RU2762624C1 - Mobile automated machine for communication and control of a robotics complex - Google Patents

Abstract

FIELD: automated control systems.

SUBSTANCE: invention relates to the technique of automated control systems and can be used as a mobile communication machine and control of a robotic complex (RTC) used by various ministries and departments. The aforementioned effect is achieved by the fact that a satellite communication station 46 with an antenna system 47, two automated operator workstations (AOWS) equipped on the basis of laptop computers 6 and 8, four web cameras are additionally introduced into the mobile automated communication and control machine of the robotic complex. 2, 4, 7, 9, connected one by one to portable computers of automated workstations of officials (OAWS) 1 and 3 and AOWS 6 and 8, large-format liquid crystal (LCD) monitor 15, multifunction device (MFD) 12, control system server RTC 27, controlled digital video camera 28, thermal imager 29, channel switch 30, telephone system LB (local battery) 25, second microwave radio station 42 with antenna 43, VHF radio station 36 with antenna 37, broadband radio station 33 with two antennas 34 and 35, ground satellite communication station 48 with antenna system 49, public communications network 50, superior control center 51 and remote control center RTC 52.

EFFECT: increasing the efficiency of control of the robotic complex both in the parking lot and when it moves through the territory with different terrain relief.

2 cl, 2 dwg

Description

The invention relates to the technique of automated control systems and can be used as a mobile automated communication machine and control of a robotic complex used by various ministries and departments.

It is known that robotic systems (RTC) are used when performing various kinds of work, including in dangerous and emergency conditions for a person, excluding his presence at the place of such work. In this case, the control of such RTKs is carried out both in automatic, semi-automatic and remote modes, and in the crew control mode. The effectiveness of the use of robotic systems largely depends on the organization of the system and controls of the RTK.

In some robotic complexes, control is organized directly from control panels built into the RTK, from remote control panels or from a remote control point (RCU), made with the possibility of simultaneous or sequential control of a group of robots that are part of the robotic complex.

According to experts, the most effective is the method of controlling a robotic complex using a specialized mobile control machine, which includes the necessary equipment and automated control facilities for the RTK, as well as remote controls for the RTK equipment when using it in hard-to-reach places or in areas with difficult terrain [ one].

The closest in technical essence to the proposed invention is selected as a prototype mobile automated control machine, mounted on a transport base of high cross-country ability,

the technical capabilities of which are described in the patent of the Russian Federation No. 2705217 C1 dated 06.11.2019, IPC H04N 11/06. Published in Bul. No. 31 [2].

The mobile automated control machine according to the above patent contains n portable computers of workplaces of officials (RM DL), one for each of the n workplaces, two switches of the object local area network (LAN), telephone sets of the automatic telephone exchange system, one telephone set for each of the n mentioned workplaces of officials, two line boards, two fiber-optic communication lines (FOCL), an external base station of a service radio communication network, a transit channel switching unit, a cryptographic information protection unit, a gateway router unit, an interface unit, two wired communication lines for organizing an exchange using HDSL technology, a telephone concentrator, a server of an automation complex (KSA), navigation equipment with a built-in antenna, a video conferencing server, a communication server, a combined communication system multiplexer (MCSS), two optical converters, a wire communication switch, a telephone a wired communication device, as which Rogo uses the telephone set of the automatic telephone exchange system, and a radio station of the super-high-frequency (microwave) range with an antenna.

The main disadvantage of the known mobile automated control machine is the absence in its composition of a remote control for a moving object, including a robotic complex, which would provide the possibility of organizing remote control lines and monitoring moving objects at significant distances from the control machine.

The objective of the invention is to create a mobile automated machine for communication and control of a robotic complex, providing the formation and transmission of commands for remote control of movement and functional equipment of mobile robots for various purposes.

The aim of the invention is to increase the efficiency of control of the robotic complex both in the parking lot and when it moves through the territory with different terrain.

This goal is achieved by the fact that in a mobile automated machine for communication and control of a robotic complex, containing two automated workstations of officials (AWP DL), equipped on the basis of laptop computers, two switches of an object local area network (LAN), a telephone set of the automatic telephone exchange system, a unit transit switching, block of cryptographic information protection (CIP), block of gateway router, two line boards, two wire communication lines for organizing exchange using HDSL technology, two fiber-optic communication lines (FOCL), server of complex automation equipment (KSA), navigation equipment with a built-in antenna, a video conferencing server, a communication server, a combined communication systems multiplexer (KCC), an optical converter, a wired communication switch, a microwave radio station with an antenna, an external base station of a service radio communication network with an antenna, which differs in that it additionally introduced subscriber a satellite communication station with an antenna system, two automated operator workstations (ARMO) equipped on the basis of laptop computers, four Web cameras connected one by one to laptop computers AWP DL and ARMO, a large-format liquid crystal (LCD) monitor, a multifunction device (MFP), RTK control system server, controlled digital video camera, thermal imager, channel switch, MB system telephone, second microwave radio station with antenna, VHF radio station with antenna, broadband radio station with two antennas, satellite ground station with antenna system, public communication network , a higher control point and a remote control point of the RTK, while the first input-output of the laptop of the first automated workplace of an official (AWP DL), to the second input-output of which the input-output of the Web camera is connected,

via the Ethernet interface is connected to the first input-output of the first switch of the object local area network (LAN), the second input-output of which is connected via the Ethernet interface to the first input-output of the laptop of the second workstation DL, to the second input-output of which the Web input-output is connected cameras, the first input-output of the laptop of the first operator's workstation, to the second input-output of which the input-output of the Web camera is connected, via the Ethernet interface is connected to the third input-output of the first switch of the object LAN, the fourth input-output of which is connected to the first via Ethernet the input-output of the laptop of the second operator's workstation, to the second input-output of which the input-output of the Web camera is connected, the fifth, sixth, seventh, eighth, ninth and tenth inputs-outputs of the first switch of the object LAN via the Ethernet interface are connected to the inputs-outputs of the server, respectively a complex of automation equipment (KSA), navigation equipment with a built-in antenna, a multifunctional device device, a communication server, a video conferencing server (VCS) and a large-format LCD monitor, the eleventh and twelfth inputs-outputs of the first switch of the object LAN via the Ethernet interface are connected to the first inputs-outputs of the transit switching unit and the second switch of the object LAN, the second inputs-outputs of the transit unit switching via the Ethernet interface are connected to the first inputs-outputs of the cryptographic information protection unit (CSP), the second inputs-outputs of which are connected via the Ethernet interface to the first inputs-outputs of the gateway-router unit, the second inputs-outputs of which are connected to the first inputs via the Ethernet interface- the outputs of the multiplexer of the combined communication systems, the second inputs-outputs of which are connected via the Ethernet interface with the first station inputs-outputs of the first line board, to the first and second linear inputs-outputs of which the inputs-outputs of the first wired communication line are connected, respectively, to organize exchange using HDSL technology and first in OLS, the second station inputs-outputs of the line board are connected to the first inputs-outputs of the wired communication switch, to the second and third inputs-outputs of which the linear inputs-outputs are connected, respectively, of the telephone set of the automatic telephone exchange system and the telephone set of the MB system, the second, third, fourth, fifth and the sixth inputs-outputs of the second switch of the object LAN via the Ethernet interface are connected, respectively, to the inputs-outputs of the server of the RTK control system, the controlled digital video camera and the thermal imager, to the first inputs-outputs of the channel switch and optical converter, the second, third and fourth inputs-outputs of the channel switch connected to the channel inputs-outputs, respectively, of the first microwave radio station, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna, wide-range radio station, the first and second high-frequency inputs-outputs of which are connected to the high-frequency input-outputs, respectively, of the first and second wide-range antennas p radio stations, and radio stations of the VHF range, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna, the second inputs-outputs of the optical converter are connected to the second station inputs-outputs of the second line board, to the first and second linear inputs-outputs of which, respectively, the second wired a communication line for organizing an exchange using HDSL technology and a second fiber-optic communication line, input-output connected to the input-output of the remote control station of the robotic complex, the third input-output of the gateway-router unit is connected to the channel input-output of the second microwave radio station, high-frequency input-output which is connected to the high-frequency input-output of the antenna, which is over the air connected to the antenna of the external base station of the service radio communication network, the high-frequency input-output of which is connected to the high-frequency input-output of the external base station of the service radio communication network, the fourth input-output of the gateway router unit is connected to channel input one-output of a satellite subscriber station, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna system, which is connected over the air to the antenna system of the satellite ground station, high-frequency

the input-output of which is connected to the high-frequency input-output of the satellite ground station, the channel inputs-outputs of which are connected to the first channel inputs-outputs of the public communication network, the second channel inputs-outputs of which are connected to the inputs-outputs of the higher control point.

