Unmanned electric unified transport platform on railway track

Abstract

FIELD: railway vehicles.SUBSTANCE: invention relates to self-propelled cars and platforms equipped with a “БМ”-03 combat module with remote control. An unmanned electric unified transport platform on a rail track comprises a frame mounted on self-propelled cargo bogies with electromechanical drives (3) connected to batteries (4), a control unit (6) with a computer, and a GPS receiver. The “БМ”-03 combat module is mounted on a rotating support device (15) on the frame, equipped with an optical-electronic sight with television and rangefinder channels, a machine gun with an electric trigger, and a rigidly fixed box (39) with a spherical upper dome, a rotating support device and an unmanned electric aerial vehicle (85). When a target is detected, the on-board computer of the unmanned electric aerial vehicle (85), using a radio transmitter, transmits information to the radio signal receiver (56), which generates a signal that arrives at the general electronic control unit (6), the signal from which, together with the signal from the roll and pitch sensor (22), arrives at the support and rotary device (15), which aims the machine gun (20) at the target. The next signal from the general electronic control unit (6) goes through the second control output (29) to the control input (32) of the electric trigger (21) of the machine gun (20), which destroys the target.EFFECT: increased level of operational safety by increasing the target detection range using unmanned aerial vehicles located on board an unmanned electric unified transport platform on a railway track.1 cl, 4 dwg

Description

[0001] The invention relates to railway vehicles, in particular to self-propelled cars and platforms equipped with a BM-03 combat module with remote control, capable of inflicting fire damage on the enemy during technical reconnaissance and during combat operations using an installed 12.7 mm machine gun.

[0002] An unmanned electric unified transport platform on a rail track is known (RU 227617, B61D 15 / 00, 07 / 29 / 2024), which is additionally equipped with a BM-03 combat module consisting of a frame, self-propelled bogies with an electromechanical drive, batteries mounted on the frame, a battery control module, a main control unit including an industrial computer, a GPS receiver, an autopilot control, video cameras, two on each side, elements of a universal mounting system located at uniform intervals throughout the body, mounted on a single platform, a rotary support device, an optical-electronic sight with television and rangefinder channels, a machine gun equipped with an electric trigger, a weather sensor, a roll and pitch sensor of the rotary support device, as well as an associated They share a common electronic control unit.

[0003] The disadvantage of the unmanned electric unified transport platform on a rail track is that, when the track profile is winding and at long distances, the target image in the optical-electronic - thermal imaging sights may be less detailed and clear, which leads to a low level of safety in the operation of the unmanned electric unified transport platform on a rail track.

[0004] An unmanned electric unified transport platform on a rail track is known, selected as a prototype, equipped with a BM-03 combat module (RU 233165, F41A 23 / 40, B61D 15 / 00, F41H 13 / 00, 08.04.2025), selected as a prototype, consisting of a frame mounted on self-propelled cargo bogies with electromechanical drives connected to batteries mounted on the frame, a battery control module, a common electronic control unit that includes an industrial computer, a GPS receiver, an autopilot control, two video cameras are rigidly fixed at the ends of the frame, elements of a universal fastening system are rigidly fixed on the upper surface of the frame body with a uniform step throughout the body, a diesel generator is rigidly fixed on the frame, the output of which is connected to the input of the module battery management, and its output with batteries,on the upper surface of the frame body, the body of the BM-3 combat module is also mounted on a rotary support device, equipped with an optical-electronic sight with television and rangefinder channels, a machine gun with an electric trigger, a roll and pitch sensor of the rotary support device, the output of which is connected to the first input of the common electronic control unit, the second and third inputs of the common electronic control unit are connected, respectively, to a weather sensor rigidly fixed to the body of the BM-3 combat module, and a GPS receiver, the first, second and third control outputs of the common electronic control unit are connected, respectively, to the input of the rotary support device, the electric trigger of the machine gun, the control inputs of the electromechanical drives.

[0005] The disadvantage of the prototype is the low level of operational safety due to the inability to detect and reliably identify targets on a winding route profile and at long distances from them.

[0006] The objective of the present invention is to increase the level of safety of the operation of an unmanned electric unified transport platform on a railway track by increasing the range of target detection using unmanned aerial vehicles located on board the unmanned electric unified transport platform on a railway track.

