RU2717047C1 - Complex of distributed control of intelligent robots for control of small-size drones - Google Patents

Abstract

FIELD: control devices; robotics.

SUBSTANCE: complex of distributed control of intelligent robots for control of small-size drones (UAV) comprises a UAV-hunter, a unit for searching for a UAV intruder, means of capturing or eliminating a UAV intruder, set of mobile ground robots of high cross-country capacity, thermal imager, intelligent recognition device, 3D color video camera, directional microphone with built-in video camera and tunable laser, night vision camera, horizon positioning unit, inclination positioning unit, intelligent navigation unit, electronic warfare control unit, control signals suppression unit, navigation signal suppression unit, telemetering signal suppression unit, video signal suppressing unit, unit for emergency elimination of UAV intruder, wind direction and speed meter, universal control panel, computerized central control panel, memory unit and territorial monitoring unit.

EFFECT: higher efficiency of fighting UAV intruders.

9 cl, 10 dwg

Description

The invention relates to methods and devices for detecting and neutralizing small-sized unmanned aerial vehicles (MBPLA).

Various active and passive methods and devices for detecting and neutralizing MBPLA that have fallen into a protected area are known and widely used [1, 2].

The disadvantages of the known devices are limited functionality, lack of mobility, the impossibility of neutralizing (eliminating) and transporting unmanned aerial vehicles (UAV-intruders) that fall into the protected area.

As a prototype, we consider the invention “A control system for complex methods of combating small-sized unmanned aerial vehicles” that contains two destruction systems, a warhead control system, a guiding package, a missile, a detection and aiming system, a navigation and topographic reference system, a stealth system, and a formation processing system teams with elements of artificial intelligence, UAVs with elements of the fight against UAV-intruder, electronic capture system and power supply [3].

The disadvantages of the system are the low accuracy of determining the coordinates of the location of the object (ground vehicle, the UAV-intruder), the absence of both automatic and automated operating modes, low speed, low efficiency of suppressing the UAV-intruder, low maneuverability (deployability) of the security complex and low functional capabilities of the system control of the protected area from all types of UAV-intruders, clearance, capture and transportation to a special zone PLA-offenders, poor adaptation to the changing wind conditions.

The task is to create an intelligent complex of distributed control to combat small UAVs with improved functionality by increasing the speed, maneuverability, efficiency of UAV-hunters and ground vehicles, the accuracy of recognition and determination of the coordinates of UAV-intruders, the implementation of automatic and automated operating modes, ensuring convenience service.

The task is achieved in that, like the known device, the claimed distributed control complex comprises a UAV-hunter 17, a search unit for a UAV-intruder 2, means for capturing or eliminating an UAV-intruder, a power supply.

New is that the complex is equipped with a set of mobile terrestrial cross-country robots (MNRVP) 1, capable of transporting several UAV hunters, a thermal imager 3, an intelligent recognizer (IR) 4, a 3D color video camera (3DCV) 5, a directional microphone with a built-in variable-zoom video camera and tunable laser (NMVIUPR) 6, night vision camera (KNV) 7, horizontal positioning unit (BPG) 8, tilt positioning unit (BPN) 9. intelligent navigation unit (INB) 10, control unit electronic warfare (BURB) 11, control signal suppressor (BPSU) 12, navigation signal suppressor (BPSN) 13, telemetry signal suppressor (BPST) 14, video signal suppressor (BPV) 15, emergency UAV elimination unit ( BEL) 16, wind direction and speed meter (INSV) 20, universal control panel (UPU) 21, computerized central control panel (KTSPU) 22, memory unit (PSU) 24 and territory monitoring unit (BMT) 26.

Wherein:

(a) UAV-hunter 17 is equipped with a territory monitoring unit (BMT) 26 with a controller, wind direction and speed meter (INSV) 20 and a mechatronic gripper for the intruder UAV (MSZ) 19 in the form of a cylinder with a hoop;

(b) each mobile ground-based robot 1 is equipped with a universal power supply 25 and is connected by separate bi-directional communication lines with the processor of the UAV-hunter 17, with the search unit of the UAV-intruder 2, with the intelligent navigation unit (INB) 10, with the electronic warfare control unit (BURB ) 11, with a universal control panel (UPU) 21 and with a computerized central control panel (KTSPU) 22;

