RU2725942C1 - Portable robot system of fire support and combat support - Google Patents

Abstract

FIELD: robotic systems; military equipment.

SUBSTANCE: robotic platform of the complex and its on-board power supply systems, control and transmission of information, technical vision are made with possibility of transportation and assembly by military personnel. System includes a portable retransmitter with radio and fibre-optic communication channels, as well as portable hardware-software means for controlling the platform, fire destruction equipment and military personnel. Robot system allows increasing stability and efficiency of control, survivability and ease of use, reducing weight and size characteristics and enlarging the composition of tactical tasks.

EFFECT: higher efficiency of robotic complex based on expansion of functional capabilities and improvement of adaptability to solving tasks for destination in foot formations.

1 cl, 5 dwg

Description

The invention relates to portable remotely controlled robotic systems intended for direct fire support and combat support on the battlefield of combined arms units, including motorized rifle, assault and reconnaissance, Armed forces, as well as similar units of other power structures.

Known ground-based robotic complex [1], designed for material and technical support units of the Ground Forces in combat conditions, namely for the transport of ammunition, weapons, fuel and other materiel. The complex contains a mobile robot (one or several), a means of transportation (parking) and a remote control post. The disadvantage of the complex is the lack of reconnaissance and target destruction functions.

Famous is the military robot MAARS (Modular Advanced Armed Robotic System) [2] developed by Foster-Miller, which has a modular design, a medium caliber machine gun M240B and an improved (compared to its predecessor robot SWORDS) control, review and warning system. The disadvantages of the robot are the limited composition of the means of destruction (the specified machine gun) and high weight (up to 150 kg).

Known multi-functional robotic support system for combat operations [3], consisting of a group of universal robotic platforms. The platforms are equipped with functional modules: remotely controlled combat, reconnaissance, transport. The navigation and topographic location system, which is part of the platform’s control system, ensures its movement both in remote manual and semi-automatic modes. The remote control point provides simultaneous and sequential control of a group of platforms. Remote-controlled combat module provides detection, automatic tracking and hitting a target. The reconnaissance module detects and recognizes targets with the determination of its range and coordinates. The transport module provides transportation of the payload and, if necessary, the evacuation of the wounded. Additional equipment, which is part of the complex, in the form of a car with a van body, is necessary for the delivery of completed platforms and equipment of the remote control point to the place of use. The disadvantage of the complex is the excessive composition of funds that impedes its use by a small group (calculation) of military personnel.

Common disadvantages of analogues [1-3] are:

1. Significant weight and size characteristics of the complexes exclude the possibility of being carried by foot soldiers, which reduces the survivability and tactical flexibility of use in maneuverable offensive combat.

2. Using only a radio channel as a means of transmitting control signals and receiving / transmitting data that is subject to radio suppression by the enemy on the battlefield does not provide the required high noise immunity and stability of the operation of complex control systems.

3. The need to use special means of transportation (in particular, a car with a box body) reduces the speed and secrecy of the delivery and deployment of complexes in the field.

Closest to the claimed invention is a robotic system for reconnaissance and fire support [4], containing a robotic mobile remote-controlled platform based on a caterpillar chassis with an electric drive, equipped with an on-board control and information transmission system as part of actuators, inertial-satellite navigation and orientation means and means of receiving / transmitting data, on-board vision system, on-board power supply system, as well as on-board payload module with means of fire destruction of the target. The assignment tasks are carried out by calculation in the composition of two military personnel. In addition to these on-board systems, the complex is equipped with an on-board diesel generator, an on-board complex of audio and video equipment, as well as additional equipment as part of a set of camouflage means, a technological control panel and a charger.

The main disadvantage of the prototype robotic complex [4] is the limited functional capabilities of the components and the complex as a whole in fulfilling the intended tasks - direct fire support and combat support of combined arms and other similar units. This is a consequence of the inherent prototype of the general disadvantages of analogues [1-3], formulated above, as well as the following circumstances:

1. The composition of the calculation provided for by the prototype (two military personnel) without appropriate instrumentation is not sufficient for reliable and stable control of the complex at all stages of use in foot combat formations.

2. The lack of individual means of control and communication of military personnel with each other and with a controlled robotic platform makes it difficult for them to coordinate on the battlefield.