[0007] The technical result is achieved in that in an unmanned electric unified transport platform on a rail track, comprising a frame mounted on self-propelled cargo bogies with electromechanical drives connected to batteries mounted on the frame, a battery control module, a common electronic control unit including an industrial computer, a GPS receiver, a control autopilot, two video cameras are rigidly fixed at the ends of the frame, elements of a universal fastening system are rigidly fixed on the upper surface of the frame body with a uniform pitch throughout the body, a diesel generator is rigidly fixed on the frame, the output of which is connected to the input of the battery control module, the output of which is connected to the inputs of the batteries, the body of the BM-3 combat module is also mounted on a rotary support device on the upper surface of the frame body,equipped with an optical-electronic sight with television and rangefinder channels connected to the first input of the common electronic control unit, a machine gun with an electric trigger, a roll and pitch sensor of the rotary support device, which is connected to the second input of the common electronic control unit, the third and fourth inputs of the common electronic control unit are connected respectively to a weather sensor rigidly attached to the body of the BM-3 combat module, and a GPS receiver, the first, second and third control outputs of the common electronic control unit are connected respectively to the control input of the rotary support device, the control input of the machine gun's electric trigger and the control inputs of the electromechanical drives, the connection of the electromechanical drives to the batteries is realized through a converter rigidly attached to the frame, namely, the power outputs of the batteries are connected to the first inputs of the converter,the first output of which is connected to the power inputs of the electromechanical drives, a box with a spherical upper dome is also rigidly fixed to the frame with its base, the box body has a flat box-type bottom, the lower cover of which is rigidly attached to the upper flanges of the bushing insulators, in the lower cover of the flat box-type bottom there are openings through which the current-carrying rods of the bushing insulators pass, which are connected to the outputs of the charge level monitoring unit, and its power input is connected to the output of the charger, the control input of the charge level monitoring unit is connected to the fourth control output of the common electronic control unit, the fifth control output of the common electronic control unit is connected to the first control input of the diesel generator, a radio signal receiver located inside the flat box-type bottom is connected to the fifth input of the common electronic control unit,the side surface of the box body consists of two hollow semi-cylinders, wherein the radius of the side surface of the first semi-cylinder is greater than the radius of the side surface of the second semi-cylinder, the lower edge of the first semi-cylinder is rigidly attached to the edge of the top cover of the flat bottom of the box type, on the outer surface of the top cover of the flat bottom of the box type a circular guide of the movable joint of the second semi-cylinder with a radius smaller than the radius of the side surface of the first semi-cylinder is rigidly fixed, the movable carriages of the circular guide are rigidly fixed on the lower edge of the second semi-cylinder, in the internal cavity of the flat bottom of the box type a reversible rotary electric motor is rigidly fixed, the shaft of which passes through an opening in the top cover of the flat bottom of the box type, a rubberized wheel is rigidly fixed at the end of the shaft, which is in mechanical contact with the side surface of the second semi-cylinder,the input of the reversible rotary electric motor is connected to the second output of the converter, the first input of the charger, video cameras, rotary support device, electric shutter and the second control input of the diesel generator are respectively connected to the third, fourth, fifth, sixth and seventh outputs of the converter, the second input of the converter is connected to the sixth output of the common electronic control unit, the current-carrying rods connected to the outputs of the charge level control unit are connected to a ring-shaped electrode and a circular electrode located inside the ring-shaped electrode, the ring-shaped and circular electrodes are rigidly fixed on the outer surface of the top cover of the flat bottom of the box type, an inductive sensor located on a limiter rigidly fixed on the edge of the side surface of the first semi-cylinder is connected to the sixth input of the common electronic control unit,in response to the inductive sensor, a first permanent magnet is rigidly fixed on the edge of the side surface of the second half-cylinder, and symmetrically to it, a second permanent magnet is rigidly fixed on the other edge of the side surface of the second half-cylinder; a presence sensor mounted on the outer surface of the top cover of the flat bottom of the box-type is connected to the seventh input of the common electronic control unit; an unmanned electric aerial vehicle is located inside the box.

[0008] Fig. 1 shows an unmanned electric unified transport platform on a rail track, equipped with a BM-03 combat module and a box inside which an unmanned aerial vehicle is located, Fig. 2 shows the BM-03 combat module, Fig. 3 shows a general view of the box body with the spherical upper dome removed, and Fig. 4 is a block diagram of the electrical part of the unmanned electric unified transport platform on a rail track.

