RU2714551C1 - Robotic floating machine - Google Patents

Abstract

FIELD: weapons.SUBSTANCE: invention relates to military equipment. Robotic floating machine comprises watertight casing, caterpillar and/or wheel propulsor designed to be used as water-propellant propulsor and/or supplemented with water-propellant propulsor. There is also a water-shield and/or a water-pumping facility, an onboard power source made in the form of a storage battery and/or an internal combustion engine (ICE) and a generator connected to it, power transmission and system of automated and/or remote control of water-removing agent and/or water-shield. Power train comprises traction motor and mechanical transmission transmitting mechanical energy from traction motor to water propeller.EFFECT: higher speed and mobility of machine.15 cl, 1 dwg

Description

The invention relates to military equipment, in particular to the field of floating robotic armored vehicles designed to perform various tasks as a means of combat use and means of support.

Known combat floating machine containing a waterproof casing, internal combustion engine (ICE), a caterpillar mover used as a waterway, as well as a water shield and an overflow valve, with which the exhaust gases of the internal combustion engine through an additional pipeline and a non-return valve located in it are redirected to the bow part of the floating machine (RU 2658197 C1, F41H 13/00, 06/19/2018).

The supply of exhaust gases of the internal combustion engine to the front of the machine leads to the creation of a gas-air layer in front of the machine. This reduces the density of water and its resistance to movement and, accordingly, provides an increase in the speed of movement of the machine on the water.

The disadvantages of this machine are the lack of secrecy due to the noise exposure of a working ICE, as well as the increased likelihood of a machine with its crew being struck by enemy fire due to the lack of remote and automated control.

Also known is a floating armored tracked vehicle, which includes a multi-capsule sealed enclosure with landing hatches and an aperture for landing, a power plant with internal combustion engines, a caterpillar mover with a suspension and drive from the internal combustion engine, a navigational mover and small arms. A wheeled mover and a navigable mover with a steering wheel are mounted in the lower stationary part of the machine’s body, and a turret with weapons is installed in the front of the body. To drive the navigable propulsion device, an electric motor and a battery are used that are installed on the machine before forcing a water barrier (RU 2576070 C2, F41H 7/00, 02.27.2016).

The disadvantage of this machine is the lack of autonomy of its operation, due to the use of removable batteries and a drive motor, as well as the increased likelihood of a machine with its crew being struck by enemy fire due to the lack of remote and automated control.

Closest to the proposed is a floating armored tracked vehicle, capable of overcoming water obstacles in both surface and fully submerged positions. It is equipped with a sealed enclosure, water propulsion devices, a system for communicating the enclosed volume of the enclosure with the atmosphere, ballast tanks, a compressor, sonar, navigation aids and a video surveillance system. The machine has an autonomous energy supply system based on rechargeable batteries to enable the machine to move in a completely submerged position without any connection to the atmosphere. Immersion depth sensors and a tracking system for regulating immersion depth and angular stabilization ensure maintaining a given depth with a small buoyancy margin due to the use of navigational propulsion devices with a variable thrust vector (RU 2326769 C2, B60F 3/00, 20.06.2008).

The disadvantage of this machine is the reduced speed and mobility of the machine when overcoming water obstacles, as well as the difficulty of reaching the unprepared shore, which is due to the increased hydrodynamic resistance to movement of the machine in water when it is completely submerged.

In the mode of overcoming a water obstacle without complete immersion in water, the speed, mobility and the ability to exit this machine to an unprepared shore also remain low, since it does not provide for acceleration of the rewinding of tracks during the transition from movement on land to movement on water and, accordingly, the maximum the possible use of the power of the internal combustion engine and the navigational properties of the tracks to create traction and reduce the radius of rotation of the machine when it moves on water. There is also no mode for gliding the machine over water.

The present invention is the creation of a robotic floating machine with increased speed and maneuverability and easy access to unprepared shore.

The technical result of the proposed invention is to increase the speed and mobility of the machine on the water while overcoming water barriers and facilitate its access to the unprepared shore.