3. The lack of distribution of functions between the military personnel of the calculation and the corresponding individual hardware and software (personal computer, specialized remote control) does not allow to quickly and efficiently solve current tactical tasks, such as selecting and measuring the coordinates of the target, choosing the firing position and route of extension of the platform, target designation and control of the results of hitting the target, orienting the platform to the target and restoring orientation after the shot, and a number of others necessary to perform the complex tasks for the intended purpose.

The task facing the developers of the claimed invention is to create a portable robotic complex capable of stably and efficiently in various conditions to solve the problem of fire support and combat support of combined arms units of the Armed Forces and similar units of other power structures, using small-sized, lightweight and easy-to-use calculations by foot soldiers.

To solve this problem, in a portable robotic fire support and combat support complex containing a robotic remote-controlled platform based on a caterpillar chassis with an electric drive, equipped with an onboard control and information transmission system as part of actuators, inertial-satellite navigation and orientation means, and transmission / reception facilities data, airborne vision system, airborne power supply system, airborne payload module with target fire, robotic platform with a set of batteries for the airborne power supply system, airborne control and information transmission system, airborne vision system are capable of being separately carried by two military personnel and subsequent assembly at the starting position, the robotic system contains a portable multi-channel repeater, configured to provide reception / transmission of the control and telemetry information on the radio and fiber-optic communication channels with airborne data reception / transmission equipment, the calculation of military personnel as part of the commander, platform operator and payload operator is equipped with a wearable control complex containing modules built into the military equipment: computing module, power supply module, module radio communications, inertial-magnetic and satellite navigation modules, as well as individual modules of multifunctional and operational control panels, a radio communication module is configured to provide radio communications with voice messages and data between the military personnel for calculating and receiving / transmitting control and telemetry information via a radio communication channel with a multi-channel repeater, modules multifunctional and operational control panels are made with the ability to provide control for military personnel with built-in modules, the commander is additionally equipped with a rangefinder and goniometric reconnaissance device, a personal computer made with the ability to provide control over the actions of calculating, selecting and measuring the coordinates of the target, choosing the firing position and route of extension of the platform, targeting the calculation and monitoring the results of hitting the target, as well as when carrying a set of spare batteries, an on-board control and information transfer system, on-board vision system and means pairing with the reconnaissance device in the stowed position, the platform operator is additionally equipped with a remote control for the movement, made with the possibility of bringing the platform to the firing position and orienting the platform to the target, restoring orientation after firing (launching a rocket) and returning the platform to its original position, as well as carrying a platform with a set of batteries, a multi-channel repeater and a coil with a fiber optic fiber optic communication channel in the stowed position, the payload operator is additionally equipped with a useful remote control loading, made with the possibility of providing installations, amendments and aiming points, aiming fire weapons at the target, firing (launching), restoring aiming, as well as when carrying an on-board module of the payload with fire weapons in the stowed position.

Salient features of the claimed invention in comparison with the prototype are:

1. The execution of the robotic platform with a set of batteries on-board power supply system, on-board control and information transmission system, on-board vision system with the possibility of separate carrying by two servicemen and subsequent assembly at the initial position provides deployment speed, survivability and tactical flexibility of the claimed robotic system in maneuverable offensive battle.

Significant overall dimensions and monoblock execution of the prototype, requiring special delivery vehicles, exclude the possibility of separate carrying of its components on foot by military personnel.

2. The presence of a portable multichannel repeater in the robotic complex, designed for duplicated reception and transmission of control and telemetric information via radio and fiber-optic (having almost absolute noise immunity) communication channels with airborne data reception / transmission means ensures reliable and stable combat operation remotely managed platform. Important is the ability to install a repeater near the firing position of the platform without the need for advanced advancement of military personnel, which guarantees the safety of their lives.

In the prototype, only airborne data receiving / transmitting means are mentioned. A portable multi-channel repeater is not provided.

3. The equipment for calculating the military personnel as part of the commander, platform operator and payload operator with a portable control system integrated into the military equipment ensures their coordinated interaction on the platform management at all stages of the preparation and use of the robotic complex. At the same time, the modular design of the components of the wearable control complex (computing module, power supply module, etc.) makes it possible to optimally distribute the weight load on each military personnel, providing convenience and freedom of action.

