RU2757747C1 - Robotic complex for ensuring public safety - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to the robotics industry and is intended primarily for use as part of law enforcement forces and subdivisions of the Rosgvardiya when performing activities in ensuring public safety and counter terrorism measures. Unlike the previously known police robotic systems, the invention includes highly mobile and highly maneuverable vandal-proof autonomous mobile modules equipped with passive and active means of countering attempts in damaging the equipment of the modules or immobilising the modules. For this purpose, the modules are made in a streamlined protrusion-free body covering the equipment and the segmented tracked chassis propellers. The new robotic police complex includes groups of modules for various purposes: high-speed highly maneuverable operational modules for dividing a crowd and detaining individual violators or blocking persons suspected of attempting a terrorist act, and shield-bearing protective modules for creating obstructing walls and preventing direct collisions of the law enforcement personnel with the rioters. The main feature of the new robotic system for countering law violations and terrorism consists in the capability of performing a given mission in the mode of coordinated collective actions of the autonomous modules of the complex. For this purpose, a program/programs for local interaction of the modules is/are installed in the decision-making control system of the modules of the robotic system.

EFFECT: creation of a robotic complex capable of performing a given mission in the mode of coordinated collective actions of the autonomous modules of the complex.

5 cl, 9 dwg

Description

The invention relates to robotics and is a robotic hardware and software complex designed mainly for use in the activities of law enforcement forces to ensure public safety and counter terrorism.

Known robotic systems designed to perform actions to ensure public safety and counter terrorism and include autonomous aggregated on a portable or portable platform stationary modules and mobile modules, which are aggregated on a wheeled, tracked or wheeled-tracked chassis self-propelled hardware and software systems equipped with navigation equipment, sensor systems, video systems, executive effectors and control units in the form of electronic computing devices for processing data streams from the sensor system and navigation equipment and generating control command signals for executive bodies.

Known robotic systems include stationary modules made in the form of stations for charging batteries or nodes for providing communication between mobile modules and the operational headquarters, and autonomous mobile modules made in the form of bogie-like four or more wheeled or tracked platforms of various shapes, configurations and sizes. with hardware and software systems aggregated on them and manipulation mechanisms with end effectors of various types, or in the form of vertical column-like structures aggregated on a wheeled chassis.

Trolley-like autonomous mobile robotic modules are intended mainly for surveying premises in dangerous or hard-to-reach places, patrolling the area and perimeters of protected areas or objects. To perform tasks related to physical interactions with objects of the external environment, such modules are equipped with executive bodies corresponding to the task. Typically, such modules are used in teleoperator and / or supervisory control modes.

The disadvantages of such robots are, firstly, the inability to operate in full autonomy due to the imperfection of the situation recognition systems, and, secondly, the multi-wheeled and tracked chassis cannot ensure the movement of the modules in the mode of full kinematic correspondence, as a result of which the modules do not have sufficient for stand-alone application with controllability and control observability. Inevitable deviations of the position of the modules in space and deviations of the trajectory of the modules, together with errors in the recognition system, lead to inadequate maneuvers of the module and the use of its effectors, which poses a danger both for the module itself and for people and environmental objects. Due to the presence of these disadvantages, the known truck-type police robots are not efficient enough.

Curb-shaped mobile units of robotic systems for police functions are intended mainly for patrolling premises with flat, flat floors, in which people may be. The disadvantages of such modules are, in addition to limited movement, imperfection of the situation recognition systems and the inevitable due to this, possible inadequate situations, maneuvers and other actions of the modules. These disadvantages force them to give them the appearance of pedestals with a smooth surface to reduce the risk of injury in case of possible collisions with people and surrounding objects. In addition to these drawbacks, the bollard arrangement leads to low stability and, accordingly, low dynamic characteristics, as a result of which such modules cannot move at a speed exceeding the speed of a slowly walking person and cannot be equipped with effective manipulators and effectors with the force-torque characteristics necessary for performing police functions. Due to these disadvantages, such modules do not have sufficient vandal resistance, since they are easily unbalanced and / or immobilized. Due to these disadvantages, curbstone police robots are not effective enough.