[0009] An unmanned electric unified transport platform on a rail track contains a frame 1 (Fig. 1) mounted on self-propelled cargo bogies 2 with electromechanical drives 3 connected to storage batteries 4 mounted on the frame 1, a storage battery control module 5 (Fig. 4), a common electronic control unit 6 including an industrial computer, a GPS receiver, and an autopilot control. At the ends of frame 1 (Fig. 1) two video cameras 7 are rigidly fixed. On the upper surface of the housing 8 of frame 1, elements of the universal fastening system 9 are rigidly fixed with a uniform pitch throughout the entire housing 8. On frame 1, a diesel generator 10 is rigidly fixed, the output 11 (Fig. 4) of which is connected to the input 12 of the control module of storage batteries 5, the output 13 of which is connected to the inputs 14 of storage batteries 4. On the upper surface of the housing 8 of frame 1, a rotary support device 15 (Fig.2) the body 16 of the BM-3 combat module 17, equipped with an optical-electronic sight with television and rangefinder channels 18, connected to the first input 19 (Fig. 4) of the general electronic control unit 6, a machine gun 20 (Fig. 2) with an electric trigger 21 (Fig. 4), a roll and pitch sensor 22 of the support and rotary device 15, which is connected to the second input 23 of the general electronic control unit 6. The third 24 and fourth 25 inputs of the general electronic control unit 6 are connected respectively to the weather sensor 26, rigidly fixed on the body 16 (Fig. 2) of the BM-3 combat module 17, and a GPS receiver 27 (Fig. 4). The first 28, second 29 and third 30 control outputs of the common electronic control unit 6 are connected respectively to the control input 31 of the rotary support device 15, the control input 32 of the electric trigger 21 of the machine gun 20 and the control inputs 33 of the electromechanical drives 3.The connection of electromechanical drives 3 to batteries 4 is implemented through a converter 34, for example, of the Emas MK1MIM2 or IEK KV-8168 or Emas 440V, 10A type. MN2MIM2, rigidly fixed on the frame 1, namely, the power outputs 35 of the storage batteries 4 are connected to the first inputs 36 of the converter 34, the first output 37 of which is connected to the power inputs 38 of the electromechanical drives 3. On the frame 1 (Fig. 1), a box 39 with a spherical upper dome 40 is also rigidly fixed with its base. The body of the box 39 (Fig. 3) has a flat box-type bottom 41, the lower cover 42 of which is rigidly attached to the upper flanges 43 of the feed-through insulators 44, for example, OSK 3-10-2 UHL1 or IOSK 3 / 35 UHL1 or IOSK 3 / 35-V UHL1. In the lower cover 42 of the flat bottom of the box-type 41, openings are made through which the current-carrying rods 45 of the feed-through insulators 44 pass, which are connected to the outputs 46 (Fig.4) charge level control unit 47, and its power input 48 is connected to output 49 of charger 50. Control input 51 of charge level control unit 47 is connected to fourth control output 52 of common electronic control unit 6. Fifth control output 53 of common electronic control unit 6 is connected to first control input 54 of diesel generator 10. Radio signal receiver 56 located inside flat box-type bottom 41 (Fig. 3) is connected to fifth input 55 of common electronic control unit 6. Side surface of box body 39 consists of two hollow half-cylinders 57 and 58, wherein the radius of side surface of first half-cylinder 57 is greater than the radius of side surface of second half-cylinder 58. Lower edge of first half-cylinder 57 is rigidly attached to edge of upper cover 59 of flat box-type bottom 41.On the outer surface of the upper cover 59 of the flat bottom of the box-type 41, a circular guide 60 of the movable joint of the second half-cylinder 58 with a radius smaller than the radius of the side surface of the first half-cylinder 57 is rigidly fixed. The movable carriages 61 of the circular guide 60 are rigidly fixed on the lower edge of the second half-cylinder 58. In the inner cavity of the flat bottom of the box-type 41, a reversible rotary electric motor 62 is rigidly fixed, the shaft 63 of which passes through an opening in the upper cover 59 of the flat bottom of the box-type 41. At the end of the shaft 63, a rubberized wheel 64 is rigidly fixed, which is in mechanical contact with the side surface of the second half-cylinder 58. The input 65 (Fig. 4) of the reversible rotary electric motor 62 is connected to the second output 66 of the converter 34.The first input 72 of the charger 50, the video camera 7, the rotary support device 15, the electric trigger 21 and the second control input 73 of the diesel generator 10 are respectively connected to the third 67, fourth 68, fifth 69, sixth 70 and seventh 71 outputs of the converter 34. The second input 74 of the converter 34 is connected to the sixth output 75 of the common electronic control unit 6.