In the prototype, the equipment of the military personnel of the calculation with wearable controls is not provided.

4. The design of a radio communication module with the ability to provide voice and data exchanges between the military personnel for calculating and receiving / transmitting control and telemetry information via a radio communication channel with a multi-channel repeater allows the formation of a single, continuously operating high-speed dynamic network, the nodes of which are military personnel, a relay and (through a relay) robotic platform.

In the prototype there is no such possibility.

5. The modules of the multifunctional and operational control panels are made with the ability to provide control of the military personnel with integrated modules. The first of them provides full-featured, and the second - simplified management of the wearable control complex in extreme conditions.

In the prototype, such a task is not considered.

6. Equipping the commander with a rangefinder-goniometric reconnaissance device allows you to quickly and reliably bring intelligence about the target directly to the decision-maker (commander), without intermediate receiving / transmitting links. This also ensures high survivability of reconnaissance equipment on the battlefield, which is determined by the specifics of the commander's actions in foot battle formations (secrecy, protected position).

In the prototype, reconnaissance equipment is equipped with an on-board platform payload module (small arms and grenade launcher module in prototype terminology), the firing position of which is in contact with the positions of enemy weapons. As a result, the efficiency and reliability of intelligence, as well as the survivability of intelligence, are reduced.

7. The presence of a commander’s personal computer, configured to provide control over the operations of calculating, selecting and measuring target coordinates, choosing a firing position and a platform extension route, targeting the calculation and monitoring the results of target destruction, enables a wide range of tactical tasks to be quickly and efficiently prepared and maintained battlefield.

In the prototype, the commander’s personal computer is not provided.

8. The commander’s ability to carry a set of spare batteries, an on-board control and information transmission system, an on-board vision system and means of interfacing with a reconnaissance device in the stowed position makes it possible to use the robotic system in foot combat formations.

In the prototype, this function is not implemented.

9. Equipping the platform operator with a remote control for the movement ensures the platform is brought to a firing position and the platform is oriented toward the target, orientation is restored after a shot (rocket launch) and the platform is returned to its original position. The coordinated operation of this remote control and the payload remote control, which the payload operator is equipped with and which is made with the possibility of determining settings, corrections and aiming points, aiming fire weapons at a target, firing (launching), and aiming restoration, allows operators to smoothly perform joint actions to control the movement and orientation of the platform and the targeted use of fire weapons.

The prototype uses one remote control, the functions and capabilities of which are not defined.

10. The function of the platform operator to carry the robotic platform with a set of batteries, a multi-channel repeater and a coil with a fiber optic communication channel and a payload operator of an onboard payload module with fire weapons in the stowed position provides the possibility of using the robotic complex in foot combat formations.

In the prototype, this function is not implemented.

These distinctive features allow you to expand the functionality of the robotic complex due to the following technical results:

- increasing the stability and efficiency of management;

- decrease in overall dimensions;

- increase survivability and ease of use;

- expansion of the composition of the tactical tasks.

Together, these technical results provide a general technical result, which consists in increasing the efficiency of the robotic complex, which characterizes the degree of fitness of the complex to perform fire support and combat support of foot units of the lower tactical level.

The inventive robotic complex is illustrated by the following graphic materials:

FIG. 1. The structural diagram of a portable robotic complex (tracked chassis of a platform with an electric drive is not shown), where:

1. Robotic platform.

2. On-board control and information transfer system:

2.1. Inertial-satellite navigation and orientation means:

2.1.1. Receiving antenna of signals of satellite navigation systems (SNA).

2.2. Executive devices.

2.3. Means of receiving / transmitting data:

2.3.1. Transceiver antenna.

3. On-board vision system.

4. On-board power supply system.

5. On-board module of the payload with the means of fire destruction of the target.

6. Portable multi-channel repeater:

6.1. Autonomous power supply.

6.2. Transceiver module:

6.2.1. Transceiver antenna.

7. The line of the radio channel of communication of the repeater with the means of receiving / transmitting data.

8. The line of the fiber-optic communication channel of the repeater with the means of receiving / transmitting data.

9. Instrumentation commander.

10. The computing module.

11. Power supply module.

12. The radio module:

12.1. Transceiver antenna.

13. Inertial-magnetic navigation module.

14. Satellite navigation module:

14.1. Receiving antenna of SNA signals.

15. The module of the multifunctional control panel.

16. The module of the operational control panel.

17. Rangefinder-goniometric reconnaissance device.

18. Personal computer.

19. Instrumentation platform operator.

20. Remote control traffic.

21. Instrumentation operator payload.

22. Remote control payload.

23. Line channel radio between the military.

24. The radio channel communication line of the radio module with the repeater.

FIG. 2. Modules of a portable control complex and communications between them (each soldier of calculation is equipped with modules), where:

10. Computing module:

10.1. Connector (in the diagram, Fig. 1, not shown).

11. Power supply module.

12. The radio module:

12.1. Transceiver antenna (under the radiolucent fairing).

12.2. Telephone-microphone headset with a tip (on the diagram, Fig. 1, not shown).

13. Inertial-magnetic navigation module.

14. Satellite navigation module:

14.1. The receiving antenna of the SNS signals (under the radiolucent fairing).

15. The module of the multifunctional control panel.

16. The module of the operational control panel:

16.1. Connector (in the diagram, Fig. 1, not shown).

Note - Connector 10.1 is designed to connect to module 10 of computer 18, remote controls 20 or 22, respectively, of the commander, platform operator, and payload operator. Connector 16.1 - for connecting the intelligence device of the 17 commander. A direct connection of the device 17 to the module 10 through the module 16 is realized.

FIG. 3. Robotic complex in the stowed position, where:

1. Robotic platform with a set of batteries for the on-board power supply system 4.

2. On-board control and information transfer system.

3. On-board vision system.

5. Airborne payload module with a fire weapon (an example of a portable infantry flamethrower 2xRPO-A "Bumblebee").

6. Portable multi-channel repeater:

6.2.2. Coil with a fiber optic fiber optic communication channel (in the diagram, Fig. 1, not shown).

12. Radio communication module (other modules of the wearable control complex are not shown).

17. Rangefinder-goniometric reconnaissance device.

18. Personal computer.

20. Remote control traffic.

22. Remote control payload.

25. A set of spare batteries.

26. Means of interfacing with a reconnaissance device.

Note - Components 25, 26 in the diagram, FIG. 1 are not shown.

FIG. 4. The robotic platform in the assembled position (a) - side view, b) - view in axonometric projection), where:

2.1. Inertial-satellite navigation and orientation tools (not shown in Fig. 4b)):

2.1.1. The receiving antenna of the SNS signals (under the radiolucent fairing).

2.2. Actuators (not shown in FIG. 4a)).

2.3. Means of receiving / transmitting data:

2.3.1. Transceiver antenna.

2.3.2. Coil with a fiber optic fiber optic communication channel (in the diagram, Fig. 1, not shown).

3. On-board vision system in the form of an optical-electronic front view system.

4. On-board power system in the form of a set of batteries.

8. The line of the fiber-optic communication channel of the repeater with the means of receiving / transmitting data.

27. The main lead track.

28. Additional front track (flipper).

Note - Coil 6.2.2 (see Fig. 3) is a part of repeater 6, coil 2.3.2 is a part of means 2.3. An embodiment of means 2.3 without a coil 2.3.2 is possible. In this case, the free end of the optical fiber is connected directly to the input circuits of the optical transceiver path means 2.3. The on-board payload module 5 in FIG. 4 is not shown.

FIG. 5. The application scheme of a portable robotic complex.

Note - Scheme, FIG. 5, is conditional. In practice, the length of communication line 8 is from 500 to 1000 m, communication lines 7, 23, 24 - not less than 1, 5 km. The overall dimensions of the platform with a carrying capacity of 30 kg or more, its airborne equipment, fire weapons and a repeater comply with the requirement for military personnel to carry them. The calculation personnel are secretly deployed on the ground using natural and artificial shelters. Their primary position is reclining.

Consider the functions and the possibility of implementing the components of the claimed complex. We will begin our consideration with modules 10-16, which are widely represented in the structure of a portable robotic complex (see Fig. 1, 2).