This goal is also achieved by the fact that the remote control center of the robotic complex contains a line board, a combined communication system multiplexer (MCCS), an Ethernet switch, a portable computer of a remote automated workstation (AWP) of the operator, navigation equipment with a built-in antenna, a switching and control unit, a system video surveillance, a subscriber station (AS) of wireless broadband access (BShD) with an antenna, a microwave radio station with an antenna, an interface converter, a VHF radio station with an antenna, a headset, a telephone set of the MB system and a subscriber telephone terminal (ATT), with the first station the input-output of the line board is connected via the optical joint to the subscriber input-output of the multiplexer of the combined communication systems, the channel inputs-outputs of which are connected via the Ethernet interface to the first inputs-outputs of the Ethernet switch, the second inputs-outputs of which are connected to the first via the Ethernet interface the inputs-outputs of the portable computer of the remote automated workstation (AWS) of the operator, the second inputs-outputs of which are connected via the RS-232 interface to the inputs and outputs of the navigation equipment with a built-in antenna, the first and second control inputs and outputs of the portable computer of the portable automated workplace of the operator are connected to the controllers inputs-outputs, respectively, of the switching and control unit and the video surveillance system, the input-output of which is connected to the first input-output of the switching and control unit, the second, third and fourth control inputs-outputs of the switching and control unit are connected to the control inputs-outputs, respectively, of the BShD subscriber station , the high-frequency input-output of which is connected to the high-frequency input-output of the antenna of the subscriber station BShD, the radio station of the microwave range, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna of the radio station of the microwave range, and the VHF radio station, the high-frequency input-output of which is connected to the high-frequency the separate input-output of the VHF radio station antenna, the third and fourth inputs-outputs of the Ethernet switch are connected via Ethernet joints to the channel inputs-outputs of the BShD subscriber station and microwave radio station, respectively, the fifth inputs-outputs of the Ethernet switch are connected to the first inputs-outputs of the converter via the Ethernet interface interface, the second inputs-outputs of which are connected to the channel inputs-outputs of the VHF radio station, the information inputs-outputs of which are connected to the information inputs-outputs of the microtelephone headset (MTG), the line input-output of the MB system telephone is connected to the third station input-output of the line board , and with the help of a subscriber telephone terminal, the operator of the remote AWS makes an exit to the mobile radio communication network, while the linear input-output of the line board is the linear input-output of the remote control station of the robotic complex and is connected to the linear input-output of the second fiber-optic communication line.

A comparable analysis with the prototype shows that the proposed invention differs from the prototype by the presence of new units: a satellite communication station with an antenna system, two automated operator workstations (ARMO) equipped on the basis of laptop computers, four Web cameras connected one by one to laptop computers AWS DL and ARMO, a large-format liquid crystal (LCD) monitor, a multifunctional device, an RTK control system server, a controlled digital video camera, a thermal imager, a channel switch, an MB system telephone, a second microwave radio station with an antenna, a wide-range radio station with two antennas, a VHF radio station with antenna, a ground satellite communication station with an antenna system, a public communications network, a superior control center and a remote control center of the RTK, as well as changing the connections between the known units of the device.

When studying the known technical solutions in this field of technology, the set of features that distinguish the claimed object was not identified. The proposed solution differs significantly from the solutions known at this point in time.

Thus, the claimed mobile automated communication and control machine of the robotic complex meets the criterion of the invention "novelty".

The claimed solution does not explicitly follow from the prior art and has an inventive step.

This allows us to conclude that the technical solution meets the criterion of "significant differences".

The claimed mobile automated machine for communication and control of a robotic complex (RTK) can be implemented using existing communication facilities and equipment used in telecommunication networks and computer networks, and is industrially applicable.

FIG. 1 shows a structural electrical diagram of a mobile automated communication and control machine for a robotic complex, and FIG. 2 shows a block diagram of a remote control station for a robotic complex.

The mobile automated communication and control machine of the robotic complex contains (Fig. 1) a laptop of the first AWP DL, a Web camera 2 of the first AWP DL, a laptop 3 of the second AWP DL, a Web camera 4 of the second AWP DL, the first switch 5 of the object local area network (LAN ), portable computer 6 of the first operator's workstation, Web camera 7 of the first operator's workstation, laptop 8 of the second operator's workstation, Web camera 9 of the second operator's workstation, server 10 of the automation equipment complex (KSA), navigation equipment 11 with a built-in antenna, multifunctional device 12, performing the functions of a printer and a facsimile machine, a communication server 13, a video conferencing server 14, a large-format liquid crystal (LCD) monitor 15, a transit switching unit 16, a cryptographic information protection unit 17, a gateway router unit 18, a multiplexer 19 combined communication systems, the first line board 20, the first wired communication line 21 for organizing the exchange using HDSL technology, the first fiber-optic communication line 22 (FOCL), a wired switch 23, a telephone set of 24 automatic telephone exchange systems, a telephone set of 25 MB systems, a second switchboard 26 of an object LAN, a server 27 of an RTK control system, a controlled digital video camera 28, a thermal imager 29, channel switch 30, first microwave radio station 31 with antenna 32, wide-band radio station 33 with first 34 and second 35 antennas, VHF radio station 36 with antenna 37, optical converter 38, second line shield 39, second wired communication line 40 for organizing exchange using HDSL technology, second FOCL 41, second radio station 42 of the microwave range with antenna 43, external base station 44 of the service radio network with antenna 45, satellite subscriber station 46 with antenna system 47, ground satellite station 48 with antenna system 49, network communications 50 for general use, a higher control point 51 and a remote control point 52 of a robotic complex.