The problem is solved due to the fact that the robotic floating machine contains a waterproof casing, a caterpillar and / or wheeled mover, which can be used as a navigable, an additional navigable mover, which can be installed in addition to a caterpillar and / or wheeled mover, as well as a water shield and / or water-evacuating agent, on-board energy source - a storage battery and / or internal combustion engine (ICE) with a generator, power transmission and automatic system and / or remote control of the power transmission, and / or ICE, and / or water-evacuating means, and / or water-reflection shield, and the power transmission contains at least one traction motor that converts the electrical energy of the onboard power source into mechanical energy, and at least at least one mechanical transmission with a variable (switchable) gear ratio transmitting mechanical energy from at least one traction motor to a tracked and / or wheeled and / or navigable engine resident.

In special cases of the implementation of the machine, the task is solved due to the fact that:

- the car body is made armored;

- caterpillar mover, adapted for use as a navigable one, has a hydrodynamic casing covering the upper branches of the tracks, and / or blades, and / or developed lugs;

- the caterpillar mover has an adjustable suspension, which reduces the ride height of the machine when it is moving on water;

- the caterpillar mover and power train are implemented from the condition of ensuring a dynamic reaction of water acting on the tracks, sufficient to glide the machine through the water;

- the mechanical transmission has a variable (switchable, controlled) gear ratio, providing the possibility of increasing the speed of the caterpillar and / or wheel propulsion when the vehicle is moving on water;

- the navigational propulsion device is made in the form of one or more water-propelling propulsors or propellers installed in the rear of the machine and having a mechanical, or hydrostatic, or electromechanical drive from the internal combustion engine, from traction motors, from a caterpillar or wheel propulsion device, or from additionally installed electric motors of the propulsion device;

- the drive of the water jet propulsion device (s) or propeller (screws) contains a gearbox and / or a controlled clutch;

- the automated and / or remote control system contains a controller or a group of controllers, mainly microprocessor-based, the power part of which is implemented on power transistors and / or transistor modules, as well as radio communications equipment, a wired communication line and / or fiber optic cable, on-board sensors and executive mechanisms of power transmission, and / or ICE, and / or water-draining means, and / or wave-reflecting shield, and / or water propulsion device. On-board sensors may include accelerometers and gyroscopes of the strapdown inertial navigation system, ultrasonic, stereo-visual, course-odometric, radar, magnetometric sensors, longitudinal and lateral roll sensors of the machine, global satellite navigation receivers, sensors of operating parameters of power transmission, functional equipment, ICE and / or watercraft. The controller or group of controllers monitor the environment and / or determine the current location of the machine by processing the output signals of the on-board sensors, and also implement algorithms for automated and / or remote control of the movement of the machine (power transmission and ICE) and / or the operation of its functional equipment;

- functional equipment, for the installation of which the machine is adapted, is made in the form of a hoisting mechanism, and / or a complex of weapons, and / or launch equipment of an explosive demining installation, and / or equipment for extinguishing fires, and / or equipment for digging and moving soil, and an automated and / or remote control system is adapted to control this functional equipment.

The indicated alternative distinguishing features of the independent and dependent claims are in direct causal connection with the achieved technical result, since their implementation provides an increase in the speed and mobility of the machine on the water when overcoming water barriers, as well as facilitating its access to the unprepared shore.

The implementation of the distinguishing feature, characterized by the use of a mechanical transmission in a power transmission with a variable (switchable) gear ratio established between the traction electric motor and the caterpillar and / or wheel propeller or final drive (wheel) gearboxes, allows to increase the speed of track rewinding or wheel rotation when moving from moving along land to traffic on water. Due to this, the transmission of power of the onboard energy source to the tracks or wheels is increased, which leads to an increase in the tractive effort created by them and to a decrease in the radius of rotation of the machine when it moves on water, which ensures an increase in the speed and mobility of the machine on water. An increase in the speed of movement of the machine on the water leads to a corresponding increase in its kinetic energy in proportion to the square of this speed, to an increase in inertia forces and a corresponding facilitation of the machine reaching the unprepared shore.