(c) the intruder UAV search unit 2 is connected by separate bi-directional communication lines with a thermal imager 3, with an intelligent resolver (IR) 4, which, in turn, is connected to a territory monitoring unit (BMT) 26, with a 3D color video camera (3DCV) 5, with a directional microphone (NMVIUPR) 6, with a night vision camera (KNV) 7, with a horizontal positioning unit (BPG) 8, with a tilt positioning unit (BPN) 9 and has the ability to exchange information with a space satellite 23;

(d) the electronic warfare control unit (BURB) 11 is connected by separate bi-directional communication lines to the control signal suppression unit (BPSU) 12, to the navigation signal suppression unit (BPSN) 13, to the telemetry signal suppression unit (BPSU) 14, to the video signal suppression unit (BPV) 15 and with the emergency liquidation unit of the intruder UAV (BEL) 16.

In special cases of execution, the aforementioned UAV hunter can be made in the form of a drone, which contains a central control unit, a block of visual sensors and distance sensors, a navigation module, a radio transmitter, an inertial navigation system, engine drivers, and engines with propellers.

In addition, the above-mentioned set of mobile terrestrial cross-country robots includes from 5 to 10 mobile robots, each of which contains a body, frame, left and right tracked chassis, left and right engines with gearboxes, an engine control unit, front and rear lights, a digital unit receiving and transmitting telemetric information, the upper part of the hull containing platform zones for placing UAV-hunters or transporting neutralized UAV-intruders.

In particular cases of execution of the distributed control complex, the said intelligent recognizer 4 can be made in the form of a dynamically structurally tunable neural network and interface.

In addition, the aforementioned universal power supply 25 can be made up of a recharge unit, a battery, a solar unit, and a mini-wind power unit.

In addition, said territory monitoring unit 26 may include an analyzer of chemical and radiation substances, an explosive finder, an electronic territory marking unit, territory marking indicators, a territory marking indicator installation unit, a control processor and an interface.

In addition, the above-mentioned intelligent navigation unit 10 can be made in the form of an interface unit, a signal converter, an intelligent control controller, a unit of navigation sensors and random access memory.

In addition, the complex can be equipped with search and tracking means for an intruder UAV in visible, infrared, sound, laser mode, which are controlled by a horizontal positioning unit 8 and a tilt positioning unit 9.

In addition, the neutralization of UAV-violators is carried out by suppressing control signals in the radio frequency range, navigation signals, telemetry and video signals by blocks 12, 13, 14. 15 or by powerful laser radiation NMVIUPR 6.

In addition, the aforementioned mechatronic grid for capturing the MSZ 19 can be equipped with a parachute for launching a neutralized intruder UAV onto the ground.

The proposed complex is illustrated by drawings in FIG. 1-10.

In FIG. 1 shows a structural diagram of the proposed complex.

In FIG. 2 shows a diagram of a UAV hunter.

In FIG. 3 is a structural diagram of a computerized central control panel.

In FIG. 4 shows the layout of the UAV kit.

In FIG. 5 is a structural diagram of a territory monitoring unit.

In FIG. 6 is a structural diagram of an intelligent navigation unit.

In FIG. 7 is a structural diagram of a mobile terrestrial cross-country robot.

In FIG. 8 is a block diagram of an intelligent recognizer.

In FIG. 9 is a flowchart of the proposed complex.

In FIG. 10 shows the appearance of a mobile terrestrial cross-country robot with a computerized central control panel.

The structural diagram of the complex (Fig. 1) includes the following devices and blocks:

1 - mobile terrestrial robot high cross-country (MNRVP);

2 - block search UAV intruder;

3 - thermal imager;

4 - intelligent recognizer (IR);

5 - 3D color video camera (3DCV);

6 - directional microphone with a built-in video camera variable zoom and tunable laser (NMVIUPR);

7 - night vision camera (KNV);

8 - horizontal positioning unit (BPG);

9 - block positioning on a slope (BPN);

10 - intelligent navigation unit (INB);

11 - electronic warfare control unit (BURB);

12 - block suppression of control signals (BPSU);

13 - block suppression of navigation signals (BPSN);

14 - block suppression telemetry signals (BPST);

15 - block signal suppression (BPV);

16 - block emergency response UAV-intruder (BEL);

17 - UAV-hunter;

18 - UAV-intruder;

19 - mechatronic capture grid of an intruder UAV (MRZ) with a hoop;

20 - wind direction and speed meter (INSV);

21 - universal control panel (UPU);

22 - computerized central control panel (KTSPU);

23 - space satellite (CS);

24 - memory block (PSU);

25 - universal power supply (UBP);

26 - territory monitoring unit (BMT).