In this case, the first input-output of the portable computer 1 of the first automated workplace of an official (AWP DL), to the second input-output of which the input-output of the Web camera 2 is connected, is connected via the Ethernet interface to the first input-output of the first switch 5 of the object local area network (LAN), the second input-output of which via the Ethernet interface is connected to the first input-output of the portable computer 3 of the second AWP of the DL, to the second input-output of which the input-output of the Web camera is connected 4. The first input-output of the laptop 6 of the first AWP of the operator, to the second input-output of which the input-output of the Web camera 7 is connected, via the Ethernet interface is connected to the third input-output of the first switch 5 of the object LAN, the fourth input-output of which is connected via the Ethernet interface to the first input-output of the laptop 8 of the second operator's workstation, to the second input-output of which the input-output of the Web camera is connected 9. The fifth, sixth, seventh, eighth, ninth and tenth inputs-outputs of the first comm uter 5 of the object LAN via the Ethernet interface are connected to the inputs-outputs, respectively, of the server 10 of the automation equipment complex (KSA), navigation equipment 11 with a built-in antenna, multifunctional device 12, communication server 13, video conferencing server 14 (VCS) and large-format liquid crystal monitor 15, eleventh and the twelfth inputs / outputs of the first switch 5 of the object LAN via the Ethernet interface are connected to the first inputs / outputs of the transit switching unit 16 and the second switch 26 of the object LAN, respectively. The second inputs-outputs of the transit switching unit 16 via the Ethernet interface are connected to the first inputs-outputs of the cryptographic information protection unit (CSP), the second inputs-outputs of which are connected via the Ethernet interface to the first inputs-outputs of the gateway-router unit 18, the second inputs-outputs which via the Ethernet interface are connected to the first inputs-outputs of the multiplexer 19 of the combined communication systems, the second inputs-outputs of which are connected via the Ethernet interface to the first station inputs-outputs of the first line board 20, to the first and second linear inputs-outputs of which the inputs-outputs are connected, respectively the first wired communication line 21 for organizing the exchange using HDSL technology and the first FOCL 22, the second station inputs-outputs of the line board 20 are connected to the first inputs-outputs of the wired switch 23, to the second and third inputs-outputs of which are connected the linear inputs-outputs, respectively, of the telephone apparatus 24 of the automatic telephone exchange system and telephone apparatus 25 of the MB system. The second, third, fourth, fifth and sixth inputs-outputs of the second switch 26 of the object LAN via the Ethernet interface are connected, respectively, to the inputs-outputs of the server 27 of the RTK control system, controlled by the digital video camera 28 and the thermal imager 29, to the first inputs-outputs of the switch 30 channels and the optical converter 38, the second, third and fourth inputs-outputs of the channel switch 30 are connected to the channel inputs-outputs, respectively, of the first radio station 31 of the microwave range, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 32, wide-range radio station 33, the first and second high-frequency inputs - the outputs of which are connected to the high-frequency inputs-outputs, respectively, of the first 34 and second 35 antennas of the wide-range radio station, and of the VHF radio station 36, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 37. The second inputs-outputs of the optical converter 38 are connected to the second station inputs-outputs of the second Neural shield 39, to the first and second linear inputs-outputs of which, respectively, the second wired communication line 40 is connected for organizing the exchange using HDSL technology and the second FOCL 41 is connected at the input-output with the input-output of the remote control point 52 of the robotic complex. The third input-output of the block 18 of the gateway router is connected to the channel input-output of the second radio station 42 of the microwave range, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 43, which is connected over the air to the antenna 45 of the external base station 44 of the service radio network, the high-frequency input-output of which is connected to the high-frequency input-output of the external base station 44 of the service radio communication network, the fourth input-output of the gateway-router unit 18 is connected to the channel input-output of the satellite subscriber station 46, the high-frequency input-output of which is connected to the high-frequency input - the output of the antenna system 47, which is connected over the air to the antenna system 49 of the satellite ground station 48, the high-frequency input-output of which is connected to the high-frequency input-output of the satellite ground station 48, the channel inputs-outputs of which are connected to the first channel inputs-outputs of the communication network 50 general use, second channel inputs dy-outputs of which are connected to the inputs-outputs of the higher control point 51.

The remote control station 52 of the robotic complex contains (see Fig. 2) a line board 53, a multiplexer 54 of combined communication systems, an Ethernet switch 55, a portable computer 56 of a remote automated operator's workstation, navigation equipment 57 with a built-in antenna, a switching and control unit 58, video surveillance system 59, subscriber station 60 of wireless broadband access (BShD), antenna 61 of subscriber station BShD 60, microwave radio station 62 with antenna 63, interface converter 64, VHF radio station 65 with antenna 66, headset 67, telephone set 68 MB system and subscriber telephone terminal 69.

In this case, the first station input-output of the line board 53 through an optical joint is connected to the subscriber input-output of the multiplexer 54 of the combined communication systems, the channel inputs-outputs of which are connected via the Ethernet junction with the first inputs-outputs of the Ethernet switch 55, the second inputs-outputs of which are at the junction Ethernet are connected to the first inputs-outputs of the portable computer 56 of the remote automated workstation (AWS) of the operator, the second inputs-outputs of which are connected via the RS-232 interface to the inputs and outputs of the navigation equipment 57 with a built-in antenna, the first and second control inputs and outputs of the portable computer 56 of the remote operator's workstation are connected to the control inputs-outputs of the switching and control unit 58 and the video surveillance system 59, the input-output of which is connected to the first input-output of the switching and control unit 58, the second, third and fourth control inputs-outputs of the switching unit 58 and controls are connected to control inputs-outputs respectively, the subscriber station 60 BShD, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 61 of the subscriber station BShD 60, the radio station 62 of the microwave range, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 63 of the radio station of the microwave range, and the VHF radio station 65 , the high-frequency input-output of which is connected to the high-frequency input-output of the antenna 66 of the VHF radio station 65, the third and fourth inputs-outputs of the Ethernet switch 55 are connected via Ethernet joints to the channel inputs-outputs of the subscriber station 60 BSHD and radio station 62 of the microwave range, the fifth inputs are the outputs of the Ethernet switch 55 via the Ethernet interface are connected to the first inputs-outputs of the interface converter 64, the second inputs-outputs of which are connected to the channel inputs-outputs of the VHF radio station 65, the information inputs-outputs of which are connected to the information inputs-outputs of the microtelephone headset 67 (MTG), telephone line-in / out 68 of the MB system is connected to the third station input-output of the line board 53, and with the help of the subscriber telephone terminal 69, the operator of the remote AWP exits to the mobile radio communication network, while the linear input-output of the line board 53 is the linear input-output of the remote control point 52 of the robotic complex and connected to the line input-output of the second fiber-optic communication line 41.

The first 1 and second 3 portable computers AWP DL are designed to organize information exchange with officials and operators of AWPs, including other interacting control points, obtain information about the location, technical condition and operation of the RTK, display information received from video surveillance equipment installed on RTK. At the same time, portable computers (1 and 3) AWP DL provide:

input, storage, display and documentation of information; information exchange with interacting AWPs over the data exchange network;

reception and display of data and telemetry information, video signals;

solution of information and computational problems, including the use of RTK;

information and functional interaction with navigation equipment, including automatic reception of data to determine the coordinates of its location and entering them into the memory of your laptop.

As portable computers (1 and 3) of the first and second workstation DL can be used notebooks of the "Toshiba" type or serially produced by the domestic industry personal electronic computing machine (PC) of the EC-1866 type (decimal number PIRSH.466215.005), developed by JSC NITSEVT " (Moscow city).

PC of the EC-1866 type is a multifunctional terminal supplemented with hardware and software for navigation, communication and data transmission. It performs computing functions, as well as the functions of input-output, storage, display and processing of information. Structurally, the specified PC is a portable protected computer of the "Notebook" type installed on a shock-absorbing frame in order to exclude its movement when a moving object is in motion.

Web cameras (2, 4, 7 and 9) are designed to provide video telephone communication to officials and operators with any external subscriber of the data transmission network, the workstation of which is equipped with a video camera and equipment for receiving and transmitting sound, as well as video conferencing using a video conferencing server 14.

As camcorders (2, 4, 7 and 9), camcorders such as Logitech HD Pro Webcam C920 can be used. This camera provides Full HD 1080P video communication with built-in noise canceling microphones, and allows real-time Full HD digital video transmission at 1920x1080 resolution at 30 frames per second.

The first 5 and second 26 switches of the object LAN are intended for subscribers' access to the object local network, connecting its constituent segments and ensuring data transmission over it over the Ethernet 10/100 Base-TX interface. As switches 5 and 26, a commercially available network switch of the SKM-8 type, developed by

JSC NPO RusBITech (Moscow). The specified switch has several different ports, an embedded operating system, speed, duplex and hardware control settings for each port, provides VLAN (virtual LAN) support, port aggregation, port status diagnostics, traffic visualization for each port, remote administration and device configuration.

Portable computers (6 and 8) of the first and second operator workstations are designed to control the processes of setting up, monitoring and ensuring the interconnected operation of the equipment and equipment of the mobile automated communication and control machine of the RTK, switching and distributing the received channels and digital streams, as well as to obtain information about the location , the technical condition and functioning of the RTK, displaying information received from the video surveillance equipment installed on the RTK, generating commands for controlling the RTK and video surveillance equipment, controlling the transfer of information to remote consumers.

Portable computers (6 and 8) of the first and second operator workstations represent a PC made in the form of a single monoblock placed in a case, containing a system unit, which includes a motherboard, which houses a system bus, a microprocessor, RAM, ROM and a keyboard controller , as well as containing a monitor adapter, a port adapter, an additional device controller, a disk controller, a magnetic hard disk, system software and functional application software, including for controlling an RTK, supplied on a hard disk drive, audio I / O cards , video I / O cards, and Ethernet cards, as well as a plasma display, a standard keyboard, a graphics mouse, and a joystick.