The implementation of this distinguishing feature on a floating machine with high energy saturation, namely, increasing the speed of rewinding the tracks or rotating the wheels by reducing the gear ratio of the mechanical transmission, allows you to get the machine planing mode on water, in which the machine is held on its surface only due to the high-speed pressure of water ( hydrodynamic forces). "Gliding" on water provides a sharp decrease in resistance to movement of the machine with a corresponding increase in the speed of its movement and improved maneuverability. A machine that implements automated control of the speed of caterpillar rewinding or wheel rotation can, in planing mode, without stopping at high speed, go ashore covered with sand, ice, grass, etc., and then return to the water. This ensures the simplest ("seamless") exit of the machine from the water to the unprepared surface of the shore and back.

The implementation of the distinguishing feature, characterized by the use in a power transmission of a mechanical transmission with a variable (switchable, adjustable) gear ratio established between the traction motor and the water propulsion in combination with the use of an automated control system for this transmission, provides the implementation of the regime of the maximum possible transmission of power from an onboard power source to navigational propulsion, which also provides an increase in the speed and mobility of the machine on the water when overcoming water barriers, as well as facilitating its access to the unprepared shore.

The use of a mechanical transmission with a variable (switchable) gear ratio, established, for example, between the traction motor and the final drive of a tracked or wheeled vehicle, can also reduce the mass of electric motors and the machine as a whole, which leads to a decrease in the immersion depth of its body in water and a corresponding decrease hydrodynamic resistance of water, which also ensures the achievement of the specified technical result.

The implementation of the distinguishing feature of the dependent claims, characterized by the use of booking the machine body, ensures the achievement of the specified technical result due to the fact that the use of booking, especially the bottom of the machine, allows to increase the speed and mobility of the machine by eliminating the risk of damage due to collisions with obstacles, hidden under water, and also provides easier exit of the machine to an unprepared shore due to the action of inertia forces while out.

Thanks to the implementation of the following distinguishing feature, according to which the caterpillar mover, adapted for use as a navigable one, has hydrodynamic covers covering the upper branches of the caterpillars, vanes or developed lugs, especially in combination with the implementation of the first distinguishing feature - reducing the gear ratio of the mechanical transmission, an increase in gear is achieved power of the onboard power source to the tracks, an increase in their traction when the car moves on the water, which also provides increased speed and mobility of the machine on the water while overcoming water barriers and facilitating its access to the unprepared shore.

The implementation of the adjustable suspension of the caterpillar mover makes it possible to reduce the ground clearance of the machine when it moves on the water. Underestimation of the machine body increases its stability and, accordingly, provides an increase in the speed and mobility of the machine on the water and facilitate its access to the unprepared shore.

The implementation of the propulsion device in the form of several water-propelling propulsors (water-jet propulsion) or propellers installed in the rear of the machine and having a mechanical, hydrostatic, electromechanical drive from the internal combustion engine, from traction motors, from a caterpillar or wheel mover, or from additionally installed electric motors, allows independent control each water cannon or propeller from the condition of transferring the maximum possible power of the onboard power source to the navigational propulsion device, as well as adjusting Contents vector of its traction. This also ensures the achievement of the specified technical result.

The use in the drive of a water-jet propulsion device (s) or a propeller (screws) of a gearbox and / or controlled clutch, provided for by the following distinctive feature of the dependent claims, allows to improve the control of the propulsion device, which provides further improvement of the specified technical result.

Implementation of an automated and / or remote control system in the form of a controller (a group of controllers), a communication tool and a set of on-board sensors provides the ability to track the environment and determine the current location of the machine with the subsequent implementation of its automated and / or remote control algorithms. Due to this, the accuracy and efficiency of the formation of control signals for the power transmission, ICE and the functional equipment of the machine is increased, which also provides an increase in the speed, mobility of the machine on the water and facilitate its access to the unprepared shore.

Implementation of the last distinguishing feature of the invention, characterized by the installation of a lifting mechanism, an armament complex, launch equipment for an explosive mine clearing facility, fire fighting equipment, equipment for digging and moving soil, or other functional equipment with high vibration and impact resistance, combined with the implementation algorithms for automated and / or remote control of this equipment, allows you to remove restrictions on the maximum linear and angular accelerations that occur when the machine moves, which also ensures the achievement of the specified technical result.