The complex works as follows.

The intruder UAV search unit is connected by separate bi-directional communication lines with a thermal imager, an intelligent recognizer, a 3D color video camera, a directional microphone with a built-in variable-zoom video camera, a night vision camera, a horizontal positioning unit, a tilt positioning unit and a space satellite and detects the intruder. The electronic warfare control unit is separately connected to the control signal suppression unit, the navigation signal suppression unit, the telemetry signal suppression unit, the video signal suppression unit and the emergency UAV emergency liquidation unit, due to which it can disrupt the intruder’s trajectory and, when approaching it, send a signal to mechatronic nets block for the purpose of capturing an intruder UAV.

The complex operates in four modes:

Mode 1 - preparation for work (the formation of reference information and a reference image of EI, performing test operations);

Mode 2 - duty, and in the case of an unlawful UAV-offender, the formation of a work program;

Mode 3 - neutralization (destruction or capture) of UAV-violators;

Mode 4 - transportation of the UAV-intruder to the specified zone.

In the first mode of operation of the proposed complex, up to 10 sets of devices are deployed along the perimeter of the protected zone (up to 10 MNRVP robots carrying 5 UAV-hunters; in total up to 50 UAV-hunter). Then, in test mode, the operation of the devices and units of the complex is checked. From the space satellite 23, 3D color video camera 5, wind direction and speed meter (INSV) 20 and the intelligent navigation unit (INB) 10, reference information (spatial state of the protected area), reference image (EI) is received and recorded in the memory unit (PSU) 24 ) terrain, the current coordinates of the devices (MNRVP) 1, weather conditions (time of day, wind speed and direction, air temperature).

In the second mode, there are MNRVP 1, KS 23, INB 10, a thermal imager 3, IR 4, 3DTSV 5, a search unit (BP) for the intruder UAV 2, NMVVIUOL 6, KNV 7, BPG 8, BPN 9, BP 24, INSV 20, УПУ 21 and КЦПУ 22. A directional microphone equipped with a built-in video camera of variable magnification and a tunable laser (NMVVIUOL) 6 has an amplifier and a microcontroller for extracting harmonic signals in a given frequency range, which makes it possible to detect a UAV intruder at any time of the day at a distance of up to 500 meters. At the same time as NMVVIUOL 6, a space satellite 23 is operating, which receives (reads) information about the protected area. Thermal information about UAV-intruders receives thermal imager 3, which captures the point element of UAV-intruders with high temperature (regulators and engines of UAV-intruder are heated during operation). In addition, the night vision camera (KNV) 7 has an automatic tracking system and conducts visual monitoring of the UAV intruder at night. Volumetric and color information is perceived by 3DIV 5. In addition, the tunable laser illuminates silent but volumetric UAVs (gliders, balloons). If an intruder UAV is detected by the above-mentioned devices (thermal imager 3, KS 23, IR 4, 3DIV 5, NMVVIUPL 6, KNV 7), the claimed distributed control system switches to the third operating mode (while BPG 8 monitors the horizontal position of the intruder UAV, and the BPN 9 tracks its position in the vertical plane), i.e. there is a positioning of the platform with devices 3, 5, 6, 7 in the horizontal plane at an angle of +/- 90 degrees with a horizontal angle of up to 45 degrees. Thus, in this mode, by means of an integrated tracking system, it is possible to detect any UAV (multicopter, helicopter, glider, ball).

In the third mode (neutralization of the intruder UAV), when receiving information from any sensor, the positioning speed of the search unit switches to low speed, horizontal positioning (BPG 8) is turned on, the maximum amplitude of the output signal (BPG 8) is determined, and the direction and height of the UAV flight is determined intruder (time spent on these operations - no more than 2 seconds). Data is transmitted via a digital communication channel to a computerized central control panel 22 to make a decision on the neutralization of the intruder UAV. All received data is recorded in the memory unit 12 and on the electronic disk of KTSPU 22 for the subsequent analysis of the correct execution of commands by other blocks of the complex and the correct actions of the operator.

