RU2559194C1 - Robot complex - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: claimed complex comprises self-propelled vehicle, remote control board, motion control device, navigation system, communication and data transfer system, special equipment set, viewing system and actuators. Said navigation system comprises sensor subsystem, inertial system of orientation in space composed of local navigation unit and satellite navigation system composed of global navigation unit and two odometers.

EFFECT: increased controllability of robot complex.

1 dwg, 8 tbl

Description

The invention relates to military and special equipment, namely to robotic systems designed for remote operation in combat conditions, as well as in remote and dangerous places for human presence.

Known robotic transport platform (see patent RU No. 2506157 C1, B25J 5/00, F41 13/00, 02/10/2014), adopted as a prototype. The robotic transport platform contains a self-propelled driven vehicle with a drive and on-board power sources, a remote control, a motion control system, a communication and data transmission system, a set of functional equipment, a technical vision system, actuator drives. As a self-propelled driven vehicle, an off-road wheeled mover driven by an internal combustion engine was selected, a set of functional equipment was designed as a combat module for firing at various types of targets in day and night conditions, linear electric motors of the platform’s motion control system are electrically connected to servo amplifiers and mechanically with left and right steering gears, gearbox, throttle lever mechanically connected to a servo, the motion control system is equipped with ultrasonic sensors for detecting objects, the platform is equipped with a topographic location and navigation system, including an inertial spatial orientation system, a satellite navigation system and two odometers, an information and computer system consisting of two on-board computers and a backbone-modular platform for performing auxiliary operations the platform is equipped with equipment for providing redundant communication through the channels of a communication and data transmission system, a communication and transmission system and data switch and is equipped with two routers to work on the main and standby radio channels. Servo amplifiers, servo machine, ultrasonic sensors for detecting objects of a motion control system, inertial spatial orientation system, satellite navigation system and odometers of topographic and navigation systems, vehicle on-board equipment - tachometer and speedometer, video cameras of the vision system via information exchange channels are connected with information and computing system, power is supplied from an autonomous source installed on the vehicle.

The disadvantages of the prototype are:

- a low degree of adapted "behavior" when performing a combat mission in changing environmental conditions;

- low degree of accuracy of positioning on the ground;

- insufficient capabilities of controlled maneuvering on the ground.

The proposed invention solves the problem of increasing the level of controllability of combat robotic systems and expanding their functionality.

The technical result obtained by carrying out the invention consists in creating a robotic complex designed for the needs of the Ground Forces of the Armed Forces of the Russian Federation and ensuring the implementation of the following control tasks: local navigation and global navigation of the mobile platform of the robotic complex, control of its movement, functioning of a high-speed communication channel, control of special equipment .

The specified technical result is achieved by the fact that in the proposed robotic complex containing a self-propelled controlled vehicle, a remote control, a motion control system, a navigation system including an inertial orientation system in space, a satellite navigation system and two odometers, a communication and data transmission system, a set special equipment, a vision system, actuators, the new one is that the navigation system is a robotic set It is made in the form of two blocks: a local navigation block and a global navigation block, which are equipped with a sensor subsystem, a local navigation block is configured to process input data from the sensor subsystem about obstacles in the near field of view and issue commands through the communication channel to change the direction and speed of movement in this field, the vehicle traffic control system and data on the decision made for transmission to the remote control, the global navigation unit is configured to input data in the form of commands from the remote control, data for initial binding and determination of current coordinates, directional angle of the longitudinal axis of the robotic complex, data for linking the robotic complex to a single time scale, data for saving the geographical coordinates of the distance traveled and their transmission to the operator, data to display the route of movement on a digital map of the area in real time and output data on the direction and speed of movement on a digital map of the real time.

The implementation of the navigation system of the robotic complex in the form of two blocks: a local navigation unit and a global navigation unit, which are equipped with a sensor subsystem, allows you to:

- to ensure that the navigation system receives information from all sensors installed on the robotic complex capable of providing such information;

- provide automatic maneuvering of the robotic complex when overcoming obstacles directly arising in the direction of travel;

- to provide autonomous movement of the robotic complex in the entire specified area of work.

The functioning of the local navigation unit allows you to:

- ensure the processing of data from sensors near the field of view (up to 30 meters from the vehicle);

- take into account the geometric patency of the vehicle of the robotic complex.

The functioning of the global navigation unit allows you to:

- automatically carry out the initial binding of the robotic complex;

- continuously determine the current coordinates, the directional angle of the longitudinal axis of the complex;

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

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 in the drawing, which shows a structural diagram of a robotic transport platform.

The robotic complex contains a self-propelled controlled vehicle (SUTS) 1, the main elements of which are the engine (D) 2 and transmission (T) 3 and on which executive control mechanisms (IMU) are installed 4. IMU 4 is connected to the traffic control system (SUD) 5 The navigation system (SN) 6 is functionally divided into two blocks: a local navigation unit (BLN) 7 and a global navigation unit (BGN) 8, which are equipped with a sensor subsystem (SP) 9, which includes several types of sensors: odometers (Od) 10 encoders (En) 11, inertial spatial orientation system (ISOP) 12, satellite navigation system (SNA) 13, ultrasonic sensors (UD) 14, vision system (STZ) 15, radars (RL) 16. In addition, the robotic system is equipped with a special equipment control unit (BUSO) ) 17. Special equipment is installed on SUTS 1 to perform tasks as intended. COURT 5, CH 6 and BUSO 17 through a communication system and data transmission (SSPD) 18 are connected to a remote control (RC) 19.

