RU2714785C1 - Method of cargo delivery to combat operations and system for its implementation - Google Patents

Abstract

FIELD: robots; military equipment.

SUBSTANCE: invention relates to robotics, military systems and systems. Method of cargo delivery to combat operations areas includes arrangement of the first part of cargoes on cargo platform of small-size robotic facility, loading of second part of cargoes, and then small-sized robot means into transport module of mobile robot facility, cargo transportation by mobile robot facility and their unloading at destination point. At impossibility of further movement of mobile robotic complex by conditions of combat operations, small-size robot facility is unloaded from it and first part of cargo is transported to destination, and when there is a possibility to resume movement of the mobile robot, they are transported by the second part of cargoes and unloaded from it at the destination point. Mobile robotics movement is controlled by the driver using the mobile robotics movement control elements, and in the combat operations area by the operator using the remote control panel. Motion control of small-size mobile robotic device, loading of cargo into transport module and unloading therefrom, including small-size mobile robot means, is performed by operator using remote control panel.

EFFECT: technical result consists in improvement of efficiency of cargo delivery in various combat conditions and wider field of application of method.

2 cl, 6 dwg

Description

The invention relates to the field of robotics, namely to robotic means, complexes and military systems: methods and systems for the delivery of goods to the places of warfare.

From the prior art, there is a known method of delivering cargo to combat operations according to the patent RU 2533229, IPC B 25J 5/00, dated 10.01.2013, based on the use of a mobile robotic complex and including the transportation of goods to combat operations in the transport module of a mobile robotic complex using an operator remote control.

With the undoubted advantages of this method, taken as a prototype, it has a low efficiency of cargo delivery to the places of warfare and a limited scope associated with the lack of capabilities to ensure reliable transportation of goods in various conditions of warfare, especially when fighting in open areas or in urban environments, and to ensure automated loading and unloading of goods.

The problem solved by the invention is to increase the efficiency of cargo delivery to the places of warfare and expand the scope of the method by achieving the following useful technical results:

provides the possibility of reliable transportation of goods in various conditions of warfare, especially in open areas or in urban environments;

the possibility of automated loading and unloading of goods using the operator of a remote control.

The invention, ensuring the achievement of these technical results, is as follows.

In the method of delivering goods to the places of warfare by transporting them in the transport module of the mobile robotic means using the operator of the remote control, the first part of the goods, which are essential for the conduct of military operations, is placed on the transport platform of a small-sized robotic means, the second part of the cargo is loaded into the transport module mobile robotic means and then a small-sized robotic means, g ties and small-sized robotic means are transported by a mobile robotic means and unloaded at the destination, and if it is impossible to further move the mobile robotic complex according to the conditions of warfare, a small-sized robotic means is unloaded from it and the first part of the cargo is transported to its destination, and when opportunities arise on the resumption of movement of a mobile robotic means they transport the second part of the goods and unload them from it at the destination, and the movement of the mobile robotic means is controlled by the driver using the controls of the movement of the mobile robotic means, and in the war zone by the operator using the remote control, the movement of the small-sized mobile robotic means is controlled, loading into the transport module and unloading from cargoes, including small-sized mobile robotic means, are carried out by an operator using using the remote control.

The essence of the invention is associated with the achievement of the claimed technical result as follows, respectively.

1. Introduction to the well-known method of cargo delivery to combat operations sites of new interconnected operations on cargoes, namely: the first part of the goods, which are essential for military operations, is placed on a transport platform of a small-sized robotic means, the second part of cargo is loaded into a transport module of a mobile robotic means and then a small-sized robotic means is loaded into a transport module, loads and a small-sized robotic means are transported by a mobile rob with technical equipment and unload them at the destination, and if it is impossible to further move the mobile robotic complex according to the conditions of warfare, small-sized robotic means are unloaded from it and the first part of the cargo is transported to it at the destination, and when it becomes possible to resume the movement of the mobile robotic means transport the second part of the cargo and unload it from it at the destination, and the control of the movement of mobile robotic whom the funds are carried out by the driver using the controls of the movement of the mobile robotic means, and in the area of warfare by the operator using the remote control panel, it provides the possibility of reliable transportation of goods in various conditions of warfare, especially in open areas or in urban conditions;

In addition, automated loading and unloading of goods using an operator using a remote control allows you to protect and eliminate losses of maintenance personnel, as well as to increase the efficiency of loading and unloading.