The last stage of the third mode of operation of the complex: BURB 11, BPSU 12, BPSN 13, BPST 14, BPV 15 and BEL 16 are turned on. BURB 11 controls the neutralization of the intruder UAV by electronic methods. BPSU 12 suppresses the control signals of the intruder UAV during manual control or when transmitting telemetry signals. BPSN 13 distorts the readings of all navigation systems and makes it impossible for an intruder UAV to fly according to a given program. BPV 15 suppresses video signals from all onboard video cameras (thermal imager, night vision camera, 3D color video camera, etc.) of the intruder UAV. Signal suppression and information distortion occurs during operation of BURB 11, it controls BPSU 12, BPSN 13, BPST 14 and BPV 15 to suppress all possible signals of an intruder UAV generating up to 12 radio frequencies, for example, the frequency of 2.3-2.5 GHz ( with manual control of the intruder UAV), the frequency is 433 MHz (when using the telemetry modem), the frequency is 1.6-1.8 GHz (control from the space satellite), the frequency is 5, 8 GHz (operation of the video cameras of the intruder UAV). As a result, UAV-intruders either “hang” at high altitude (multicopter), or fall to the earth's surface (multicopter, drones with wings).

In the fourth mode of operation of the proposed complex, the UAV-intruders are captured and transported to a predetermined location on MNRVP 1 (or another specified location). If the robot detects an intruder UAV, the coordinates of the intruders are entered into the processor of the UAV-hunters 17, they start from the MPRVP 1 and fly towards the intruder UAV. Starting UAV-hunters 17 are divided into two groups: the first group moves to UAV-intruders, which are in space, and the second group of UAV-hunters moves to UAV-intruders, which fell to the earth's surface. After electronic capture and identification by the UAV-hunter 17 of the UAV-intruder, the on-board computer complex of the UAV-hunter transmits a signal about this to MNRVP 1 and KCPU 22, which include (if necessary) repeated operations of blocking (suppressing) the control signals of UAVs-intruders.

Then, the UAV-hunters 17 and the UAV-intruders come closer according to the onboard telemetry signals of the UAV-hunters 17, without using external control and navigation. When approaching UAV-intruders, UAV-hunters 17 mechatronic capture grids (MSZ) 19, which envelop the UAV-violators [1-3]. After hijacking UAV-intruders, KTSPU 22 (or the MNRVP 1 robot itself) turns off the electronic warfare equipment (blocks 11-16), and UAV-hunter 17 continues a controlled flight to the base with the hijacked UAV-intruder.

A universal power supply unit (UBP) 25, which supplies power to the proposed complex (except for UAV-hunters 17, which have autonomous power supply), consists of a battery, a recharge unit based on a solar battery, and a wind power unit.

On the UAV hunter 17, the MSZ 19 block is expediently fixed along the perimeter of the circle forming the landing platform of the chassis. The net itself has the shape of a cylinder with a narrowing at the end and with a fixed load. Due to the symmetry, this grid is the most stable in flight. At the initial stage of the flight, the net with the hoop is placed in a special container on the chassis, the net is ejected when approaching the intruder at the command of the operator or flight controller. If the weight of the intruder exceeds the carrying capacity of the drone, the chassis has an uncoupling mechanism that disconnects the gripping means, and the intruder, together with the net and the hoop, falls to the ground. The net can be in the form of a large wire mesh such as a fishing net, or in the form of a metal net, and can be equipped with a parachute. The MSZ block may contain several grids 19.

In FIG. 2 shows a structural diagram of a UAV-hunter 17, which consists of:

27 - a central control unit with a controller;

28 - power module;

29 - propeller (with electric motor);

30 is a block of visual sensors and distance sensors (BVDR);

31 - navigation module (with altimeter, GPS / GLONASS coordinates determinant);

32 - radio transmitter;

33 - inertial navigation system (ISN).