It is known from the prior art:

The most typical representative of the truck police robots is the "Scorpion" police robot of the "Promobot" company, shown in FIG. 1. It is aggregated on a caterpillar cart, equipped with a net thrower to immobilize suspicious persons and other means of influencing violators of public order. The caterpillar propeller allows the Scorpion to develop high speed and maneuver in side turn mode. The "Scorpion" is used only in teleoperator mode. The method of side turning maneuvering makes it difficult to manage in the conditions of urban space arrangement. Caterpillars pose a serious danger to those around them. The Scorpion's layout provides many opportunities to block and immobilize it by pulling on cables and wedging the tracks.

Typical representatives of the variety of pedestal mobile police robots are shown in FIG. 2. The Californian Police Robot and the Russian Police Robot of the Promobot Company shown in FIG. 3 and FIG. 4.

Both the Californian and Russian curb-shaped police robots are mobile service robots designed to perform remote communication with people, face and speech recognition, with the ability to connect to any external system - databases, security systems, websites and services, can be equipped with a fingerprint scanner and a face recognition system.

The disadvantages indicated for cabinet robots are fully applicable to these products. They are slow-moving, unstable, applicable only in rooms with smooth, even floors and are vandal-free.

The claimed invention is aimed at achieving a technical result in the form of increasing the efficiency of robotic systems designed to perform police functions and / or assist law enforcement agencies and units for the protection of public order and prevention of terrorist acts.

The specified technical result is achieved by the creation of multi-agent police robotic systems for use as part of law enforcement forces and divisions of the Russian Guard during operations to prevent the occurrence and suppression of mass street riots and prevent the implementation of terrorist acts, characterized in that the mobile autonomous system modules are performed on pseudo-single-axle chassis with tracked propellers and dynamic stability control and are equipped with vandal-proof passive and active systems, mortars for shooting flash-noise grenades and grenades with tear gas, net-throwing mortars, foam guns, high voltage sources with electroshock dischargers brought to the surface of the case, nozzles for spraying irritants and flame-extinguishing compounds, high force-moment characteristics and acoustic systems for speech interaction with the personnel of law enforcement with silt and with the participants in the offenses.

Passive anti-vandalism of mobile modules is ensured by the fact that the module case is made shell-shaped with streamlined protrusions on the surface for the outlet of nozzles, high-voltage arresters, video system lenses, loudspeakers and manipulators. The chassis of the modules is made in the form of segment-shaped caterpillar trolleys covered with a shell-shaped body with track rollers installed with overlapping.

Mobile modules are of two types: operational modules for performing the tasks of searching, pursuing and arresting individual intruders, and shield-bearing barrage robots for blocking large groups of intruders and dividing the outrageous crowd into parts.

Operational robots can reach speeds of up to 50-60 km / h and are equipped with effective video surveillance, recognition and immobilization of public order violators or wanted persons.

Shield-bearing barrage robots are equipped with robust shields additionally mounted on manipulators with devices for coupling with the edges of adjacent shields of adjacent modules and protection against vandalism. Also, in the control system of shield-bearing robots, special programs are installed to control the creation of solid barrier lines of a certain configuration in a given area, taking into account the terrain and the features of buildings, landscaping and general arrangement of the location of the barrier line. Shield coupling devices are activated when the shields are closed, creating a solid continuous wall equipped with high-voltage arresters and nozzles from cylinders with irritants. The robots' own mass is used to create moments of forces to counteract attempts to collapse obstacles.

The segmented tracked carriages of the modules give the robots the maneuverability, maneuverability and controllability of single-axle statically balanced vehicles. The containment shell, most structural elements, crawler tracks and robot shields can be made of composite materials. The power plant can be any - from an internal combustion engine to an electric or pneumatic accumulator, depending on the primary tasks and conditions of use of robots.

The appearance of known police robots is shown in FIG. 1, Fig. 2, FIG. 3 and FIG. 4.

FIG. 1 shows a photo of a police robot of the "Promobot" company on a caterpillar cart, 1 - a superstructure tower with throwing devices; 2 - panel with video systems; 3 - hangar cover with a quadcopter; 4 - caterpillar.

FIG. 2 shows a photo of a prototype Californian police robot (https://www.youtube.com/watch?v=_zed_Hsic74).

FIG. 3 shows a photo of the upper part of the Android Russian police robot of the Promobot company.

FIG. 4 shows a photo of an android police robot from the Promobot company.