In a robotic floating machine, the implementation of one (any) of these distinguishing features does not impede the implementation of any other alternative distinguishing feature. For example, a machine body can be made armored regardless of the presence or absence of a mechanical transmission in a power transmission with a variable (switchable) gear ratio. Likewise, a caterpillar mover, regardless of the presence of such a gear and housing reservation, may or may not have hydrodynamic casings, vanes, developed lugs, etc. Therefore, the machine can be implemented as one of these alternative distinguishing features of the independent and dependent claims, as well as several distinctive features in any combination at the same time, and the level of achievement of the specified technical result depends on the number of implemented distinctive features.

The technical nature and principle of operation of the proposed device are illustrated in the drawing, which shows, as an example of the invention, a simplified functional diagram of a robotic tracked vehicle.

The proposed machine contains a waterproof supporting body, the displacement of which ensures its maintenance afloat in the surface position. The case serves to accommodate and protect the crew, personnel and the wounded, as well as the units, mechanisms and systems of the machine and its functional equipment. To achieve the required degree of protection under conditions of weight restrictions, the case can be made of light armor alloys.

The on-board energy source contains an internal combustion engine (ICE) 1 (with serving systems for supplying fuel and air, lubrication, cooling, heating and starting), and a generator 2 connected to it, or a battery (battery) 3, or at the same time an internal combustion engine with a generator and Battery.

ICE is connected to the generator 2 directly or through a multiplier, an elastic coupling, etc.

A generator of any type can be installed on the machine - asynchronous, valve with permanent magnets on the rotor, valve-inductor, etc. It can have both liquid and air cooling. The power rectifier, inverter or converter of the generator, as well as the regulator of its output voltage, can be placed in the same housing with this generator (shown in the drawing), or made in the form of separate devices.

If the electrical part of the generator is made in the form of an inverter or converter providing switching of its windings, then the generator 2 can operate in the electric motor mode when starting the engine 1 and when the engine brakes the engine.

The generator converts the mechanical energy of the internal combustion engine into electrical energy transmitted to the power bus 4, for example, with a nominal voltage of 275 or 540 V DC.

In the given example, a sequential kinematic diagram of the motor-transmission installation of the machine is used, which excludes the mechanical connection of the internal combustion engine with a caterpillar or wheel propulsion.

In this case, the power transmission contains traction motors 5, 6. Their output shafts are connected directly or via additional transmission devices to drive sprockets or drive wheels 9, 10 of a caterpillar or wheeled mover using mechanical gears 7, 8.

Mechanical gears 7, 8 can have two or more different gear ratios, or a continuously adjustable gear ratio, implemented using a variator. Changing (switching) the gear ratio can be carried out by the operator manually or automatically using gear couplings, clutches, etc. and the corresponding actuators.

Mechanical transmissions 7, 8 can have one input and one output shafts, as well as one input and two output shafts with various, including controllable (switchable, variable) gear ratios, used for drives of land and navigational propulsors.

Traction motors can be of any design. The use of reactive induction motors is preferred. They can be built into the hubs of the drive wheels or placed inside the contour of the tracks, or placed in the machine body and connected to them through transmission devices (cardan shafts, couplings, etc.). Between the output shafts of the mechanical gears 7, 8 and the drive sprockets or wheels 9, 10, final drives or wheel reducers and / or brakes 11, 12 can be installed.

Implementation of a machine with one traction electric motor is possible. In this case, the power transmission, through which the mechanical energy is transferred from the traction motor to the drive wheels or tracks, in addition to the indicated one mechanical transmission or mechanical gears (according to the number of tracks or drive wheels) and final drives (if necessary) contain the main gear with side clutches and brakes 11, 12, or with a differential mechanism that allows the machine to rotate.

It is also possible to realize a power transmission (s) having more than two traction motors used to drive all 4 or more drive wheels or tracks of the machine.

A caterpillar or wheeled land mover is designed primarily to convert the rotational motion of the output shafts of mechanical gears 7, 8, or final drives 11, 12, into the translational movement of the machine. Movement afloat can be achieved by rewinding the tracks or rotating the drive wheels. In this case, the caterpillar mover, used as a navigable one, can have hydrodynamic casing covering the upper branches of the caterpillars, shoulder blades or developed lugs.