Information on the UAV-hunter 17 comes MNRVP 1 through the radio transmitter 32, providing encryption, as well as the reception and transmission of information. The UAV-hunter 17 is controlled by a central control unit (CBU) 27, comprising a control controller, a memory unit, a telemetry unit, and an interface. ISN 33 (gyroscope) provides stabilization of the UAV-hunter 17 in space, and the navigation module performs the location of the UAV-hunter 17 in space. The navigation module 31 consists of both an autopilot and a GPS / GLONASS position finder. The environment around the UAV-hunter 17 is perceived (read) by a block of visual sensors and distance sensors (BVDR) 30, including a 3D color video camera, night vision mini-camera, thermal imager and laser distance sensor. The CPU 27 through the engine driver controls the speed of rotation of the propellers 29. This ensures the speed and lift of the UAV-hunter 17. In this case, all drives (engines) with propellers 29 can change their position relative to the vertical axis. This ensures high maneuverability of the UAV-hunter, for example, in the case of windy weather. Thus, the CBU 27 provides the following autonomous operations of the UAV-hunter 17: electric motor control, stabilization and coordination in space, navigation, power and flight control, decision making, collision protection, as well as manual operation. Moreover, the economical power module 28 is equipped with a rechargeable battery. In the process, the UAV-hunter 17 performs the following operations:

1) the selection and recognition of the target from the UAV-intruder through the visual channel;

2) tracking the target through the visual channel;

3) suppression of control signals from an intruder UAV in the radio frequency range (if necessary);

4) predictive modeling of the trajectory of the UAV-intruder;

5) laying own optimal route of movement to the point of interception of the UAV-intruder;

6) destruction or physical seizure of an intruder UAV;

7) moving the captured intruder UAV to the anchor point (to the base);

8) interaction with a computerized central control panel 22.

The target detection and recognition functions through the visual channel are carried out by the UAV onboard systems when the “intruder” enters the visibility range of the UAV-hunter 17. This function is provided using developed special image processing algorithms and small-sized computers with parallel architecture. After establishing visual control, the “intruder” is electronically recorded and accompanied by tracking coordinates.

In FIG. 3 presents a structural diagram of a computerized central control panel, which consists of the following devices:

34 - computerized workplace of the pilot (CRMP);

35 - computerized workplace of an engineer (CRMI);

36 - encryption block;

37 - transceiver;

38 - antenna unit with autotrack (ABA);

39 - digital telemetry unit (CBT);

40 - universal stationary power supply unit (USBP).

The complex is controlled by the operator with the help of a computerized workplace of the pilot (CRMP) 34, the display of which displays all the navigation information from all MNRVP 1 and UAV-hunters 17 and the entire spatial state of the territory (control zone). The technical condition of all MNRVP 1 and UAV-hunters 17, as well as the technical condition of UAV-intruders, is displayed on the computerized workstation of an engineer (KMI) 35, which can correct the operation of MNRVP 1 and UAV-hunters 17. The processed information is displayed on the displays of KMPP 34 and KRMI 35 using a digital telemetry unit (CBT) 39. For reliable communication, an antenna unit is used, with an auto tracker (ABA) 39, which implements a narrowly directed electromagnetic beam. To exclude information interception, it is encrypted with an encryption unit 36 and transmitted by the transceiver 37 to MNRVP 1 and universal control panel (UPU) 21.

In FIG. Figure 4 shows the layout of a set of UAV-hunters and UAV-intruders on a single mobile terrestrial cross-country robot (MNRVP).

Here in FIG. 4A shows the location scheme of UAV-hunters 17 on the surface 42 of MNRVP 1. Zone “SF” is the start-finish zone, and the “WAREHOUSE” zone (storage zone), where they are transported after the neutralization of UAV-intruders. Thus, UAV-hunters 17 start from the “S-F” zone and transport violators to the “WAREHOUSE” zone of MNRVP 1.

The number of UAV hunters in the claimed complex of distributed control of intelligent robots may be different. In FIG. 4A, B shows the possible number of UAVs-hunters on each MNRVP 1 in the amount of five UAVs.

In FIG. 5 is a structural diagram of a territory monitoring unit (BMT), which may consist of the following elements:

43 is an interface displaying information of the recognizer 4;

44 - control processor (PU);

45 - analyzer of chemical and radiation substances (AHRV);

46 - explosive finder (TRS);

47 - block electronic territory marking (BERT);

48 - block installation indicators for marking the territory (BUIRT).

The monitoring unit area BMT 26 operates as follows. From the intelligent recognizer 4, information is received on the interface 43 about the state of the territory, the location of the specific (i-th) MNRVP 1 and a command signal to start the operation of the BMT 26. After that, the control processor (PU) 44 turns on the AHRV 45 and IVV 46, which analysis of the environment and territory about chemical or radiation contamination, and also provide for the search for explosives. AHRV 45 and IVV 46 are disclosed in [11-14]. Information about the state of the territory is displayed on the BERT 47 screen, and hazardous locations are marked by BUIRT 48 [15].