At the same time, portable computers (6 and 8) provide:

input, storage, display and documentation of information;

information exchange with interacting AWPs over the data exchange network;

automatic testing of communication channels, analysis and selection of optimal frequencies;

automatic diagnostics of equipment with a visual display of its technical condition;

remote control of equipment from the communication and control machine within the scope of the capabilities provided in the equipment;

visual control of information exchange;

collection, generalization, display and documentation of information about the state of links, channels and equipment;

reception, display and processing of data and telemetric information, video signals received from RTK;

formation and transmission of commands to control RTK and video surveillance equipment;

solution of information and computational tasks for the organization of directions for the exchange of documentary information and communication channels;

information and functional interaction with navigation equipment, including automatic reception of data to determine the coordinates of its location and entering them into the memory of a laptop.

As portable computers (6 and 8) of the first and second operator workstations, notebooks of the Toshiba type or a commercially available PC of the ES-1866 type, developed by NITSEVT OJSC (Moscow), can be used.

Server 10 of the complex of automation equipment (KSA) is intended for organizing a data exchange network between the AWPs of officials and operators, as well as with the AWPs of officials of interacting objects. Server 10 KSA includes a system unit with built-in special software, a monitor and a standard keyboard. On server 10, a set of programs is installed, designed to provide all portable

computers (1, 3, 6 and 8) and other servers at the same astronomical and operational time.

Server 10 KSA ensures the operation of AWP DL and operators, automated data collection and processing, maintenance, updating and storage of the database, the work of officials and operators with the database, storage of control information, exchange of messages and files, logging of actions of officials and operators, reception , processing, display and transmission of formalized and non-formalized information, presentation (output) of information in the required form for printing, screens for individual and collective use.

As the navigation equipment 11 with a built-in antenna, a portable receiver-indicator (VPI) of the "Grot-V" type can be used. The principle of operation of this receiver-indicator is based on integrated processing of information coming from an autonomous geomagnetic-type navigation system and a twelve-channel receiver of a satellite navigation system of the GLONASS / GPS type. When controlled from the keyboard VPI "Groot-V" has an exchange interface with external devices and can interact with them. VPI is a fully automatic device and can work without operator intervention immediately after installation and switching on. In combination with portable computers, it provides visualization of an electronic map of the area, real-time display of graphical and digital information on the route and parameters of the movement of a moving object.

The transportable receiver-indicator is made in the form of two complete units: an antenna module and an electronic unit, interconnected by high-frequency cables.

The multifunctional device 12 is intended for scanning printed documents of A4 format and converting them from printed to electronic form for subsequent transmission by e-mail, documenting various information received through communication channels and lines, as well as documenting information about the state of communications, channels and equipment of the communication machine

and management of the RTK, the location, technical condition and operation of the RTK. As such a device, a multifunctional device such as HP Laser Jet M 1132 MFP or a commercially available multifunctional device such as P-112 can be used.

The communication server 13 is designed to monitor and control the operation of technical means of communication, switching and encryption, including monitoring their technical condition, loading channels, communication and switching facilities, collecting, processing and registering streams of events related to equipment failures, information transmission failures, and See also real-time hardware configuration management. The communication server 13 includes a PC, consisting of a system unit with built-in special software, a monitor and a standard keyboard, and an IP router. As a PC, which is part of the server 13, a PC of the EC-1866 type can be used.

Server 14 video conferencing (VCS) is designed to plan and conduct multipoint video conferencing, as well as the implementation of its recording and broadcast.

Server 14 videoconferencing provides the ability to organize video conferencing with several (from 4 to 10) participants connected to the network, work in a "cascade" mode with other third-party multipoint servers, broadcast video conferencing over HTTP, as well as receive video and audio streams from analog and IP video cameras using the RTSP protocol with their output to the videoconference network, recording videoconferencing sessions with the ability to select the resolution of the recorded content, combining together the transmission of sound, video and data, simultaneous output of two independent digital video signals from cameras and external PTZ cameras built into the workstation and operators, connection external means of displaying information. The video conferencing server 14 includes a multimedia video camera with a Plantronics Audio headset. A widescreen liquid crystal (LCD) monitor 15 is used as a video monitor.

The widescreen liquid crystal monitor 15 is intended for use as a means of displaying various color and black-and-white video information. A commercially available LCD monitor of the VMTs-101ZhK type with a screen diagonal of 117 cm with LED backlight can be used as such a monitor.

Block 16 transit switching is designed to control information flows, delimiting them by types of encryptors, by access priorities (categories of urgency). This function allows you to evenly load communication channels and allows you to smooth out peak activity in the network and its downtime. Conducting a continuous analysis of visible objects in available networks, the transit switching unit 3 prevents the loading of communication channels with data addressed to inaccessible subscribers. It interacts with the technical means of the communication machine through the block 17 of cryptographic information protection. At the same time, monitoring and control of technical means are provided in local and remote modes. Continuous monitoring of the state of technical means by the transit switching unit 16 provides operational information about the equipment used, which, in turn, makes it possible to identify the causes of possible accidents in the shortest possible time and eliminate them in a timely manner.

Block 17 of cryptographic information protection is designed to create a high-speed secure multi-service telecommunications infrastructure on digital communication networks and to ensure routing and encryption of packets during the work of officials of the proposed mobile automated control machine along channels and paths in packet-switched networks. It provides information exchange over the Ethernet interface with data terminal equipment and channel-forming means at a rate of 10, 100 Mbit / s in accordance with the IEEE 802.3 standard using the corresponding protocols, as well as IP routing of transmitted information, including data, voice messages and video information, when work over digital communication channels on an IP network with encryption of IP packets.

As block 17, a crypto router of the M-479P series can be used, which is a hardware and software encryption tool designed to process information transmitted over channels and communication lines. This crypto router includes IP routers, which allows it to be connected to the transport communication network without the use of intermediate devices. As a device for protecting transmitted information over communication channels, an encryptor of data transmitted in the network TSRLR "Crypto-TSRLR" can be used. The specified data encoder is a software and hardware complex based on a personal computer such as IBM PC 486, Pentium and equipped with a touch-memory device to prevent unauthorized loading of the operating system. The complex provides data encryption and authentication with checking the integrity of the transmitted information. The hardware and software complex runs under the FreeBSD operating system and provides an exchange rate of 10 Mbit / s. The Ethernet protocol is used as a network interface.

Block 18 of the gateway router is designed to organize the operation of the object local area network and provide interfacing with other data exchange networks. Block 18 provides the bandwidth for switching information packets based on MAC addresses between the interfaces of the local area network using full duplex technology.

As block 18, a router of the Attika-ISR1801 type, developed by JSC NII "Polygon" (Ufa), can be used. It combines routing, switching and security services in one device. The specified router performs static and dynamic packet routing both for the IPv4 stack (RIP, MP-BGP) and for the IPv6 stack, supports stream classification, marking and prioritization, which allows to guarantee the data bandwidth and processing method according to the proposed load, provides access control to data streams

in order to ensure network security, as well as stream filtering, authorization and authentication functions.

The multiplexer 19 combined communication systems (MCCS) is intended for binding to a public communication network as a plesiochronous digital hierarchy (PDH) time grouping equipment. It combines the functions of multiplexing PDH E1, E3 signals and Ethernet 10/100 Base-T signals and provides input, output and transit of the above-mentioned signals, as well as signals of subscriber interfaces PM and BCC, organization of line paths over fiber-optic or balanced cables communication. It contains basic blocks and interface blocks, a network access block for switching data packets between local Ethernet ports and E1 or V.35 network ports. MKSS supports interfaces E1, E2, E3 and E4 with optical and electrical outputs, Ethernet 10/100 Base-T, SDSL, BCC and PM. The specified multiplexer 19 is manufactured by OJSC SUPERTEL (St. Petersburg).

The first 20 and second 39 line boards contain connecting and switching elements, to which, using cable connectors, subscriber, connecting and fiber-optic communication lines from similar mobile control machines and interacting communication hardware are connected. They are intended for distribution and switching of information and control circuits to the apparatus and equipment of a mobile automated control machine. Structurally, the first 20 and second 39 line boards are made according to the same type of scheme in accordance with the industry standard, but differ in the number of connecting connectors installed on the boards of the boards and in the wiring of pairs of connected communication cables.