With a sufficiently large power of the internal combustion engine, the caterpillar mover and power transmission can be made in such a way that the dynamic reaction of water to the tracks will be sufficient to glide the machine through the water. This is achieved through the use of small-sized tracks, the appropriate choice of the shape and size of its lugs, as well as increasing the speed of rewinding of tracks by reducing the gear ratio of mechanical gears 7, 8.

To increase the speed of the machine on the water, it is also possible to use a propulsion device, for example, water cannons or propellers 13, 14 installed in the rear of the machine. Each of them consists, in particular, of an intake pipe, a reducer, an outlet pipe with a straightening apparatus and an impeller (rotor blade). When the machine is operating on land, the intake openings of the water-jet propulsors are closed by covers. The machine can also be equipped with steering wheels located in the aft of the floating machine and providing the implementation of navigational propulsion with a variable thrust vector.

For their drive from traction motors 5, 6, mechanical gears 7, 8 are used, having one input and two output shafts, as well as controlled or uncontrolled friction clutches 15, 16 with mechanical, electromechanical or electro-hydraulic control, cardan shafts, etc.

In addition to the drive from the traction motors 7, 8, it is also possible to implement a mechanical, hydrostatic or electromechanical drive of water cannons or propellers directly from the internal combustion engine, from a caterpillar or wheel mover, or from an additionally installed electric motor (motors) of the navigational mover. Such a drive may also contain a mechanical transmission (gearbox) with a variable (switchable, controllable) gear ratio and / or a controllable clutch, which allows to turn off the navigational propulsion device when the vehicle is moving on land.

The caterpillar mover can have a pneumatic suspension with an electro-hydraulic or electromechanical device for controlling the clearance of the machine with fixed operating positions. This adjustment makes it possible to reduce the ride height (clearance) of the machine when it is moving on water.

The machine is equipped with a water-evacuating agent (device) 17 containing, in particular, a shut-off valve, a water intake pipe with a non-return valve, a mechanical, pneumatic, or hydraulic actuator 18 from the internal combustion engine (shown in the drawing), or an electromechanical drive (electric motor of a water-evacuating device (pump) with controller) connected to the power bus 4.

A water-reflecting (wave-reflecting) shield (shield) with a drive of any kind is also installed on the machine.

An appropriate actuator is used to control these devices. In particular, it is possible to implement an electromechanical drive connected to power buses 4.

Functional equipment 19 installed on the machine can be made in the form of a lifting mechanism, and / or a complex of weapons, and / or launch equipment of an explosive demining installation, and / or equipment for extinguishing fires, and / or equipment for digging and moving soil.

To accommodate an armament complex, such as a machine gun, a turret can be mounted in front of the hull. The machine gun can be part of a remotely controlled combat module, stabilized in two planes and equipped with a laser rangefinder and a television and thermal imaging scope, which can be used both for self-defense and for observation when controlling the movement of the machine.

The drive of the functional equipment 20 may be mechanical, hydraulic or pneumatic, including from the internal combustion engine (shown in the drawing) or from an additional electric motor with a controller of the functional equipment receiving energy from the power bus 4.

The system of automated and / or remote control of a machine, including its functional equipment, can also be called a control, protection and control system, an electrical equipment system, etc. In general, it includes the high-voltage and low-voltage parts of this system. Its informational basis is a digital computer 21, which can also be called a top-level controller, control unit, on-board computer, information-control unit, etc.

The term “automated”, in contrast to the term “automatic,” emphasizes the preservation by a human operator of certain functions that are either not amenable to automation, or that have a general purposeful character.

The control system also includes means of communication 22 machines with a stationary control station via a radio channel, a wireline or fiber optic cable, on-board sensors 23, an internal combustion engine controller 24, a power train controller 25, and an automated workstation (AWP) of an operator or two operators (commander , driver, gunner, etc.) 26.