2. Improving the efficiency of cargo delivery to the places of warfare and expanding the scope of the method is ensured by the possibilities for reliable transportation of goods in combat operations, especially in open areas or in urban conditions, and for automated loading and unloading of goods using remote control panel (see paragraph 1).

The essence of the proposed method is as follows.

The first part of the goods that are essential for warfare, for example, ammunition, medicines, food sources, water, food in transport containers are placed on the transport platform of a small-sized robotic means, and the second part of goods, for example, ammunition, fuels and lubricants, spare parts and the instrument for armament and military equipment in the transport container is loaded into the transport module of the mobile robotic means using the operator of the remote control.

Last of all, a small-sized robotic tool with the goods placed on it is loaded into the transport module using the operator of the remote control.

Then, the goods and small-sized robotic means are transported by a mobile robotic means and unloaded at the destination using the operator of the remote control, and the movement of the mobile robotic means is controlled by the driver using the movement controls of the mobile robotic means, and in the combat area, for example, situations in which crew death is possible - by the operator using the remote control phenomena.

In this case, if it is impossible to further move the mobile robotic complex according to the conditions of warfare, for example, when conducting combat operations in an open area when the enemy uses intense fire or in urban conditions when it is impossible to travel through the city streets, a small-sized robotic means is unloaded from it and transported the first part of the cargo to its destination, and when there are opportunities to resume the movement of mobile robotic tools and transport the second part of the cargo and unload it from it at the destination using the operator of the remote control, and the movement of the mobile robotic means is controlled by the driver using the movement controls of the mobile robotic means, and in the area of warfare, for example, in situations in which death of the crew is possible - by the operator using the remote control.

The implementation of the proposed method for the delivery of goods to the places of warfare and the system for its implementation are schematically presented in FIG. 1, where (1) is the first part of the cargo that is essential for military operations, (2) is the second part of the cargo, (3) is a small-sized robotic tool, (4) is a mobile robotic tool, (5) is a remote control, (6) - data transmission network.

The device of a small-sized mobile robotic means (3) is illustrated by drawings, where in FIG. 2 shows a general view of a small-sized mobile robotic tool; FIG. 3 is a structural diagram of a small-sized mobile robotic tool.

A small-sized mobile robotic tool (3) is made in the form of a remotely controlled off-road vehicle, on the case of which there are video cameras (7), an antenna (8), a transport platform (9), on which loads (1) are placed, and an electric one is mounted inside the case mover drive (10), remote communication and data transmission system (11), connected via a radio channel with a remote control (5) and electrically connected to video cameras (7), a control unit (12), electrically connected to an electric ctric drive of the mover (10) and remote communication and data transmission system (11), on-board power supplies (not shown in the figure).

Video cameras (7) are designed to transmit video images of the area in the daytime (night) time to a remote control (5) via a remote communication and data transmission system (11) and can be made in the form of digital video cameras with illumination in the infrared range of electromagnetic waves.

The control unit (12) is designed to process information from a remote communication and data transmission system (11), to control cameras (7) and the electric drive of the propulsion device (10) can be made in the form of a processor (computer).

The device of the mobile robotic means 4 is illustrated by drawings, where in FIG. 4 is a perspective view of a mobile robotic tool; FIG. 5 is a general view of the body of a mobile robotic means, and FIG. 6 is a structural diagram of a mobile robotic tool.