In FIG. 6 is a structural diagram of an intelligent navigation unit (INB) 10 (see Fig. 1), which consists of the following devices:

49 - interface block;

50 - signal converter (PS);

51 - intelligent control controller;

52 - random access memory (RAM);

53 - block navigation sensors (BND).

Intelligent navigation unit (INB) 10 operates as follows. The interface unit (BI) 49 interacts with the robot 1, the space satellite (CS) 23 and the memory unit (PSU) 24; The information about the current coordinates from the navigation sensor block (BND) 53, which includes GPS / GLONASS, the inertial navigation system ANN, the search unit for the intruder UAV 2, the electronic warfare control unit 11, as well as information from satellite 23 on the state of the territory (location of objects in the territory where the set of robots of MNRVP 1 is located, as well as information on the location and condition of specific i-th MNRVP). After that, the signal converter 50 converts (scales, encodes) the signals and transmits them to the BND 53 and to the RAM 52, the information from which is processed and used by the intelligent control controller 51, which forms the working strategy and the program of functioning of MNRVP 1.

In FIG. 7 is a structural diagram of an intelligent mobile terrestrial cross-country robot MNRVP 1, which consists of the following elements:

54 - case;

55 - supporting frame with power supply;

56 - left tracked chassis (LGSH);

57 - right tracked chassis (PGSH);

58 - left engine with gearbox (LDR);

59 - the right engine with gear (PDR);

60 - engine control unit (ECU);

61 - compartment for mounting interchangeable modules with quick-release latch (OMSMBF);

62 - headlights;

63 - taillights;

64 - a digital unit for receiving and transmitting telemetric information (CCCTI).

Intelligent mobile terrestrial robot high cross-country MNRVP designed and operates as follows.

LGS 56 and PGS 57 are fixed on the frame 55. MNRVP moves with the help of LDR 58 and PDR 59, controlled by the ECU 60 and powered by the unit 25. Turns of the MNRVP are also carried out using the ECU 60 (for example, if the PDR 59 is turned on, then turn left, and when you turn on the LDR 58, turn right). The following device units are located in the compartment ОМСМБФ 61: 2-16, 20, 26. The headlights 62 and rear lights 63 are mounted on the housing 54, which are attached to the frame 55. The lights 62, 63 operate in the optical range (visible and infrared) [4 , 11, 12]. In the zones "Start" and "Warehouse" are UAV-hunters and UAV-intruders (Fig. 4). Communication with computerized workstations 34, 35 and other MNRVP 1 provides TsBPPTI 64, as well as devices included in the MSBFM 61 (Fig. 7).

In FIG. 8 is a block diagram of an intelligent recognizer.

65 - a hybrid computing platform;

66 - lidar;

67 - thermal imager;

68 - data collection and analysis system;

69 - stereo camera.

The intelligent recognizer is made in the form of a dynamically structurally tunable neural network and interface. Here, a hybrid computing platform 65 and data acquisition and analysis system 68 collect visual information from sensors (lidar 66, thermal imager 67, stereo camera 69) and process it with the aim of recognizing images and understanding the environment, and also exchange information with the external environment. The data collection and analysis system 68 performs specialized image processing and analysis algorithms using both a central processor and a programmable logic integrated circuit.

In FIG. 9 is an operator diagram of the operation of the proposed complex. We list the meaning of the introduced operators.

1. Operator N means the start of the complex operation, devices and blocks as a whole are prepared for operation (reset, resetting the memory, etc.) and a command is generated for blocks 10 and 22 that determine the sequence of operations.

2. Operator D means placing a set of MNRVP 1 with UAV-hunters 17 for the duty of the protected area.

3. Operator B includes through KCPU 22 all the blocks of the proposed complex for the detection of UAV-violators.

4. The operator E enters into the memory unit 24 reference information about the location of the kit (including reference images - EI), as well as other reference information about the environment.

5. The Oq operator controls the detection of UAV-intruders and fixes the coordinates of UAV-intruders. Here it is necessary to fulfill the condition q: violators belong to the UAV class (speed and size of flying objects do not exceed the permissible parameters), then the operation is transferred to the next operator C, otherwise the signal is not transmitted to C.