The practical implementation of the modules is not difficult, since they are typical devices with functions corresponding to the names and well-known construction methods.

Computing module 10 performs the function of collecting, storing, processing and disseminating information from other modules of the wearable control complex, as well as exchanging information with the intelligence device 17, a personal computer 18 or one of the remote controls 20, 22. Also, the module 10 converts the primary power of the power supply module 11 to the secondary supply voltages of other modules and components 17, 18, 20, 22 (in the absence of the latest autonomous power sources). An example of implementation of module 10 is SmartFusion2 SoC (system-on-chip) with a non-volatile FPGA based on Flash technology and a processor subsystem based on the ARM Cortex M3 process.

The radio communication module 12, together with the same modules of other military personnel, means of receiving / transmitting data of platform 2.3, and relay 6 form a single permanent high-speed dynamic network (MANET network), for example, based on the well-known standard 802.11 / b / g / n using widely available adapters. The function of the established radio network is to ensure the exchange of voice messages (headsets 12.2 are involved) and data between military personnel and control and telemetry information between remote controls (if necessary, a personal computer) and the platform’s information management and transmission system. The contents of the control information (direct channel "control panel-platform") are commands that control the movement of the platform, its orientation, targeted use of fire weapons, etc., telemetric information (reverse channel "platform-control panel") - command acknowledgment signals, parameters the state of on-board systems, the location of the platform, video data from the vision system, etc.

The combined use of modules 13, 14 that implement the well-known methods of inertial magnetic and satellite navigation (for example, a method for determining the location of a ground moving object [5]) provides a highly accurate function for determining the plan coordinates X, Y, latitude B, longitude L and height H (coordinates Z ) military personnel on the battlefield in the coordinate system SK-42 or some other reference system (for example, PZ-90.11 or WGS-84). Module 13, which is a strapdown inertial navigation system (SINS), is implemented in the form of a MEMS-technology-based inertial measuring unit (IMU), such as the STIM300 combined sensors from Sensonor or MPU9255 from InvenSens. An example of the execution of module 14 is the small-sized navigation receiver MNP-M7 of Izhevsk Radio Plant JSC.

Modules of multifunctional 15 and operational 16 control panels, made in the form of separate compact packed devices, implement the function of inputting information and controlling modules built into the military equipment, as well as connected external devices. Module 16 is used at the stage of hostilities and is designed to turn equipment on / off, send a signal about an injury, switch a tanget, start transmitting digital data and select the type of external device (reconnaissance device, computer, remote control). Module 15 is involved in the preparatory phase to set modes and display the results of the modules and external devices. Operating modes determine the choice of the used SNA (GLONASS, GPS, etc.), options for the routes of movement of the platform and military personnel, parameters and operating modes of connected external devices, indication of the discharge of the power supply module, etc.

A key component of the inventive robotic complex is a robotic remotely controlled platform 1 (see Fig. 4). The main function of the platform is to ensure delivery to the firing position and the targeted use of fire weapons target.

Various options for the practical implementation of the platform are possible. So, the platform can be executed according to the technology developed by iRobot Corporation [6]. A similar embodiment of the platform is provided in FIG. 3-5. Of the domestic developments, the closest in terms of characteristics to the required parameters platform of the claimed complex is the universal platform of the small-sized robotic complex "Captain" Central Research Institute of RTK. In all cases, the robotic platform should be run in dimensions suitable for carrying on foot by military personnel.

The inertial-satellite navigation and orientation tools 2.1 in terms of their function and methods are similar to modules 13, 14 deployed on military personnel. The difference consists in a more complete use of the pitch and roll angles determined by the SINS for orienting it toward the target and aiming the means of fire destruction, whereas when navigating a serviceman these angles play an auxiliary role. Therefore, the implementation of tools 2.1 is similar to the execution of modules 13, 14. This ensures the unification of the components of the robotic complex.

Actuators 2.2 are built according to the scheme, the main mechanical components of which are the bearing housing with motor and battery (for installing the on-board power supply system 4) compartments, the undercarriage with a caterpillar mover, right and left electric drives, and torque transmission gearboxes. An example of implementation is the actuating device of displacement of JSC "Plant named after V. A. Degtyarev" [7].