[0010] Current-carrying rods 45 connected to outputs 7 of charge level control unit 47 are connected to ring-shaped electrode 76 and circular electrode 77 located inside ring-shaped electrode 76. Ring-shaped 76 and circular 77 electrodes are rigidly fixed on the outer surface of upper cover 59 (Fig. 3) of flat box-type bottom 41. Inductive sensor 79 located on limiter 80 rigidly fixed on the edge of side surface of first half-cylinder 57 is connected to sixth input 78 of common electronic control unit 6. First permanent magnet 81 is rigidly fixed on the edge of side surface of second half-cylinder 58 in response to inductive sensor 79 and second permanent magnet 82 is rigidly fixed on the other edge of side surface of second half-cylinder 58 symmetrically to it.

[0011] A presence sensor 84 is connected to the seventh input 83 (Fig. 4) of the general electronic control unit 6, mounted on the outer surface of the upper cover 59 (Fig. 3) of the flat bottom of the box-type 41. Inside the box, an unmanned electric aerial vehicle 85 (Fig. 1) is located, for example, a quadcopter or a multicopter (In Denmark, a drone was created that can stay in the air for an unlimited time / / ForPost News Service URL: https: / / sevastopol.su / news / v-danii-sozdali-dron-sposobnyy-nakhoditsya-v-vozdukhe-neogranichennoe-vremya (date of access: 04 / 13 / 2024)).

[0012] It is possible to design an unmanned electric unified transport platform on a railway track with several boxes 39, each of which contains an electric aircraft 85.

[0013] The device operates as follows.

[0014] When it is necessary to provide combat cover and combat support to personnel from sabotage groups, unmanned aerial vehicles when performing tasks to restore and repair damaged sections of railways, as well as when conducting technical reconnaissance from a command post, which is not shown in the drawings, a command is sent in the form of a radio signal, which is received by radio signal receiver 56 (Fig. 4) and through the fifth input 55 comes to the common electronic control unit 6, which generates a trigger signal to the converter 34. The converter 34 converts the currents of the storage batteries 4, coming into it through the first inputs 36. These currents power the video cameras 7, electromechanical drives 3, the rotary support 15 and the electric trigger 21. At the same time, the common electronic control unit 6 through the third output 30 sends a command to move the electromechanical drives 3.

[0015] During the movement of the unmanned electric unified transport platform on the railway track, the coordinates of its location are received by the GPS receiver 27 and processed by the common electronic control unit 6.

[0016] Recharging and control of the charging currents of the storage batteries 4 is carried out with the help of a diesel generator 10, which is started by a command from the general electronic control unit 6, and the storage battery control module 5. Also, from the third output 67 of the converter 34, power is supplied to the charger 50, which generates a current, the value of which is controlled by the charge level control unit 47, which comes through the circular 77 and ring-shaped 76 electrodes on board the unmanned electric aerial vehicle 85 (Fig. 1) to charge its storage battery, which is not shown in the drawings.

[0017] Video surveillance of the situation in the direct line of sight in front of and behind the unmanned electric unified transport platform on a rail track is carried out using video cameras 7. Upon detection of a target, the common electronic control unit 6 (Fig. 4) generates a control signal, the magnitude and shape of which depend on the information received from the video cameras 7 (Fig. 1) and on the readings of the weather sensor 26 (Fig. 4) and the roll and pitch sensor 22 of the rotary support device 15, which is fed to the control input 31 of the rotary support device 15. As a result, the BM-3 combat module 17 (Fig. 1) is aimed at the target. Then, a signal is sent from the common electronic control unit 6 (Fig. 4) to the control input 32 of the electric trigger 21 of the machine gun 20.