The first 21 and second 40 wire communication lines for organizing the exchange using HDSL technology can be performed using a field cable of the P-274M type or a telephone distribution multicore cable with a quadruple structure of the P-269M-4 × 4 + 1 × 2, P-269M- type 2 × 4 + 1 × 2.

The first 22 and second 41 fiber-optic communication lines can be performed using a field optical cable POK-B-4 or an optical cable of the P-294 type.

The switch 23 for wire communication is a distributed switching equipment, which is designed to deploy a self-regulating digital field network of wire communication with a distributed structure and the ability to access subscribers of the public telephone network. As a switch 23, a field telephone switch of the P-380KM type can be used, which provides connection of subscriber communication lines with telephone sets of the automatic telephone exchange and MB systems, digital communication lines using G.SHDSL technology and wired Ethernet lines.

The telephone set 24 of the automatic telephone exchange system is intended for conducting telephone conversations with remote subscribers via subscriber lines and digital communication channels. A telephone set of the AT-3031ATS type (ATS RG2.187.096 TU) can be used as such a telephone set.

The telephone set of 25 MB system is intended for conducting telephone conversations over wired connecting lines during the period of their deployment and checking of serviceability. A portable telephone set of the TA-88 type, made in a protected case, can be used as a telephone set 25. It provides for making a call with alternating current with a frequency of 25-50 Hz (induction call) and conducting a telephone conversation using a handset.

The server 27 of the RTK control system consists of computing nodes with control software and electronic memory units. It is designed for receiving and high-speed processing of data received from control facilities located on the RTK, and for transmitting information to consumers. Server 27 of the RTK control system provides:

operation of AWP for DL and AWP of operators;

storing, maintaining, updating the database and working with the database for managing the RTK;

visualization of current and archived information in a convenient form for the operator, including mnemonic diagrams, graphs and a message log; logging of operators' actions;

generation of reports on the results of RTC management processes.

Controlled digital video camera 28 is designed for video filming and recording information in the field. It provides the possibility of remote high-quality shooting of events near the communication and control machine of the RTK with the possibility of remote control of the camera by the AWP operator in horizontal and vertical planes. The camcorder can also be controlled from the control panel. A Sony HXR-NX camcorder or a Sony DCR-DVD106E digital camcorder can be used as such a camera.

Thermal imager 29 is designed to observe the environment in horizontal and vertical planes in conditions of insufficient visibility provided by the video camera 28.

As a thermal imager 29, a multichannel thermal imager of the Pergam AT 640 DUO PRO-40 type on a rotating platform for installation on a vehicle, serially produced by JSC Pergam-Engineering, can be used. The viewing angles of such a thermal imager are 360 ° in the horizontal plane and from minus 25 to plus 90 degrees in the vertical plane. It is protected from water and dust ingress, adapted to work in difficult climatic conditions. A remote control with a joystick is used to control the thermal imager.

The switch of 30 channels is designed for switching input circuits to output and matching the levels of digital streams, paths and communication channels transmitted through the switch. It is an automated cross-switch with an NxN I / O (communication channel) switching field. Structurally, the switch is made in the form of a single monoblock, including an electronic field, to which the connectors of the linear and station sides are connected. In this case, it is possible to interconnect any N channels of the station side and any N channels of the linear side, as well as switch between the channels of the station side with the channels of the linear side.

The first radio station 31 of the microwave range with the antenna 32 and the second radio station 42 of the microwave range with the antenna 43 are intended for organizing the channels of a high-speed radio network and for transmitting control signals by means of video surveillance installed on the RTK, and receiving video signals from them. Both of these radios are multichannel microwave radios. They provide operation with the same type of radio stations installed at the RTK, in a parking lot and in motion with a channel information transfer rate of up to 11 Mbit / s, including relaying messages. The radio stations use the principle of time separation of reception and transmission, as well as time division of information. R-168MRA radio stations can be used as such radio stations.

As antennas 32 and 43 for radio stations 31 and 42 of the microwave range, directional antennas with a circular radiation pattern of the KR type and a gain of 20 dB or omnidirectional antennas of the AB type with a gain of 1.5 to 8 dB are used.

Broadband radio station 33 with the first 34 and second 35 antennas is designed to exchange operational information over channels formed in the short wave (KB), meter wave (MB) or decimeter wave (UHF) bands. This radio station is a multifunctional transceiver station, made in a transportable version, consisting of a transceiver having two antenna connectors for connecting the first 34 and second 35 antennas, connectors for issuing channels, an interface module and antenna devices. The broadband radio station is built using modern hardware and software components with digital signal processing. When working in a direct communication radio network (RPS), a distributed backbone network (ROS) or a radio access network (RDN), the following are provided:

automatic dynamic routing of information with circuit and packet switching;

various types of services provided to subscribers when working in a parking lot and on the move;

various information rates of data transmission, the ability to increase bandwidth and prompt restoration of communication;

automatic selection of frequencies for communication or retransmission;

automatic authentication, identification of radio stations and network subscribers;

use of standardized protocols;

the ability to input / output data from external media;

cryptographic protection of information transmitted over radio channels.

The first antenna 34 of the wide-band radio station 33 is a transceiver antenna that enables radio communication in the wavelength range from 30 to 2500 MHz. As such an antenna, a composite whip antenna is used, which is located on the roof of a mobile automated communication and control machine of the RTK. This antenna provides radio communication in the MB or UHF wave bands when working at a stop and on the move.

The second antenna 35 of the radio station 33 is a transceiver antenna that provides the ability to conduct radio communications in the KB wavelength range from 1.5 to 30 MHz. An antenna of the "dipole" type can be used as such an antenna, for example, an "oblique symmetrical dipole" having two identical beams located one against the other and fixed on a mast with a height of 12 meters. This antenna is designed to provide radio communication in the HF range when working in a parking lot.

The radio station 36 of the VHF range with the antenna 37 is intended for the exchange of operational information and the transmission of RTK control commands, the reception of data and telemetric information from them. A radio station of the "Angstrem-V" type can be used as a radio station of the 36 VHF range. The specified radio station is a transportable transceiver station with software

architecture defined (SDR), which provides the ability to change the current configuration and implement new modes of operation and services by updating the firmware without changing the hardware platform. It provides the following modes and types of work: multichannel radio communication;

transmission of speech in simplex and duplex modes between two subscribers, as well as in simplex mode between several subscribers;

full-duplex voice transmission between several subscribers (conference calls);

retransmission of analog and digital signals;

high-speed data transmission and short text messages;

file exchange;

exchange of navigation information;

automatic authentication, identification of radio stations and network subscribers;

use of standardized protocols;

the ability to input / output data from external media;

cryptographic protection of information transmitted over radio channels.

The radio station 36 of the VHF range provides data transmission at a speed of up to 256 kbps in the range from 30 to 220 MHz and up to 2 Mbps in the range from 220 to 520 MHz.

The antenna 37 of the radio station 36 is a transceiver and provides the ability to conduct radio communications in the wavelength range from 30 to 520 MHz. An antenna of the AD-30/520 type can be used as such an antenna. It provides radio communication both in the parking lot and on the move.

Optical converter 38 is an element of the complex of software and hardware and, together with switches 5 and 26 of the object LAN, is designed to build segments of the object local area network of a mobile automated communication and control machine of RTK using fiber-optic communication lines. It is a passive device that does not require an external power supply, additional setup or configuration and operation control.

External base station 44 of a service radio communication network with antenna 45 is designed to form a wireless broadband radio access network at a communication service distribution center, an access point based on the 802.16-2004 standard, through which access to a public communication network is carried out, as well as to ensure autonomous operation in the mode retransmission along the high-frequency path. It is based on a radio unit operating in the microwave range.

External base station 44 provides automatic organization of a radio network, automatic relay and routing of information, transmission and reception of digital information over the RS-232C interface with a maximum speed of 115 kbit / s, transmission and reception of digital information over an Ethernet interface with a maximum transmission rate of 10 Mbit / s. IEEE 802.3, transmission and reception of voice information over the C1-PM interface.

As such a station, a commercially available radio access station of the WIMIC-2000s type or a R-169-4B radio station from the R-169 mobile radio communication complex can be used.