Means of receiving / transmitting data 2.3, performing the same function as the radio communication module 12 in terms of the exchange of control and telemetry information (line of the radio communication channel 7), are based on the components of the previous standard 802.11 / b / g / n. Repeater 6 (transceiver module 6.2), which is part of the radio channel of line 24, is implemented similarly. However, in contrast to the omnidirectional flat transceiver antenna 12.1 of module 12, pin transceiver antennas 2.3.1, 6.2.1 are used here. These antennas, having a large gain in the horizontal plane (the plane of the battlefield), provide a greater range of the lines of the radio communication channels 7, 24. This solution also helps to unify the components of the robotic complex.

The tactics of using a robotic platform on the battlefield (see Fig. 5) provides for its forward-backward movement without intensive maneuvering at the heading in a limited range of acceptable pitch and roll angles. As a result, the required amount of video data transmitted as part of telemetric information is limited by the stabilized video image of objects in front of the platform. This is enough to overcome simple climbs and descents, bypass dangerous objects and obstacles. In such conditions, the on-board vision system 3 can be made in the form of an optoelectronic front view system. An example of execution is a panoramic video camera kit (for example, ZENMUSE X3) adapted for installation on a mechanical platform with DJI's Osmo electronic stabilizer.

The list of electric power sources in the robotic complex includes an on-board power supply system 4, a power supply module 11 (in the amount of three copies), an autonomous power supply 6.1, as well as autonomous (more preferred option) power supplies for the computer 18 and consoles 20, 22 (not shown in the diagram , Fig. 1). The unification requirement provides for the execution of these sources on a common elemental base. The analysis shows that their implementation is advisable on the basis of the Saft MPxtd line of lithium-ion batteries. The MP174565xtd battery is optimal among them in terms of performance (energy intensity), operating temperature range, and overall dimensions.

Sources include varying amounts of batteries. According to preliminary estimates, the power supply module 11 should consist of two parallel-connected parallel pairs of batteries. The power supply units of computer 18 and remotes 20, 22 are constructed in the same way. For a less energy-intensive source 6.1, two successive batteries are sufficient. The on-board power supply system 4 may include several dozens of such batteries, depending on the power consumption of the chassis with a propulsion, electric drives, gearboxes and other on-board systems of the platform. Small mass dimensions of the batteries make it possible to produce a compact sample of the power supply system 4.

The on-board payload module 5 includes a universal device for installing and securing a weapon, a remotely controlled aiming and triggering mechanism, and a removable target fire weapon itself. In addition to the previously mentioned reactive infantry flamethrower, the replaceable composition of weapons may include other types of small arms and melee weapons (including rocket-propelled grenade launchers and flamethrowers, portable ATGMs, self-loading sniper rifles, etc.), as well as engineering ammunition with remote undermining. For reconnaissance of targets and coordinate support for artillery fire and aircraft guidance, the platform can be equipped with a laser target designator-range finder, as well as a three-band directional interference transmitter to suppress enemy radio channels. Installation of other special technical means is possible. The specific type of installed means is selected based on the combat mission to be solved.

The line of the fiber-optic communication channel 8 is constructed according to a typical scheme, including an optical cable with the number of fibers necessary for duplex communication of the relay 6 with the means of data transmission / reception 2.3, optical cross-cables for connecting the cable to the terminal devices (input circuits of the optical transceiver paths module 6.2 and tools 2.3), multiplexers and demultiplexers for spectral separation of channels, regenerators for reconstructing pulses at the receiving ends of the line, lasers as transmitters and photo receivers, modulators and amplifiers. The named elements are widely represented in the market of services for the design and installation of fiber-optic communication lines. The peculiarity is the additional use of reels 6.2.2, 2.3.2, according to the principle of action similar to the inertia-free fishing reel with a friction brake. This is necessary for safe etching of the optical fiber as the platform moves.

Rangefinder-goniometric reconnaissance device 17 is designed to measure the spherical coordinates of the target (range, directional angle, elevation angle), followed by conversion into rectangular or geographical coordinates. In its quality, a reconnaissance device PDU-4 manufactured by TsNIITOCHIASH JSC can be used. Another embodiment is an electronic goniometer unit from the wearable set of equipment for geodetic reference and target designation [8], combined with a laser rangefinder (for example, the laser rangefinder module IWT LRF905 / 1550). Perhaps the use of other wearable optoelectronic intelligence.