6. Operator C provides electronic capture and tracking of UAV-intruders (coordinates, overall characteristics, direction of movement and speed of UAV-intruders are used).

7. Operator K classifies UAV-intruders by coordinates and speed of movement and determines the order of start of UAV-hunters 17. Here it is necessary to fulfill condition P: a single intruder (UAV-intruder) or several intruders (UAV-intruders). If the intruder is the only one, the starting UAV-hunter 17 (Operator K _1p ) is determined, if there are several violators, then the starting UAV-hunters (Operator K _2p ) are determined.

8. Operator U ₁ , U ₂ include operations of electronic elimination (elimination) of UAV-violators by means of the electronic warfare control unit (BURB) 11. At the same time, all electronic UAV-hunter systems 17 are simultaneously turned off for a specified time.

9. Operators З ₁ , З ₂ mean the start of UAV-hunters 17 and the capture of UAV-intruders (one or more).

10. Operators T ₁ , T ₂ mean transportation of UAV-intruders and storing them in the storage area on robots MNRVP 1.

11. Operator K means the completion of the proposed complex. The result is electronically recorded and the UAV-hunters are placed in the launch area of the MNRVP.

A pilot sample of the claimed complex with the appropriate software was created and successfully tested at the applicant's training ground. The proposed complex has significantly better technical characteristics compared to the closest analogue. These characteristics are as follows.

1. The accuracy of determining the coordinates of the location of the proposed devices (a set of transportable mobile ground-based robots and UAV-hunters in navigation mode) and the type and position of UAV-intruders due to the introduction of an intelligent recognizer, an intelligent integrated search system for UAV-intruder containing a thermal imager, 3D color camera, night vision camera, directional microphone with built-in variable zoom video camera and laser, horizontal positioning system, positioned system tilt, as well as GPS / GLONASS coordinate determinant, gyroscope, accelerometer, wind direction and speed meter, autopilot. High accuracy of positioning is achieved by higher accuracy of coordinates estimation of a mobile ground-based robot and a UAV-hunter, as well as by using additional information when comparing the current and reference images.

2. The suppression efficiency of an intruder UAV is enhanced due to the integrated electronic warfare system by introducing a navigation suppression system, a telemetry suppression system and an intruder UAV video suppression system.

3. Provides automatic and automated control modes of the proposed devices (mobile terrestrial cross-country robot and UAV-hunter). The automated mode is carried out by the operator using a universal control panel and a computerized workstation, and the automatic mode is performed according to the automatic program recorded in the memory of the control microcontrollers of the mobile ground robot and UAV, and when it is adapted (tuning the program and setting parameters) taking into account information from the intellectual recognizer, autopilot, as well as all the current information entering the control microcontrollers.

4. Expanding functionality, increasing efficiency, maneuverability and controllability (adaptability) of the proposed complex, which provides:

firstly, the ability to control the protected area from all types of small-sized UAV intruders through an effective integrated electronic warfare system;

secondly, the rapid deployment (up to 10 complexes carrying up to 50 UAV-hunters) within the protected area and the ability to control the elements of the complex located at a distance of up to 1,500 meters in an automated mode;

thirdly, the simultaneous suppression (neutralization) of a set of up to 50 pieces of UAV-violators, the physical capture of UAV-violators, the movement of UAV-violators in a given area on a transport (ground) robot;

fourthly, adaptability to changing wind conditions (wind speed and direction) due to the possibility of changing the direction and speed of rotation of the propellers of the UAV-hunter electric drives and the stable position of the mobile ground-based robot on a caterpillar track.

5. Improving the speed of performing specified operations through the implementation of parallel computing, analysis and processing of multidimensional information, performing automatic and automated modes of operation and using images of the protected area from satellites.

6. The increase in the duration of the autonomous mode of operation of the proposed complex through the use of a universal mobile power supply and a universal stationary power supply, which consist of batteries and rechargeable units based on solar panels and wind turbines.

7. Improving the convenience of servicing the proposed complex due to the additionally introduced computerized stationary workplace of the engineer, which provides control of the state of the environment, the state of the elements of the proposed complex and their management.

Sources:

1. The method of passive detection and determination of coordinates of small-sized unmanned aerial vehicles. RF patent No. 2574224 C1, IPC G01S 17/06 (2006/01).