The workstation includes controls for the movement of the machine (joysticks or a steering wheel for turning the machine on land and afloat), controls for internal combustion engines, functional equipment 19, a bilge pump, a baffle plate, light devices, etc., as well as a display and / or a set of light indicators to display the operating modes of the machine, as well as diagnostic and alarm signals.

All of these electronic units can be made in a common case in the form of a single controller (electronic unit, control unit, control cabinet, etc.), or in different cases. Each of them in the general case contains an information part implemented on the basis of a microcontroller or a digital signal processor, interface circuits that ensure the input / output circuits of the microcontrollers are matched with communication lines and, if necessary, with on-board sensors 23, as well as a power part implemented on power transistors and / or transistor modules and providing the formation and transmission of signals of the required power to the windings of electric motors 5, 6, executive mechanisms of power transmission (fur ble gear 7, 6, brakes 11, 12, etc.), the internal combustion engine, the drive means 18 bilge, volnootrazhatelnogo shield and navigable mover (clutches 15, 16 water jets or propellers 13, 14).

Controllers can also be called control units, control devices, input and load blocks, information control units or devices, etc.

The power transmission controller 25, which may be referred to as a power converter, inverter, etc., is designed to convert the DC voltage of the on-board energy source (voltage on the power bus 4) into alternating voltage or into unipolar pulses that enter the phase windings of the traction motors 5, 6. Power electronic keys included in its composition are made mainly on insulated-gate bipolar transistors (IGBT) or in the form of modules implemented on the basis of IGBT (IGBT) transistors, and have galvanically isolated drivers for these transistors (modules). For two traction motors 5, 6, one controller (inverter, converter, switch) of the power transmission 25 (shown in the drawing) can be used. To work with each traction motor, a separate controller can be installed. It is also possible to install several controllers on one traction motor, for example, when crushing power in sections of its stator.

To control the functional equipment 19 and its drive 20, a controller may be used that is integrated in this functional equipment or in its drive 20, or a separate controller of the functional equipment.

The composition of the on-board sensors 23 in the general case includes accelerometers and gyroscopes of the strapdown inertial navigation system, ultrasonic, stereo-visual (motionlessly mounted or remotely controlled cameras with guidance drives), course odometer, radar, magnetometric sensors, longitudinal and lateral roll sensors of the machine, global satellite navigation receivers, as well as sensors for operating parameters of the power transmission, functional equipment, ICE, water-evacuating means and water Foot propulsion.

The controllers (electronic components) of the automated and / or remote control system have the resources (processing power, program and data memory, analog-to-digital converters, etc.) sufficient to process the output signals of the on-board sensors 23 and subsequent tracking of the environment, determining the current location of the machine, as well as the implementation of algorithms for automated and / or remote control of the movement of the machine and the operation of its functional equipment.

The information signal transmission lines between the controllers 24, 25, the digital computer 21, the on-board sensors 23, the operator's automated workstation 26 and the communication means 22 can be performed using the standard industrial network CAN (Controller Area Network) 17, oriented towards combining a single network of various devices using serial, broadcast and packet transmission modes. It is possible to use LIN (Local Interconnection Network), RS-485 (EIA / TIA standard), etc. interfaces, as well as wireless interfaces like ZigBee (IEEE 802.15.4 standard), Wi-Fi (IEEE 802.11 standard), Bluetooth ( IEEE 802.15.1 standard), etc. It is also possible to connect individual functional units of the control system, including their connection to the digital computer 21 and to the on-board sensors 23, using separate wires.

A capacitive or inertial energy storage device, realized, respectively, based on capacitors or a rotating flywheel, as well as a braking resistor with a corresponding control device, which absorbs electrical energy during dynamic braking of the machine by traction motors 5, 6 while the machine is moving, can be connected to the power bus 4 on a long descent.

The operation of the proposed device is as follows.

In the “afloat” position, the armored vehicle in a horizontal position is partially or completely immersed in water and its reserved volume is in communication with the atmosphere through an air supply pipe through which air is supplied for breathing crew members (in the control mode from the vehicle), as well as to ensure the operation of the internal combustion engine (if available on the machine) and a compressor that supplies air to the inflatable floats (if available).

The primary source of energy for the movement of the machine and for the operation of its functional equipment 19 is an onboard energy source.