Robotic complex operates as follows. According to the tasks performed, the equipment installed on SUTS 1 can be divided into the following main systems and units: BLN 7, BGN 8, SUD 5, SSPD 18, BUSO 17.

BLN 7 is presented in table 1.

BGN 8 is presented in table 2.

COURT 5 is presented in table 3.

SSPD 18 are presented in table 4.

BUSO 17 is presented in table 5.

Obviously, the system of interaction between blocks and systems of the robotic complex is heterogeneous in structure, speed and tasks.

To assess the required speed of BLN 7, we take the specified speed of 25 km / h, the time constant of the mechanical part of the system 1 s (reaction time of the drives).

Distance traveled by a vehicle in 1 s

S = 25000/3600 = 6.9 m.

The range of the near field sensors is taken equal to 30 m.

The time from detection of an obstacle to a collision will be:

t = 30 / 6.9 = 4.3 s.

Thus, taking into account the time constant of the mechanical part, the reaction time should be no worse than 4.3-1 = 3.3 sec. on a single obstacle.

It should be noted that this figure is idealized, and considers the case of movement on a perfectly flat surface and a single obstacle.

In real conditions, the speed of BLN 7 should be two to three orders of magnitude higher, since there is a combination of motion parameters of SUTS 1. Therefore, the formation of SP 9 comes to the fore.

The given set of parameters and sensors is the minimum necessary to solve the problem of controlling SUTS 1 in a semi-autonomous and autonomous mode.

Consider the above sensors, classify them according to a number of parameters.

Type of information:

Active - the sensor affects the environment, emits a sounding signal.

Passive - the sensor has no effect.

External visibility (for sensors measuring the distance to an obstacle, navigation sensors):

High - the sensor is detected by a person or by simple technical means.

Medium - sensor operation is detected by technical means.

Low - the sensor cannot be detected.

Security:

High - the sensor is resistant to natural external influences (weather conditions, interference from the movement of SUTS 1) and active suppression.

Medium - the sensor is resistant to natural external influences.

Low - the sensor is not resistant to these factors.

Required Computing Power:

High - a large flow of data from the sensor, requires complex processing to form a control command, an external processing module is required.

Medium - the average processing complexity, can be implemented at the sensor level.

Low - the sensor provides information directly or requires minimal processing.

We will reveal some properties of the sensors listed above:

1. Technical vision - stereoscopic machine vision based on processing a pair of 2D images and reconstructing a 3D environment using a stereo pair - requires very high computing power, but at the same time it is practically undetectable. To detect and suppress the use of laser scanning systems or the installation of smoke screens with absorption in a wide spectral range.

2. A mixed type of technical vision - systems using structural illumination, laser scanning. Reconstruction of 3D images according to one 2D image. It requires medium computing power and can be detected by devices that respond to infrared or laser radiation.

3. Radar - based on centimeter and millimeter waves, micropower emitters on Gunn diodes or magnetrons. When using antenna arrays do not have moving parts and are highly resistant to weather phenomena. At the same time, they can be detected and suppressed by electronic warfare. Without equipment are not detectable. The required computing power strongly depends on the circuitry of the system and in some cases can be minimal, i.e. all data processing can be implemented in the locator block.

4. Classical gyroscopic systems - hardly applicable on mobile robotic complexes due to the large size and high power consumption relative to other types of sensors.

Based on this, the following composition of SP 9 is recommended.

Thus, in the present invention, the task is achieved to achieve a technical result consisting in the creation of a robotic complex that provides the following control tasks: local navigation and global navigation of the mobile platform of the robotic complex, control of its movement, functioning of a high-speed communication channel, control of special equipment.

Claims (1)

A robotic complex containing a self-propelled controlled vehicle, a remote control, a motion control system, a navigation system including an inertial spatial orientation system, a satellite navigation system and two odometers, a communication and data transmission system, a set of special equipment, a technical vision system, actuators characterized in that the navigation system of the robotic complex is made in the form of two blocks: a local navigation unit and a hl unit obal navigation, which are equipped with a sensor subsystem, the local navigation unit is configured to process input data from the sensor subsystem about obstacles in the near field of view and issue commands through the communication channel to change the direction and speed of movement in this field of the vehicle traffic control system and data on the received a solution for transmitting to the remote control, the global navigation unit is configured to process input data in the form of commands from the remote control, data for initial binding and determination of current coordinates, directional angle of the longitudinal axis of the robotic complex, data for tying the robotic complex to a single time scale, data for saving the geographic coordinates of the distance traveled and their transmission to the operator, data for displaying the route on a digital map of the area in real scale time and data on the direction and speed on a digital map of the area in real time.