When implementing a personal computer 18 and remote controls 20, 22, their interchangeability is required, which requires the identity of hardware and software performance. This is due to changes in the conditions for the use of the robotic complex that arise during hostilities (loss of a part of personnel and hardware, emergency introduction to a new target, urgent relocation, etc.), which leads to the redistribution of tasks and roles between military personnel.

The hardware component of the computer and remotes in question can be implemented similarly to computing module 10. The software component can be built on the basis of the Linux 5.x operating system and includes software modules that provide the following functions:

- control the actions of calculating, selecting and measuring the coordinates of the target, selecting the firing position and route of extension of the platform, targeting the calculation and monitoring the results of hitting the target;

- bringing the platform to the firing position and orienting the platform to the target, restoring orientation after a shot (launch) and returning to the starting position;

- determination of installations, corrections and aiming points, pointing fire weapons at the target, firing (launching), and restoring aiming.

Modules are initialized depending on current tasks and the role of military personnel in the calculation.

The work of a portable robotic complex is reflected in detail in the distinguishing features of the claimed invention, figures (Fig. 1-5) and notes thereto, as well as in the analysis of the functions and the possibility of implementing the components of the complex. In addition, we note that the considered capabilities and actions of the complex are achievable due to the continuous monitoring of the location of its components on the battlefield, provided by the used inertial-satellite navigation tools and a constantly operating high-speed MANET network.

Thus, the claimed portable robotic system of fire support and combat support can be implemented and can improve stability and efficiency of management, survivability and ease of use, reduce weight and size characteristics and expand the composition of the tactical tasks.

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1. Patent RU 2678553.

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4. Patent RU 2686983.

5. Patent RU 2697859.

6. Patent US 7556108 B2.

7. Patent RU 2643059.

8. Patent RU 2661676.

Claims (10)

A method for providing the possibility of using and carrying out a fire support and combat support robotic system containing a robotic remote-controlled platform based on an electric tracked chassis equipped with an on-board control and information transmission system as part of actuators, inertial-satellite navigation and orientation means, and transmission / reception facilities data, airborne vision system, airborne power supply system, airborne payload module with means of fire destruction of the target, characterized in that perform a robotic platform with a set of batteries for the on-board power supply system, the on-board control and information transmission system, the on-board vision system with the possibility of separate carrying by two military personnel and subsequent assembly at the starting position, provide the robotic complex with a portable multi-channel repeater, configured to provide reception / transmission of control and telemetry information via radio and fiber-optic communication channels with airborne data reception / transmission means, equip the calculation of military personnel consisting of the commander, platform operator and payload operator with a portable control complex containing modules integrated into the military equipment: computing module, power supply module, radio communication module, inertial magnetic and satellite navigation modules, as well as separate modules of multifunctional and operational control panels , perform a radio communication module with the ability to provide voice communications and data exchange between the military personnel of the calculation and reception / transmission of control and telemetry information on a radio channel with a multi-channel repeater, the modules of the multifunctional and operational control panels are configured to provide control of the military personnel with integrated modules, provide the commander with a rangefinder-goniometric reconnaissance device, a personal computer configured to provide control over the operations of calculating, selecting and measuring the coordinates of the target, choosing the firing position and route of extension of the platform, targeting the calculation and monitoring the results of hitting the target, as well as when carrying a set of spare batteries, airborne control system and information transfer, airborne vision system and means of interfacing with the reconnaissance device in the stowed position, provide the platform operator with a motion remote control capable of bringing the platform to the firing position and orienting the platform to the target, restoring orientation after firing or launching a rocket and returning the platform to its original position, as well as when carrying the platform with a set of batteries, a multi-channel repeater and the coil with the optical fiber of the fiber optic communication channel in the stowed position, provide the payload operator with a payload remote control that is capable of providing settings, corrections and aiming points, aiming the fire weapon at the target, firing or launching the missile, restoring aiming, as well as when carrying the payload onboard module with the fire weapon in stowed position.

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