel - the exchange channel of the computing core of the rotary platform with the electric launch of the weapon system, allows:

- to control the electric start;

- vary the shooting mode.

The inclusion in the distributed channel of the first level of the second-level exchange channel - the exchange channel of the computing core of the rotary platform with a laser range finder allows you to measure the distance to the target.

The inclusion in the distributed channel of the first level exchange channel of the second level - the exchange channel of the computing core rotary platform with a thermal imager allows you to monitor the terrain in night or bad weather conditions.

The inclusion in the distributed channel of the first level of the second level exchange channel - the exchange channel of the computing core of the rotary platform with a wide field of view camera, a narrow field of view camera allows you to get the most complete video information about the surrounding area.

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 the appearance of a robotic complex for military use; figure 2 is a structural diagram of an information management system.

The information and control system of a combat robotic complex contains distributed channels of exchange and control of the first level: a channel of exchange and control 1 through a communication and data transmission system (SPD) 2 information and computing systems (IVS) 3 robotic transport platforms (RTP) 4 with a remote control (remote control) 5 and a communication and control channel 6 through a communication and data transmission system (SSPD) 7 computing core (VYA) 8 control unit (BU) 9, located on the remote control 5, with a computing core (VYA) 10 rotary form (PP) 11, located on the RTP 4 and equipped with an armament system (SV) 12. The exchange and control channel 1 includes second-level exchange channels: an exchange channel 13 with video cameras (VK) 14 vision systems (STZ) 15, a channel exchange 16 with ultrasonic sensors (SPL) 17, the exchange channel 18 with sensors (D) 19 and actuators (MI) 20 of the motion control system (SUD) 21, the exchange channel 22 with the topographic and navigation system (STN) 23: satellite navigation equipment (ASN) 24 and the inertial orientation system in space (ISOP) 25. Channel exchange and control 6 includes second-level exchange channels: exchange channel 26 VYA 8 BU 9 with display devices (UO) 27, control elements (OS) 28, exchange channel 29 VYA 10 PP 11 with a gyroscope (G) 30, exchange channel 31 VYA 10 PP 11 with executive engines of vertical and horizontal movement (DVP) 32 and (ДГП) 33, exchange channel 34 VYA 10 PP 11 with electric start (ES) 35 SV 12, exchange channel 36 VYA 10 PP 11 with observation and target designation unit ( BN and TsU) 37: laser range finder (LD) 38, thermal imager (T) 39, video camera with a wide field of view (VSPZ) 40, video camera with a narrow field of view (V UPZ) 41. UO 27 includes an LCD module. Shelter, trackball, functional and numeric keypad, touch screen belong to OS 28.

The information management system of the robotic complex for combat use operates as follows. The distribution of the main streams of information and control signals over wired and radio channels is carried out through two channels of exchange and control of the first level 1 and 6. This is due to the structural construction of a robotic complex for military use. The exchange and control channel 1 is intended for the implementation of tasks, the implementation of which should provide the transformer substation 4, mainly related to controlled movement, information interchange between the transformer substation 4 and the remote control 5, the solution of orientation problems in space. This channel of exchange and control 1 is implemented by means of SSPD 2, sufficient to maintain the necessary intensity of information exchange. SSPD 2 provides:

- transfer of 4 control commands from the remote control 5 to the RTP;

- transfer from RTP 4 to the remote control 5 information from STZ 15, data on the position and condition of RTP 4;

- the required transmission range of information over the air;

- Management of RTP 4 on the backup radio channel.

The exchange and control channel 1 includes second-level exchange channels. The exchange channel 13 with VK 14 STZ 15 performs the functions of traffic control and monitoring. The exchange channel 16 with SPL 17 in an automated mode allows the recognition of emerging obstacles on the ground with the further formation in the ITT of 3 teams to avoid an obstacle. On the exchange channel 18 with D 19 and IM 20, the SUD 21 provides control of the steering mechanism, gearbox and throttle lever. On the exchange channel 22 with STN 23: ASN 24 and ISOP 25 are provided:

- initial binding of RTP 4;

- determination of current coordinates, the directional angle of the longitudinal axis of the RTP 4;

- display of the route of the movement RTP 4 on a digital map of the area in real time.

The control of the equipment of the systems and subsystems of RTP 4 is carried out by means of the IVS 3 RTP 4, which provides:

- processing information from the remote control 5, transmitting information to the remote control 5;

- remote and semi-autonomous control of RTP 4;

- compression of information during transmission via the SSPD 2 channel.