The digital computer (top-level controller) 21, which acts as the master device of the machine control system, operates according to a program previously recorded in its non-volatile memory and coordinates the operation of all components of the machine, carrying out information interaction with them via the CAN bus.

Starting the internal combustion engine (if available on the machine) is carried out either remotely using communication equipment 22, or by the operator (driver) using the internal combustion engine start key located on AWP 26. The internal combustion engine start signal from the digital computer (controller) 21 is received via CAN bus to the internal combustion engine controller 24, which generates the start signal of its starter and fuel supply.

When the machine moves on water, the operator in the remote control mode, or the driver, acting on the appropriate control element, raises the water-reflecting shield.

To move the machine afloat, the forward movement of the tracks or the rotation of the drive wheels is used. The lower branches of the tracks or the lower parts of the driving wheels create a stream of water directed in the direction opposite to the movement. To reduce the resistance to movement created by the flow of water from the upper branch of the caterpillar, and the corresponding increase in the speed of the vehicle on the water, the upper branch of the tracks is closed with special hydrodynamic casings or wings. For the same purpose, the caterpillar can be equipped with shoulder blades or developed lugs.

Turning on the water is carried out due to the difference in the speeds of the rewinding of the tracks or the rotation of the drive wheels of the left and right side of the machine.

When the machine moves on water, the reduction ratio of its mechanical gears 7, 8 is reduced. This leads to an increase in the speed of rewinding of tracks or rotation of the wheels, to an increase in traction on water and, accordingly, to an increase in the speed of movement and mobility of the machine.

In the case of a high energy saturation of the machine, it enters the planing mode on the surface of the water.

In the case of using traction electric motors 5, 6 on the machine with a limited range of rotational speeds of their rotors, in which the required output power of these motors is preserved, changing the gear ratio of mechanical gears 7, 8 allows for a higher speed of the machine not only on water, but also on drier. In this case, the first gear with an increased gear ratio provides high tractive effort of the machine while reducing the mass of traction motors. Then, as the speed of movement of the machine on land increases, the gear ratio of the mechanical gears 7, 8 is reduced. In this case, to achieve the required speed of the machine, a lower rotational speed of the traction motor rotors is required. Since the maximum speed of rotation of the rotors of traction electric motors is limited, the use of mechanical gears 7, 8 with a variable gear ratio allows you to increase the maximum speed of water movement not only on water but also on land.

To further increase the speed and mobility of the machine on the water and facilitate its access to the unprepared shore, a propulsion device made in the form of water cannons or propellers 13, 14 is used. They are controlled remotely or in an automated mode using a digital computer 21, power transmission controller 25 and couplings 15, 26.

At the beginning of the machine’s movement, the operator using the AWP 20 or remotely sets its speed, direction of movement, route (trajectory) or its end point. Next, the digital computer (controller) 21 by processing the output signals of the on-board sensors 23 monitors the environment of the machine, determines its current location, and also generates and transmits, through the CAN bus to other functional devices of the control system, the signals of the machine’s movement and the operation of its functional equipment. If necessary, bypassing identified obstacles.

In case of loss of communication and the inability to reach the end point of the route when the machine is moving in remote control mode, the digital computer (controller) 21 generates signals for controlling the movement of the machine from the condition of its automatic return to the starting point of the path along the previously traveled path.

At the same time, the digital computer (controller) 21, using on-board sensors 23, monitors the operating modes of the units and assemblies and provides their protection against emergency conditions by transmitting shutdown alarms to the respective controllers and generating warning information signals received on the AWP 26 via the CAN bus and to the external remote control post via communication facility 22.

For example, if the roll or trim of the machine exceeds the threshold value when moving on water, then the digital computer, after processing the signals of the longitudinal and transverse tilt sensors of the machine, which are part of the airborne sensors 23, generates signals to open / close the inlet or outlet valves of the inflatable floats or to move functional equipment 19, providing stabilization of the position of the machine afloat.

In the presence of water in the machine body detected by the corresponding sensor 23, the digital computer (controller) 21 generates and transmits a signal via the CAN bus to automatically turn on the drive 18 of the pumping device (pump) 17.