The mobile robotic means 4 is made in the form of a controllable off-road vehicle, on the body of which there are video surveillance cameras (13) and two water cannons (14), and an automated driver’s seat is mounted inside the body (15); a transport module (16), inside which there is a rear hinged side (17), other component hulls (18), an integrated special reversible belt conveyor (19), the open ends of the belt of which are connected by chains (20), covering sprockets (21), mounted on the electric drive shaft (22), a manipulator with a gripping device (23), mounted on the outer side of the upper part of the housing of the mobile robotic means (4), two electric drives for moving the tailgate (24), mounted on the floor in the rear of the transport module, two brackets (25), mounted on the inside of the tailgate (17) and having kinematic connections with the shafts of the electric drives (24) through two cables (26) and two rollers (27) installed in the rear of the transport module on the inner side the sides of the module housing, two power beams (28), mounted on the inner side of the tailgate (17) parallel to its sides, rollers (29) with bearings (30), the bushes of which are installed in rows at equal distances from each other on the power beams ( 28), form okamera (31); remote communication and data transmission system (32) connected via a radio exchange channel with a remote control (5) and electrically connected to outdoor surveillance cameras (13) and a video camera (31); fiber optic cable (not shown in the figure), electrically connected to the remote control (5) and the remote communication and data transmission system (32); an internal combustion engine (33) with an electric generator (34); onboard power supplies (35); an electric drive of the propulsion device (36) and electric water-jet engines (37) electrically connected to the electric generator (34) and on-board power sources (35); control unit (37), electrically connected to controls, indicators for indicating the driver’s automated seat (15), internal combustion engine (33), on-board power supplies (35), electric drive of the propulsion device (36), electric water-jet engines (37), electric drive of the conveyor (22), a manipulator with a gripper (23), rear tailgate electric drives (24), while the conveyor electric drive (22), a pickup manipulator (23), rear tailgate electric drives (24) have electrical connection with on-board power sources (35) and have the ability to control using the remote control (5) via a remote communication system (32), a control unit (37) via a radio communication channel, for example, through a secure radio communication channel.

Mobile robotic tool 4 is made in the form of an amphibious all-terrain vehicle with a caterpillar propulsion device with increased cross-country ability and two water cannons (14) to provide movement on the water surface, while the amphibious all-terrain vehicle body is made of bulletproof material, for example, material that provides protection from caliber 7 bullets , 62 mm.

Video cameras (13) and (31) are intended, respectively, for transmitting video images of the area in the daytime (night) and the internal volume of the transport module (16) to the remote control (5) by means of a remote communication and data transmission system (32) and can be performed in in the form of digital video cameras with illumination in the infrared range of electromagnetic waves.

An automated driver’s seat (15) is mounted inside the housing of a mobile robotic device (4) and is designed to control a vehicle by a driver in safe areas of traffic and incorporates motion controls and indicating devices.

An internal combustion engine (33) with an electric generator (34) is used as a power plant.

The electric drive of the mover (36) and the electric motors of the water jets (37) have the ability to work both from the electric generator (34) and from the onboard power sources (35).

The control unit (38) is designed to process information coming from a remote communication and data transmission system (32) and controls located at the automated place of the driver (15), to control cameras (13) and (31), an internal combustion engine (33), on-board power supplies (35), electric drive of the propulsion device (36), electric motors of water jets (37), electric drive of the conveyor (22), a manipulator with a gripping device (23), electric drives to move the tailgate (24), and t be made in the form of a processor (computer).

The transport module (16) is mounted inside the mobile robotic means 4 and has the ability to load, unload and transport goods.

The manipulator with a gripping device (23) has three degrees of freedom, with the possibility of rotation in the horizontal plane by 180 degrees.

The manipulator can move in a vertical direction 100 degrees and down 80 degrees relative to the body. The manipulator has the ability to control individual degrees of mobility with infinitely variable speed control. Movement speed is proportional to the angle of deviation of the control handle located on the remote control (5).