Antenna 45 for base station 44 may be a directional antenna with a gain of 20 dB or an omnidirectional antenna with a gain of 1.5 to 8 dB.

Subscriber station 46 of satellite communication with antenna system 47 refers to personal satellite communication systems and is designed to enter an organized public communication network for the purpose of transferring information between subscribers through digital communication channels formed at a rate of 1.2 to 9.6 kbit / s. The stations of the specified personal satellite communication system are intended for digital packet transmission of any data (telex, facsimile messages, computer data, etc.) and the organization of voice (radiotelephone) communication. In this case, the telephone mode is organized

using the Vocoders built into the subscriber terminal (AT), which provide a variable voice transmission rate. In addition to full-duplex telephony, Personal ATs can connect personal computers (PCs) and support a variety of services such as faxing, email and voice mail, personal radio calls, data encryption, and mobile location determination.

Subscriber station 46 satellite communication consists of the following main parts:

an antenna module providing guidance to a repeater located on a spacecraft (SC);

a hardware module that interfaces with the antenna module at intermediate frequencies and includes functional devices that generate and process all specified signals and frequencies;

transceiver equipment providing reception and transmission of signals at frequencies from 7 to 8 GHz with their conversion into intermediate frequencies of 345 and 700 MHz for reception and transmission, respectively;

hardware and software of the automated control subsystem, providing control of the station operation;

a navigation complex that provides information on the current location of a satellite communication station.

The antenna module includes an antenna system 47, which includes a parabolic mirror with a diameter of 1.5 m and a rotary support, as well as an automatic deployment device for the antenna system to ensure the operation of the satellite communication subscriber station 46 in motion.

The hardware module includes transceiving equipment, channel-forming equipment, digital signal processing path, control processor and external equipment.

Subscriber station 46 satellite communication provides:

duplex telephone communication and data transmission, as well as telephone communication or machine-to-machine information exchange in the mode of a remote ATS subscriber when operating in radial-nodal communication networks via fixed channels or channels operating on the principles of radio-ATS with continuous information transfer;

duplex telephone communication and data transmission over 1 ... 4 channels with a throughput of 1.2 to 9.6 kbit / s, organized in four communication directions through fixed channels or channels used in radio-automatic telephone exchange mode when operating in continuous mode;

formation of an anti-jamming satellite communication line at speeds from 1.2 to 9.6 kbit / s.

In the station 46 of satellite communication, generalized control of the transceiver path, indication of the operating modes of the station and communication channels, channel failures and equipment failures is provided.

The ground station 48 of satellite communication together with the antenna system 49 is designed to provide an exit from the workplaces of the DL and operators of the mobile automated communication and control machine of the RTK to the public communication network at a significant distance of the mobile robots RTK from the higher control body.

Ground station 48 satellite communication contains a transmitter, a low-noise amplifier, a radio receiver and a signal processing path with FDMA and output to the public telephone network. As a ground station 48 for satellite communications, a Ku-band satellite VSAT station of the DVB-RCS operating standard with an antenna with a diameter of 1.2 meters, a GPS receiver and an automatic guidance system to the spacecraft can be used.

The antenna system 49 of the ground station 48 of satellite communications consists of a mirror with an irradiation system, an antenna-waveguide path, a rotary support (OPU) with an electric power drive, guidance and auto-tracking equipment. The antenna mirror is made of aluminum alloys in the form of separate sections with the required surface profile. An antenna system with a mirror diameter of 1.2 to 4 meters can be used as the antenna system 49.

Ground station 48 satellite communications is multichannel, provides the formation of channels with different capacity and supports a variety of services, including packet transmission in digital form of any data and the organization of radiotelephone communications.

Ground station 48 satellite communication is designed to enter the satellite communication network when working through the trunks of the repeaters of spacecraft (SC) in geostationary orbit, operating in any conditions and under the influence of deliberate interference. It provides operation in two modes: with on-board signal processing (OSB) of the repeater and with direct signal retransmission (PR). At the same time, the station provides telephone communication and data transmission, including machine-to-machine data exchange, over one or two channels with a throughput of 1.2 ... 4.8 kbit / s over fixed channels and radio-automatic telephone exchange channels or in one direction with a throughput of 1, 2 ... 9.6 kbps and 16 kbps, as well as video conferencing using digital channels at speeds of 48, 64, 128, 256 kbps with an Ethernet interface.

The public communication network 50 is designed to transmit various types of information through paths and communication channels formed by multichannel radio relay stations, wire communication channeling facilities and digital fiber-optic communication systems.

The higher control point 51 is designed to collect, process and analyze various types and volumes of information and data received from downstream and interacting control points, timely development and transmission to downstream control points of the RTK, which include mobile automated communication and control machines of the RTK, instructions for organizing control processes of robotic complexes in the course of work to eliminate accidents and emergencies.

The remote control station 52 of the robotic complex as part of the line board 53, the multiplexer 54 of the combined communication systems, the Ethernet switch 55, the remote operator workstation 56, the navigation equipment 57 with the built-in antenna, the switching and control unit 58, the video surveillance system 59, the subscriber station 60 BShD with the antenna 61, radio stations 62 of the microwave range with an antenna 63, an interface converter 64, a VHF radio station 65 with an antenna 66, a handset 67, a telephone set 68 of the MB system and a subscriber telephone terminal 69, is designed to form control commands of the RTK, exchange information with officials and operators AWP on the technical condition and functioning of the RTK, information transfer from the video surveillance equipment installed on the controlled RTK when it is located in places inaccessible for the passage of a mobile automated communication and control machine of the RTK.

The remote station 52 provides the transmission to the mobile robots of the RTK of the parameters of control tasks, programs for the operation of mobile robots, the formation and transmission of commands for remote control of the movement and functional equipment of mobile robots. With the help of control point 52, remote control over the operation of mobile robots and the reading of data from the recorders of their parameters is also carried out.

The purpose and functionality of the elements of the remote control point 52 coincide with similar elements that are part of the main equipment of the communication and control machine of the RTK.

The line board 53 contains connecting and switching elements to which subscriber, connecting and fiber-optic communication lines are connected using cable connectors. It is intended for distribution and switching of information and control circuits to the equipment and equipment of the remote control point 52. Structurally, the line board 53 is made in accordance with the industry standard.

The multiplexer 54 contains basic units and interface units, a network access unit for switching data packets between local Ethernet ports and E1 or V.35 network ports. MKSS supports interfaces E1, E2, E3 and E4 with optical and electrical outputs, Ethernet 10/100 Base-T, SDSL, BCC and PM. The specified multiplexer 54 is produced by OJSC SUPERTEL (St. Petersburg).

The 55 Ethernet switch is designed to organize access to the formed object local area network of the communication and control machine and to provide data transmission over it over the Ethernet 100 Base-TX interface between the automated workstations of officials and operators, as well as through communication channels.

This switch includes a media converter that converts the signal propagation medium from one type to another, including the signal coming from copper wires to optical cables, that is, the media converter is a link between the two propagation media - optical and copper cables.

The remote automated workstation (AWS) of the operator, equipped on the basis of a laptop 56, is designed to generate commands and control signals for equipment and the operation of mobile RTK robots, transfer data and exchange information with AWP DL and AWP of operators located in a mobile automated communication and control machine RTK. The purpose and technical capabilities of the portable computer 56 of the remote operator workstation are similar to the capabilities of the portable computers 6 and 8 of the operator workstation.

A laptop of the "Toshiba" type or a serially produced by the domestic industry personal electronic computer (PC) of the EC-1866 type (decimal number PIRSH.466215.005), developed by JSC "NITSEVT" (Moscow) ...

A portable receiver-indicator (VPI) of the "Main-B" type can be used as navigation equipment 57 with a built-in antenna. The principle of operation of this receiver-indicator is based on complex information processing,

coming from an autonomous geomagnetic-type navigation system and a twelve-channel receiver of a satellite navigation system such as GLONASS / GPS. When controlled from the keyboard VPI "Groot-V" has an exchange interface with external devices and can interact with them. VPI is a fully automatic device and can work without operator intervention immediately after installation and switching on. In combination with the operator's portable computer AWP 56, it provides visualization of an electronic map of the area, real-time display of graphical and digital information on the route and parameters of the movement of a moving object.