FIG. 5 shows an image of a digital model of an operational module of a police robotic complex for combating street riots. In Fig. marked: 5 - protective case of the module with nozzles and arresters of the stun gun; 6 - manipulator in the stowed position; 7 - caterpillar.

FIG. 6 is a digital image of a front view of a police robotic minelayer with a barrier shield in the stowed position. The figure shows: 8 - a barrier shield in the stowed position; 9 - actuators of the sliding shield device; 10 - manipulators to control the shield.

FIG. 7 is a side view of a digital image of a police robot-minelayer in warning coloring and with an exposed and deployed barrier shield, indicated by the number 11, the open panels of the barrier shield.

FIG. 8 is a rear-view digital image of a police robotic interceptor with an exposed and deployed barrier shield.

FIG. 9 shows a virtual image of the process of blocking offenders with shield-bearing barrage modules: 12 - barriers from shields installed by barrage modules of the robotic complex; 13 - a group of blocked citizens.

The new police robotic systems are intended for use as part of law enforcement forces and the National Guard for solving problems of ensuring security and law and order, especially at mass rallies and events, as well as suppressing mass street riots, carrying out detentions and preventing terrorist acts. In particular, in order to detain identified persons or active participants in street riots, operational modules in groups or one by one approach the object, through a loudspeaker they offer him to stop unlawful actions and / or stay in place until the approach of law enforcement personnel. In case of disobedience and / or attempts to hide, the module overtakes the object and throws a trapping net on it, or covers it with a charge of fast-hardening foam. The features of the hull and chassis of the operational module allow it to penetrate crowds, overcome obstacles and develop speeds exceeding the speed of any pedestrian or horse rider in any attempt to interfere with the movement of the module.

When performing actions to prevent the commission of terrorist acts, the operational module / modules separately or in coordinated actions with barrage modules block the suspected person / persons and create protective fences to ensure the safety of the population.

The main feature of the systems is the ability to carry out a given mission in a mode of concerted collective action. The most important effect of the use of systems is the exclusion of direct contact between law enforcement personnel and participants in the riots. To do this, a program / programs for local interaction of modules based on the "wasp" or some other actual bioinspired algorithm is installed in the decision-making control system of the modules of the robotic system.

Claims (5)

1. A robotic complex for performing actions to ensure public safety and counter terrorism, including autonomous stationary modules aggregated on a portable or portable platform and mobile modules in the form of self-propelled hardware and software systems aggregated on a tracked chassis, equipped with navigation equipment, sensor systems, video systems, executive effector organs and control units in the form of electronic computing devices for processing data streams from the sensor system and navigation equipment and generating control command signals for the executive bodies, characterized in that the mobile modules of the robotic system are made with the possibility of dynamic stability control, are equipped with an acceptance control system solutions, in which a program of local interaction of mobile modules is installed, moreover, mobile modules are equipped with vandal-proof passive and active systems, mortars for shooting flash-noise grenades and grenades with tear gas, net-throwing mortars, foam guns, high voltage sources with electric shock dischargers brought to the surface of the case, nozzles for spraying irritants and flame-extinguishing compounds, manipulators and acoustic systems for speech interaction with the personnel of law enforcement forces and with participants offenses, and to ensure passive anti-vandalism, the casing of each mobile module is made shell-shaped and equipped with streamlined protrusions on the surface for the outlet of nozzles, high-voltage arresters, video system lenses, loudspeaker speakers and manipulators, and the tracked chassis of mobile modules is made in the form of segmented caterpillar tracks covered by the aforementioned shell-shaped casing overlapped track rollers. 2. The robotic complex according to claim 1, characterized in that the mobile modules are made in the form of operational modules designed to perform the tasks of searching, pursuing and arresting individual intruders, and in the form of barrage modules equipped with shields to block large groups of intruders and separate the outrageous crowd into parts. 3. The robotic complex according to claim 2, characterized in that the shields of the barrier modules are made sliding, with actuators built in for this, and are equipped with coupling devices to create a continuous continuous wall. 4. The robotic complex according to claim 2, characterized in that the shields of the barrier modules are equipped with high-voltage arresters and nozzles from cylinders with irritants. 5. The robotic complex according to claim 2, characterized in that the barrage modules are made in such a way that their own mass creates moments of forces that counteract attempts to collapse the barriers by the forces of groups of offenders.

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