The remote control (5) is designed to control the movement of robotic means (3) and (4), loading and unloading operations with a mobile robotic means (4) and can be made in the form of an integrated system that includes a receiver and transmitter of radio signals, control elements movement of robotic means and loading and unloading operations and a panel displaying the movement of robotic means on the ground and carrying out loading and unloading operations in the transport module (16) m plentiful robotic means (4).

In this case, the control of movement and loading and unloading operations by a mobile robotic means (4) can be carried out both via a radio channel, for example, a protected radio communication channel, and by transmitting electrical signals via a fiber optic cable.

The data transmission network (6) is intended for the exchange of control information signals between the remote control (5) and the small-sized mobile robotic complex (3), as well as the robotic complex (4), and can be performed, for example, in the form of a network of switched or dedicated channels communication.

The proposed method for the delivery of goods to the place of warfare and the system for its implementation are implemented as follows.

The first part of the cargo (1) is placed on a transport platform (9) of a small-sized robotic means (3).

Then the second part of the cargo (2) is loaded into the transport module (16) of the mobile robotic means (4) using the operator of the remote control (5) through the data network (6). At the same time, the operator, using the controls (not shown in the figure) located on the remote control device (5), sequentially performs the following actions:

- turns on the camcorder (31). In this case, a video image of the internal volume of the transport module (16) is formed on the panel of the remote control;

- includes the operation of electric drives for moving the tailgate (24), which weaken the traction forces applied to the brackets (25) through kinematic connections formed by cables (26) and rollers (27), with the shafts of the motors for moving the tailgate (24). In this case, the lower tailgate is lowered (17);

- turns off the electric drive rear tailgate (24) when installing the side in a horizontal position;

- sets the load on the inner surface of the tailgate (17) using a manipulator with a gripper (23);

- includes the operation of electric drives for moving the rear tailgate (24), which create traction forces applied to the brackets (25) through kinematic connections formed by ropes (26) and rollers (27), with the shafts of the electric drives for moving the tailgate (24). In this case, the rear tailgate is lifted (17). As a result, the load moves along the rollers (29) to the conveyor belt (19);

- turns off the electric drive rear tailgate (24) when installing the goods on the conveyor belt (19);

- includes an electric drive (22) of the conveyor belt (19). In this case, the cargo begins to move along the conveyor;

- turns off the electric drive (22) of the conveyor belt (19) when the cargo approaches the edge of the conveyor.

- turns on the electric drives for moving the tailgate (24) and turns them off when the side is closed.

Other cargoes are loaded in a similar way (2), and if it is impossible to carry out automated loading and unloading operations, goods (2) are loaded onto a conveyor belt (19) manually without using a manipulator with a gripping device (23) and electric drives for moving the tailgate (24) )

Lastly, small-sized robotic means (3) are loaded into the transport module (16) of the mobile robotic means (4) by moving it along the rear hinged side (17) to the conveyor belt (19) using the remote control (5) or manually.

If it is necessary to carry out loading and unloading operations with small-sized cargoes, they are pre-stacked in containers or other devices designed for stacking goods.

Before the start of the movement of the mobile robotic means (4), the driver, using the controls located on the driver's automated place (15), by means of the control unit (38) turns on the internal combustion engine (33). In this case, the electric generator (34) begins to generate electrical energy, which is supplied to the electric drive of the propulsion device (36) and on-board power sources (35). Then, the driver switches on the electric drive of the propulsion device (36) and the mobile robotic means (4) starts moving.

If it is necessary to overcome water barriers, the driver switches on the water-jet electric motors (37).

In traffic areas that pose a danger to the driver’s life, for example, in the combat area, the vehicle is controlled (4) by the operator using a remote control device (5) via a radio channel, for example, a secure radio channel, with a remote communication and control system (32). In the case of the use of radio suppression by the enemy, the driver controls the vehicle (4) using fiber optic cable.

If it is impossible to further move the mobile robotic complex according to the conditions of warfare, a small-sized robotic facility is unloaded from it (3).