For specialists in the art it is also clear that in addition to the described options for a robotic floating machine, other options for its implementation are also possible based on the features set forth in the claims.

Claims (15)

1. A robotic floating machine comprising a waterproof casing, a caterpillar and / or wheeled mover, configured to be used as a navigational mover and / or supplemented by a navigational mover, a baffle plate and / or bilge pump, an onboard power source made in the form of a battery and / or an internal combustion engine (ICE) and a generator connected to it, a power transmission and an automated and / or remote control system for a water drainage device and / or a water reflection shield, wherein the power train comprises at least one traction motor adapted to convert electrical energy of the onboard power source to mechanical energy, and at least one mechanical gear adapted to transmit mechanical energy from the at least one traction motor to water propulsion. 2. The machine according to p. 1, characterized in that the said control system is additionally made with the possibility of automated and / or remote control of the power transmission and / or ICE. 3. The machine according to p. 1, characterized in that at least one mechanical transmission is additionally configured to transfer mechanical energy from at least one traction motor to a caterpillar and / or wheel propulsion. 4. The machine according to p. 3, characterized in that the mechanical transmission contains one input and one output shaft or one input and two output shafts used for drives of land and navigational propulsion devices. 5. The machine according to p. 3 or 4, characterized in that the mechanical transmission is configured to change its gear ratio. 6. The machine according to p. 1, characterized in that its body is made armored. 7. The machine according to p. 1, characterized in that the caterpillar mover, made with the possibility of its use as a water mover, has hydrodynamic casings covering the upper branches of the tracks, and / or blades, and / or developed lugs. 8. The machine according to p. 1, characterized in that the caterpillar mover is made with adjustable suspension with the possibility of reducing the ground clearance of the machine when driving on water. 9. The machine according to claim 1, characterized in that the caterpillar mover and power train are configured to provide a dynamic reaction of water acting on the tracks, sufficient to glide the machine through the water. 10. Machine according to one of paragraphs. 1, 5 or 9, characterized in that the mechanical transmission is made with the possibility of changing its gear ratio from the condition of increasing the speed of the caterpillar and / or wheel mover when the vehicle is moving on water. 11. The machine according to p. 1, characterized in that the navigational propulsion device is made in the form of at least one water-jet propeller or propeller installed in the aft part of the machine and having a mechanical or hydrostatic or electromechanical drive from the internal combustion engine or from a traction motor, or from a caterpillar or wheel mover, or from an additionally installed electric motor of a navigable mover connected to an automated and / or remote control system. 12. The machine according to p. 11, characterized in that the drive of at least one water-jet propeller or propeller contains a gearbox and / or controlled clutch. 13. The machine according to p. 1, characterized in that the automated and / or remote control system is made in the form of one or a group of controllers containing an information part implemented on the basis of microcontrollers or digital signal processors and a power part implemented on power transistors and / or transistor modules, as well as a means of communication over a radio channel, and / or over a wired communication line, and / or over a fiber optic cable, on-board sensors and actuators for power transmission, and / or internal combustion engines, and / or water evacuation of funds and / or volnootrazhatelnogo shield and / or navigable propulsion. 14. The machine according to p. 13, characterized in that the on-board sensors include accelerometers and gyroscopes of the strapdown inertial navigation system, and / or ultrasound and / or stereo-visual, and / or course and odometer, and / or radar, and / or magnetometric sensors, and / or longitudinal and transverse roll sensors of the machine, and / or global satellite navigation receivers, and / or sensors of operating parameters of the power transmission, and / or functional equipment, and / or ICE, and / or navigational propulsion device, and controller or control group lerov configured to monitor the environment and / or to determine the current machine location by processing the output signals of the onboard sensors, with the possibility of implementing algorithms for automated and / or remote control machine movement and / or operation of its functional equipment. 15. The machine according to p. 1, characterized in that it is adapted for installation on it of functional equipment, made in the form of a lifting mechanism, and / or a complex of weapons, and / or launch equipment of an explosive demining installation, and / or equipment for extinguishing fires, and / or equipment for digging and moving soil, moreover, an automated and / or remote control system is adapted to control this functional equipment.

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