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Claims (13)

1. A complex for distributed control of intelligent robots for combating small-sized unmanned aerial vehicles (UAVs), comprising a hunter UAV, an intruder UAV search unit, means for capturing or eliminating an intruder UAV, characterized in that the complex is equipped with a set of high-throughput mobile ground robots ( MNRVP) 1 capable of transporting several UAV-hunters 17, a thermal imager 3, an intelligent recognizer (IR) 4, a 3D color video camera (3DCV) 5, a directional microphone with an integrated video a measure and tunable laser (NMVIUPR) 6, night vision camera (KNV) 7, a horizontal positioning unit (BPG) 8, a tilt positioning unit (BPN) 9, an intelligent navigation unit (INB) 10, an electronic warfare control unit (BURB) 11, a control signal suppression unit (BPSU) 12, a navigation signal suppression unit (BPSN) 13, a telemetry signal suppression unit (BPST) 14, a video signal suppression unit (BPV) 15, an emergency liquidation unit of an intruder UAV (BEL) 16, a direction meter and wind speed (INSV) 20 , a universal control panel (UPU) 21, a computerized central control panel (KTSPU) 22, a memory unit (PSU) 24 and a territory monitoring unit (BMT) 26, while: (a) at least a part of the mentioned UAV-hunters 17 is equipped with a territory monitoring unit (BMT) 26 with a control processor, navigation system and mechatronic capture network for the UAV-intruder (MRZ) 19; (b) each mobile ground-based robot MNRVP 1 is equipped with a universal power supply unit 25 and is connected by separate bi-directional communication lines with a UAV hunter 17, with a search unit for a UAV-intruder 2, with an intelligent navigation unit (INB) 10, with a control unit for the electronic warfare system ( BURB) 11, with a universal control panel (UPU) 21 and with a computerized central control panel (KTSPU) 22; (c) the intruder UAV search unit 2 is connected by separate bi-directional communication lines with a thermal imager 3, with an intelligent resolver (IR) 4, which, in turn, is connected to a territory monitoring unit (BMT) 26, with a 3D color video camera (3DCV) 5, with a directional microphone (NMVIUPR) 6, with a night vision camera (KNV) 7, with a horizontal positioning unit (BPG) 8, with a tilt positioning unit (BPN) 9 and has the ability to exchange information with a space satellite 23; (d) the electronic warfare system control unit (BURB) 11 is connected by separate bi-directional communication lines to the control signal suppression unit (BPSU) 12, to the navigation signal suppression unit (BPSN) 13, to the telemetry signal suppression unit (BPSU) 14, to the suppression unit video signal (BPV) 15 and with the emergency liquidation unit of the UAV-intruder (BEL) 16. 2. The complex according to claim 1, characterized in that the said UAV-hunter is made in the form of a drone that contains a central control unit, a block of visual sensors and distance sensors, a navigation module, a radio transmitter, an inertial navigation system, engines with propellers and engine drivers. 3. The complex according to claim 1, characterized in that the said set of mobile terrestrial robots of high cross-country ability 1 includes from 5 to 10 mobile robots, each of which contains a body, frame, left and right tracked chassis, left and right motors with gearboxes, a block engine controls, front and rear lights, a digital unit for receiving and transmitting telemetric information, the upper part of the body containing platform zones for placing and transporting UAV hunters or transporting neutralized UAV intruders. 4. The complex according to claim 1, characterized in that the said intelligent recognizer 4 is made in the form of a dynamically structurally tunable neural network and interface. 5. The complex according to claim 1, characterized in that the said universal power supply unit 25 is made up of a battery, a charging unit, a solar unit and a mini-wind power unit. 6. The complex according to claim 1, characterized in that the said territory monitoring unit 26 contains a chemical and radiation analyzer, an explosives finder, an electronic territory marking unit, territory marking indicators, a territory marking indicator installation unit, a control processor and an interface. 7. The complex according to claim 1, characterized in that the said intelligent navigation unit 10 is made in the form of an interface unit, a signal converter, an intelligent control controller, a unit of navigation sensors and random access memory. 8. The complex according to claim 1, characterized in that it is equipped with search and tracking tools for an intruder UAV in visible, infrared, sound, laser mode, which are controlled by a horizontal positioning unit 8 and a tilt positioning unit 9. 9. The complex according to claim 1, characterized in that the said mechatronic capture grid MSZ 19 is equipped with a parachute for launching a neutralized intruder UAV to the ground surface.

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