Unloading cargo from the transport module is as follows. The driver of the vehicle using the controls (not shown), located on the remote control device (5), sequentially performs the following actions:

- includes the operation of electric drives for moving the tailgate (24), which weaken the traction forces applied to the brackets (25) through kinematic connections formed by cables (26) and rollers (27), with the shafts of the motors for moving the tailgate (24). In this case, the lower tailgate is lowered (17);

- turns off the electric drives for moving the tailgate (24) when the edge of the bead is set to its lowest position;

- includes an electric drive (22) of the conveyor belt (19). In this case, the load begins to move along the conveyor and, under the action of its own gravity, moves along the rollers (29) to the earth's surface.

- turns on the engine of the robotic means. In this case, the robotic tool (4) starts moving and the load is completely lowered to the earth's surface.

Then, the small-sized mobile robotic means (3) transport the first part of the goods (1) to the destination using the operator of the remote control (5).

If, under the conditions of warfare, it becomes possible to further move the mobile robotic means (3), then the movement and unloading of goods (2) from the mobile robotic means (3) is carried out as described above.

Thus, the proposed method allows to provide opportunities for reliable transportation of goods in the conditions of warfare, especially in open areas or in urban conditions, and for automated loading and unloading of goods using an operator remote control, which leads to increased efficiency of delivery of goods to areas conducting combat and expanding the scope of the method.

Sourse of information:

Patent 2533229, Russian Federation, IPC B25J 5/00. Multifunctional robotic system for military operations [Text] / Gromov V.V. and etc.; Applicant and patent holder Open Joint-Stock Company "Plant named after VA Degtyarev". No. 2013101276/02; declared 01/10/2013; publ. 11/20/2014. Bull. No. 32 (73).

Claims (2)

1. The method of delivery of goods in the transport module of a mobile robotic means to the place of warfare by transporting them using the operator of the remote control, characterized in that the first part of the goods necessary for warfare is placed on the cargo platform of a small-sized robotic means, and the second part of the cargo is loaded into a transport module of a mobile robotic means and then a small-sized robotically loaded into a transport module means, while cargo and a small-sized robotic means are transported by a mobile robotic means and unloaded at the destination, and if it is impossible to further move the mobile robotic complex according to the conditions of warfare, a small-sized robotic means is unloaded from it and the first part of the cargo is transported to it, and if possible, to resume the movement of the mobile robotic means transport the second part of the gr a call to the destination, and the movement of the mobile robotic means is controlled using the controls of the movement of the mobile robotic means, and in the area of warfare by the operator using the remote control, the movement of the small-sized mobile robotic means is controlled, loading into and unloading from the transport module freights, including small-sized mobile robotic means, are carried out by the operator using We have a remote control. 2. A system for delivering goods to combat operations sites, comprising a mobile robotic vehicle, self-propelled with a motion control system, a communication and data transmission system and a transport module, and a remote control connected via a radio channel to a remote communication and transmission system data, while the vehicle motion control system is configured to provide movement in a remote manual mode, and the transport module is configured to trans cargo sorting, characterized in that it is additionally equipped with a small-sized robotic tool made in the form of a remotely controlled small-sized off-road vehicle, on the body of which there are video cameras, an antenna, a transport platform on which loads are placed, and an electric drive of the propulsion device is mounted inside the case, remote communication and data transmission system connected via a radio channel with a remote control and electrically connected to de-cameras, a control unit electrically connected to the electric drive of the propulsion device and a remote communication and data transmission system, on-board power sources, with the possibility of its transportation in the transport module of the mobile robotic means, and the mobile robotic means made in the form of an amphibious all-terrain vehicle with an accelerated caterpillar patency and is additionally equipped with an automated driver’s seat, fiber optic cable, while the traffic control system is everywhere a-amphibians are made with the ability to ensure its movement both in remote manual mode and under the control of the driver, and the transport module has the ability to automatically carry out loading and unloading operations using a remote control, while remote control of the movement and loading and unloading are carried out both through a radio channel, for example, a secure radio channel, and by transmitting electrical signals through a fiber optic cable.

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