The transportable receiver-indicator is made in the form of two complete units: an antenna module and an electronic unit, interconnected by high-frequency cables.

The block 58 of switching and control is intended for switching and distribution of control circuits of the apparatus and equipment of the remote control point 52 of the RTK.

The video surveillance system 59 includes a controlled digital video camera and a thermal imager. It is designed for video filming of events near the remote control center of the RTK and monitoring the operation of mobile robots that are part of the RTK.

A Sony HXR-NX camcorder or a Sony DCR-DVD106E digital camcorder can be used as a video surveillance system 59 camcorder.

The thermal imager is intended for observing the environment in horizontal and vertical planes in conditions of insufficient visibility provided by the above-mentioned video camera. A multichannel thermal imager of the Pergam AT 640 DUO PRO-40 type on a rotating platform for installation on a vehicle, serially produced by JSC Pergam-Engineering, can be used as a thermal imager. The viewing angles of such a thermal imager are 3600 in the horizontal plane and from minus 25 to plus 90 degrees in the vertical plane. It is protected from water and dust ingress, adapted to work in difficult climatic conditions. A remote control with a joystick is used to control the thermal imager.

The subscriber station 60 of wireless broadband access (BWA) with antenna 61 is intended for the formation of radio access channels and output in the public communication network, including by being included in the communication paths organized using the communication means available in the machine. It is based on a radio unit operating in the microwave (microwave) range.

Subscriber station 60 BShD provides automatic retransmission and routing of information, data exchange, transmission and reception of digital information over the RS-232C interface with a maximum speed of 115 kbps, transmission and reception of digital information over the Ethernet interface with a maximum transmission rate of 10 Mbps over IEEE 802.3, transmission and reception of voice information over the C1-PM interface.

A commercially available radio access station of the WIMIC-2000s type can be used as such a station.

Antenna 61 is a transceiver antenna that provides the ability to conduct radio communications in the wavelength range from 30 to 2500 MHz. A composite whip antenna is used as such an antenna. This antenna provides radio communication in the UHF wavelength range.

The radio station 62 of the microwave range with the antenna 63 is intended for organizing the channels of a high-speed radio network and ensuring the transmission of control signals by means of video surveillance installed on the RTK, and receiving video signals from them. This radio station is a multichannel radio station operating in the microwave range of waves. It provides operation with the same type of radio stations installed at the RTK, in the parking lot and in motion with a channel information transfer rate of up to 11 Mbit / s, including relaying messages. The radio stations use

the principle of time separation of reception and transmission, as well as time multiplexing of information.

As the antenna 63 of the radio station 62 of the microwave range, directional antennas with a circular radiation pattern of the KR type and a gain of 20 dB or omnidirectional antennas of the AB type with a gain of 1.5 to 8 dB are used.

The interface converter 64 is designed to convert signals from the input-output of the VHF radio station 65 at the C1-PM interface into signals via the Ethernet interface for subsequent transmission via the local area network to the workstation of officials and operators.

The VHF radio station 65 with antenna 66 is intended for the exchange of operational information and transmission of RTK control commands, reception of data and telemetric information from them. The specified radio station is a transceiver station with a software-defined architecture (SDR), which provides the ability to change the current configuration and the implementation of new modes of operation and services by updating the firmware without changing the hardware platform.

The antenna 66 of the radio station 65 is a transceiver, providing the ability to conduct radio communications in the wavelength range from 30 to 520 MHz. An antenna of the AD-30/520 type can be used as such an antenna.

Microtelephone headset (MTG) 67, connected to VHF radio station 65, is designed for auditory reception of telephone and telegraph signals from the radio channel. In this case, the interface device, which is part of the radio station, converts signals from the MTG into analog signals of radio channels. As an MTG 67, a microtelephone headset of the GSsh-29 type can be used, which ensures operation in mobile objects with a noise level of up to 120 dB.

The telephone set 68 of the MB system is intended for conducting telephone conversations over wired connecting lines of communication during the period of their deployment and checking of serviceability. As a telephone set 68 can

a portable telephone set of the TA-88 type, made in a protected case, can be used. It provides for making a call with alternating current with a frequency of 25-50 Hz (induction call) and conducting a telephone conversation using a handset.

The telephone subscriber terminal 69 is a portable mobile radio station. It provides the ability to access radio networks and channels formed by radio stations and satellite communication stations. A portable station of the R-187P1 type can be used as such a terminal.

The mobile automated communication and control machine RTK provides:

1) the deployment of three radio networks in KB, VHF and microwave bands using the first 31 and second 42 microwave radio stations, a wide-range radio station 33, a VHF radio station 36, an external base station 44 of a service radio network and servicing subscribers who are at the AWP of DL and operators ;

2) the deployment of a satellite communication line using a satellite communication subscriber station 46 with an antenna system 47 for work at a stop and on the move, the transfer of the formed channels to the workstation of officials and operators, ensuring duplex telephone communication and data transmission, as well as telephone communication along the established path or machine-to-machine communication in the mode of a remote ATS subscriber when operating in radial-nodal communication networks through fixed channels or channels operating on the principles of radio-ATS with continuous information transfer;

3) access to the backbone radio communication network organized with the help of base stations and a radio access network using a wide-range radio station 33 with the possibility of automatic dynamic routing of information with circuit and packet switching, provision of various types of services provided to subscribers when working in a parking lot and on the move, including including data transmission with different information rates,

connection of remote subscribers and network sections based on standardized protocols. At the same time, automatic selection of radio frequencies and automatic establishment of a channel for communication or retransmission and monitoring of the state of the radio network is provided, and work in a radio network is based on the principles of cellular radio communication with an address call of correspondents in the radio network;

4) the formation of wired communication lines with the transfer of information through them along the joints C1-I, E1 (G.703, G.704), E3, Ethernet at various speeds;

5) transmission of information with encryption of high-speed communication channels with the El interface, Ethernet and medium-speed communication channels with the C1-I interface using block 17 of cryptographic information protection;

6) provision of infocommunication services for data transmission, exchange of electronic correspondence and video conferencing using the KSA server 10, the communication server 13 and the video conferencing server 14;

7) transit switching of channels and paths using a transit switching unit 16, a cryptographic information protection unit 17 and a gateway router unit 18;

8) retransmission (in automatic and manual modes) of signals and messages from any channel-forming means of communication (radio stations 31, 33, 36, 42, 44, wired 21, 40 and fiber-optic 22, 41 communication lines, subscriber 46 and ground 48 stations satellite communication) to any other means of communication, as well as from any subchannel of radio stations to any other subchannel of these radio stations;

9) support of the uniform time service, determining the coordinates of its location and displaying on the display of portable computers AWP DL and operators in real time graphical digital information of coordinates, route and movement parameters of the communication and control machine using navigation equipment 11 with a built-in antenna;

10) testing and diagnostics of equipment and communication equipment from portable computers 6 and 8 of automated workstations of the first and operators, displaying the status and quality of communication;

11) service radio communication in the parking lot and on the move using VHF radio station 36 and antenna 37 with sending and receiving selective and circular calls of correspondents in the formed radio network.

The proposed mobile automated communication and control machine RTK ensures the formation and provision of the following types of communication services to officials and operators:

video and audio conferencing;

telephone communication;

broadcasting streaming media data from analog and digital signal sources (transmission of video information);

secure transmission of data and exchange of electronic messages;

operation of AWPs for officials and operators on a single computing platform;

control of mobile robots RTK with display of information and control data on a large-format liquid crystal monitor.

At the same time, in the mobile automated communication and control machine of the RTK, it is provided to ensure interaction with the higher control point by accessing the channels of the public communication network, exchange of data and other information about the location, the state of the equipment and the functioning of the mobile robots of the RTK.

The advantage of the proposed invention is also the fact that the set of communication, automation and control means available in the communication and control machine makes it possible to additionally control the RTK at its considerable distance from the communication machine due to the use of an unmanned aerial vehicle (UAV), which has a communication repeater on VHF radio stations (in the presence of a UAV).