The exchange and control channel 6 is designed for remote control of CB 12 installed on the software 11 of the RTD 4. This exchange and control channel 6 is implemented by means of the data storage system 7, sufficient to maintain the necessary intensity of information exchange. SSPD 7 provides:

- transfer of control commands from control unit 9 to control unit 11;

- transfer of optical information from software 11 to control unit 5;

- the required range of transmission of information over the air.

The exchange and control channel 6 includes second-level exchange channels. The exchange channel 26 VYA 8 BU 9 with UO 27, OU 28 is intended for information input, its display and management. The exchange channel 29 VYA 10 PP 11 with G 30 is designed to transmit a signal to VYA 10 during stabilization. Through the exchange channel 31 VYA 10 PP 11 with fiberboard 32 and DGP 33, signals are directly transmitted to work out the PP 11 of vertical and / or horizontal movement of the PP 11. The exchange channel 34 VYA 10 PP 11 with ES 35 SV 12 transmits signals to operate the ES 35 SV 12. The exchange channel 36 VYA 10 PP 11 with BN and TsU 37: LD 38, T 39, VSHPZ 40, VUPZ 41 transmits signals from peripheral devices PP 11, which are responsible for monitoring and target designation.

RTP 4 moves along the route with installed PP 11 in remote manual mode or semi-automatic at any time of day or time of year. RTP 4 is controlled by SSPD 2 with remote control 5. The video image from VK 14 STZ 13 allows the platform to move forward and backward with a sufficient viewing angle. A video image from VK 14 is transmitted to the remote control 5, as well as telemetric information about the state of the RTP 4 (speed, direction of movement, tilt angles, current coordinates, engine operation parameters, etc.). When using STN 23, the movement of the transformer substation 4 occurs along a path defined by the operator by entering the geographical coordinates of the route nodal points in the TDF 3 or along a path saved earlier when moving in manual mode. In RTP 4, the mode of automatic return to the starting point according to the route traveled is implemented, and in case of loss of communication, it automatically returns to the starting point to the connection recovery point.

After the release of RTP 4 at a given point, the following occurs. Surveillance of the terrain is carried out using VShPZ 40, VUPZ 41 and T 39. If a target is detected in the controlled area using OU 28 (trackball), combine the crosshair on UO 27 BU 9 with the detected target. During the movement of the RTP 4, on which the PP 11 is installed, for more accurate monitoring of the detected target in the controlled area, the stabilization mode is activated. Next, the range to the target of the LD 38 is measured after a command with the op-amp 28, the operator visually assesses the distance to the target in order to make sure that the value coincides with the measured LD 38 values. Otherwise, the target is measured with a new aim or a range value is entered manually. To hit the target, the necessary shooting mode is set after the command with OU 28: continuous / bursts, long / short. Due to the inertia of the parameters of the ES 35 SV 12, the number of shots in the queue may differ from the estimated one by 1-3 shots. For automatic tracking of the selected single moving target with the help of OU 28, the target tracking mode is switched on and then the opening of fire.

Thus, in the present invention, the task is achieved to achieve a technical result, which consists in creating an information-control system for a robotic complex for combat use, which has sufficient bandwidth of wired and radio channels that connect internal and external devices to each other and provides high accuracy in determining navigation parameters, a high degree automation and speed of information processing, the possibility of implementing an adapted "behavior Nia 'when performing combat mission in a changing environment by obtaining a continuous multi-channel information to control the movement and perform functional tasks.

Claims (1)

The information-management system of a combat robotic complex, containing highways of information exchange, sighting tools, pattern recognition systems, sensors, the principle of which is based on various physical principles, display-control devices, a computer system, characterized in that the information-control flows the robotic complex is divided into distributed channels of exchange and control of the first level: the channel of exchange and control by communication and transmission system data computer system of a robotic transport platform with a remote control point, including second-level communication channels: an exchange channel with video cameras of the vision system, an exchange channel with ultrasonic sensors, an exchange channel with sensors and actuators of the motion control system, an exchange channel with the system topographic and navigation systems: satellite navigation equipment and an inertial spatial orientation system, and an exchange and control channel for a communication system and data transmission of the computing core of the control unit, located at the remote control point, with the computing core of the rotary platform, located on the robotic transport platform and equipped with an weapons system, including second-level communication channels: the control core of the computing core of the control unit with the information display device and control elements , the exchange channel of the computing core of the turntable with a gyroscope, the exchange channel of the computing core of the rotary platform with vertical and horizontal displacement engines, a rotary platform computing core exchange channel with an electric launch of the armament system, a rotary platform computing core exchange channel with an observation and target designation unit: a laser range finder, a thermal imager, a wide field of view camera, a narrow field of view camera.

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