The technical effect of the proposed mobile automated communication and control machine RTK is to increase the efficiency of control of the robotic complex both in the parking lot and during its movement

on the territory with different terrain, as well as in expanding the functionality and providing an expanded scope of communication services provided to officials and operators, including telephone communication and data transmission, audio and video conferencing, electronic messages exchange with an increased degree of protection of transmitted information, achieved for by introducing new elements and changing the connection between the known blocks of the device.

Sources of information.

1. RF patent No. 2212995, IPC B25J 5/00, 3/00, 9/00. BIPM No. 27 dated September 27, 2003.

2. RF patent No. 2705217 C1, IPC H04N 11/06, 2019 (prototype).

Claims (2)

1. A mobile automated machine for communication and control of a robotic complex, containing two automated workplaces for officials (AWP DL), equipped on the basis of laptop computers, two switches of an object local area network (LAN), a telephone set of the automatic telephone exchange system, a transit switching unit, a cryptographic unit information protection, a gateway-router unit, two line boards, two wire communication lines for organizing an exchange using HDSL technology, two fiber-optic communication lines (FOCL), a server of a complex of automation equipment (KSA), navigation equipment with a built-in antenna, a video conferencing server, communication server, multiplexer of combined communication systems (KCC), optical converter, switch of wire communication, radio station of ultra-high frequency (microwave) range with antenna, external base station of service radio communication network with antenna, characterized in that it additionally includes subscriber station of satellite communication with antenna systemically th, two automated operator workstations (ARMO), equipped on the basis of laptop computers, four Web cameras connected one by one to laptop computers AWP DL and ARMO, large-format liquid crystal (LCD) monitor, multifunction device (MFP), server of the RTK control system , a controlled digital video camera, a thermal imager, a channel switch, a telephone set of the MB system, a second microwave radio station with an antenna, a VHF radio station with an antenna, a broadband radio station with two antennas, a satellite ground station with an antenna system, a public communications network, superior control point and remote control point of the RTK, while the first input-output of the laptop of the first automated workplace of the official (AWP DL), to the second input-output of which the input-output of the Web-camera is connected, is connected to the first input-output via the Ethernet interface the first switch of the object local area network (LAN), the second the first input-output of which via the Ethernet interface is connected to the first input-output of the laptop of the second workstation of the DL, to the second input-output of which the input-output of the Web-camera is connected, the first input-output of the laptop of the first operator’s workstation, to the second input-output of which the input-output of the Web-camera is connected, via the Ethernet interface is connected to the third input-output of the first switch of the object LAN, the fourth input-output of which is connected via the Ethernet interface to the first input-output of the laptop of the second operator's workstation, to the second input-output of which the input is connected -output of the Web-camera, the fifth, sixth, seventh, eighth, ninth and tenth inputs-outputs of the first switch of the object LAN via the Ethernet interface are connected to the inputs-outputs, respectively, of the server of the automation equipment complex (KSA), navigation equipment with a built-in antenna, multifunctional device, communication server, video conferencing server (VKS) and widescreen LCD monitor, eleventh and two the eleventh inputs-outputs of the first switch of the object LAN via the Ethernet junction are connected to the first inputs-outputs of the transit switching unit and the second switch of the object LAN, respectively, the second inputs-outputs of the transit switching unit via the Ethernet junction are connected to the first inputs-outputs of the cryptographic information protection unit (CSP) , the second inputs-outputs of which are connected via the Ethernet interface with the first inputs-outputs of the gateway-router unit, the second inputs-outputs of which are connected via the Ethernet interface with the first inputs-outputs of the multiplexer of the combined communication systems, the second inputs-outputs of which are connected to the first via the Ethernet interface station inputs-outputs of the first line board, to the first and second linear inputs-outputs of which the inputs-outputs of the first wired communication line are connected, respectively, to organize exchange using HDSL technology and the first fiber-optic link, the second station inputs-outputs of the line board are connected to the first inputs-outputs of the switch wire communication, to WTO the eye and third inputs-outputs of which line inputs-outputs are connected, respectively, of the telephone set of the automatic telephone exchange system and the telephone set of the MB system, the second, third, fourth, fifth and sixth inputs-outputs of the second switch of the object LAN via the Ethernet interface are connected, respectively, to the inputs-outputs of the system server control of the RTK, controlled digital video camera and thermal imager, to the first inputs-outputs of the channel switch and optical converter, the second, third and fourth inputs-outputs of the channel switch are connected to the channel inputs-outputs, respectively, of the first microwave radio station, the high-frequency input-output of which is connected to a high-frequency input-output of an antenna, a wide-range radio station, the first and second high-frequency inputs-outputs of which are connected to high-frequency inputs-outputs, respectively, of the first and second antennas of a wide-range radio station, and a VHF radio station, a high-frequency input-output of which is connected to a high-frequency input-output ante nna, the second inputs-outputs of the optical converter are connected to the second station inputs-outputs of the second line board, to the first and second linear inputs-outputs of which the second wire communication line is connected respectively for organizing the exchange using HDSL technology and the second fiber-optic communication line, connected to the input-output the input-output of the remote control point of the robotic complex, the third input-output of the gateway-router unit is connected to the channel input-output of the second microwave radio station, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna, which is connected over the air to the external base antenna station of the service radio communication network, the high-frequency input-output of which is connected to the high-frequency input-output of the external base station of the service radio communication network, the fourth input-output of the gateway-router unit is connected to the channel input-output of the satellite subscriber station, the high-frequency input-output of which is connected to the high-frequency input-output one of the antenna system, which is connected over the air to the antenna system of the satellite ground station, the high-frequency input-output of which is connected to the high-frequency input-output of the satellite ground station, the channel inputs-outputs of which are connected to the first channel inputs-outputs of the public communication network, the second the channel inputs-outputs of which are connected to the inputs-outputs of the higher control point. 2. The communication and control machine according to claim 1, characterized in that the remote control station of the robotic complex contains a line board, a combined communication systems multiplexer (MCSS), an Ethernet switch, a portable computer of a remote automated workstation (AWS) of the operator, navigation equipment with built-in antenna, switching and control unit, video surveillance system, subscriber station (AS) of wireless broadband access (BShD) with antenna, microwave radio station with antenna, interface converter, VHF radio station with antenna, headset, telephone set of MB system and subscriber telephone terminal (ATT), while the first station input-output of the line board is connected via an optical joint to the subscriber input-output of the multiplexer of the combined communication systems, the channel inputs-outputs of which are connected via the Ethernet interface to the first inputs-outputs of the Ethernet switch, the second inputs-outputs which at the junction Ethernet connects inens with the first inputs-outputs of the portable computer of the remote automated workstation (AWS) of the operator, the second inputs-outputs of which are connected via the RS-232 interface to the inputs-outputs of the navigation equipment with a built-in antenna, the first and second control inputs and outputs of the portable computer of the portable automated workplace of the operator are connected to the control inputs-outputs of the switching and control unit and the video surveillance system, the input-output of which is connected to the first input-output of the switching and control unit, the second, third and fourth control inputs-outputs of the switching and control unit are connected to the control inputs-outputs, respectively subscriber station BShD, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna of the subscriber station BShD, microwave radio station, the high-frequency input-output of which is connected to the high-frequency input-output of the antenna of the microwave radio station, and VHF radio station, high-frequency input the output of which is connected en with high-frequency input-output of the VHF radio station antenna, the third and fourth inputs-outputs of the Ethernet switch are connected via Ethernet interfaces to the channel inputs-outputs of the BShD subscriber station and microwave radio station, respectively, the fifth inputs-outputs of the Ethernet switch are connected to the first the inputs-outputs of the interface converter, the second inputs-outputs of which are connected to the channel inputs-outputs of the VHF radio station, the information inputs-outputs of which are connected to the information inputs-outputs of the microtelephone headset (MTG), the linear input-output of the telephone set of the MB system is connected to the third station the input-output of the line board, and with the help of the subscriber telephone terminal, the operator of the remote AWS performs an exit in the mobile radio communication network, while the linear input-output of the line board is the linear input-output of the remote control station of the robotic complex and is connected to the linear input-output of the second fiber optical communication line ...

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