[0018] If it is impossible to detect and reliably identify targets due to the tortuous profile of the route and the long distances to them, the common electronic control unit 6 generates a signal to the converter 34, which supplies the supply voltage of direct polarity to the reversible rotary electric motor 62. The shaft 63 (Fig. 3) of the reversible rotary electric motor 62 together with the rubberized wheel 64 begins to rotate and the half-cylinder 58, with the help of the movable carriages 61, moves along the circular guide 60, at the end of which the left edge of the side surface of the half-cylinder 58 rests against the limiter 80. Under the action of the magnetic field of the first permanent magnet 81, the inductive sensor 79 is triggered, which sends a signal to the sixth input 78 of the common electronic control unit 6, under the action of which the power supply to the reversible rotary electric motor 62 from the converter 34 is stopped.As a result of these actions, the body of box 39 is in the open state.

[0019] Unmanned electric aerial vehicle 85 (Fig. 1) takes off from the housing of box 39 and begins to carry out a flight mission. In the event of detection of a target, the on-board computer of unmanned electric aerial vehicle 85, which is not shown in the drawings, transmits information to radio signal receiver 56 (Fig. 4) using a radio transmitter. Radio signal receiver 56 generates a signal that arrives at the common electronic control unit 6, the signal from which, together with the signal from the roll and pitch sensor 22, arrives at the rotary support device 15, which, together with the optical-electronic sight with television and rangefinder channels 18, aims the machine gun 20 (Fig. 1) at the target. The next signal from the general electronic control unit 6 (Fig. 4) goes through the second control output 29 to the control input 32 of the electric trigger 21 of the machine gun 20 (Fig. 1), which destroys the target.

[0020] After completing the flight mission, the unmanned electric aerial vehicle 85 begins to move towards the unmanned electric unified transport platform on the railway.

[0021] The unmanned electric aerial vehicle 85 flies into the box 39 and lands on the upper cover 59 (Fig. 3) of the flat bottom of the box-type 41. At the end of the landing of the unmanned electric aerial vehicle 85 (Fig. 1), the presence sensor 84 (Fig. 4) is triggered, the signal from which is sent to the seventh input 83 of the common electronic control unit 6. The common electronic control unit 6 generates a signal that is sent to the first input 72 of the converter 34. As a result, the converter 34 supplies the supply voltage of reverse polarity to the reversible rotary electric motor 62. The shaft 63 (Fig.3) the reversible rotary electric motor 62 together with the rubberized wheel 64 begins to rotate in the opposite direction and the half-cylinder 58 begins to move backwards along the circular guide 60, at the end of which the edge of the side surface of the half-cylinder 58 rests against the stop 80, and the magnetic field of the second permanent magnet 82 causes the inductive sensor 79 to operate, the signal from which comes through the third input 78 to the common electronic control unit 6. The common electronic control unit 6 generates a signal coming through the first input 72 to the converter 34. Under the action of this signal, the supply voltage to the reversible rotary electric motor 62 is stopped. Thus, the process of closing the box 39 is completed. At the same time, electrical contact is made between the guide-contact electrodes of the unmanned electric aerial vehicle and the annular 76 and circular 77 electrodes of the box 39.Charging of the on-board battery of the unmanned electric aerial vehicle 85 begins (Fig. 1). Charging is completed by a signal from the charge level control unit 47 (Fig. 4).

[0022] As can be seen, the use of an unmanned electric unified transport platform on a rail track, equipped with an unmanned electric aerial vehicle 85 (Fig. 1), capable of detecting and reliably identifying targets on a winding route profile and at long distances from them, ensures an increased level of safety in the operation of the unmanned electric unified transport platform on a rail track.

Claims

An unmanned electric unified transport platform on a rail track, comprising a frame mounted on self-propelled cargo bogies with electromechanical drives connected to batteries mounted on the frame, a battery control module, a common electronic control unit including an industrial computer, a GPS receiver, and an autopilot control; two video cameras are rigidly fixed to the ends of the frame; elements of a universal fastening system are rigidly fixed to the upper surface of the frame body with a uniform pitch throughout the body; a diesel generator is rigidly fixed to the frame, the output of which is connected to the input of the battery control module, the output of which is connected to the inputs of the batteries; the body of the BM-03 combat module, equipped with an optical-electronic sight with television and rangefinder channels, is also mounted on a rotary support device on the upper surface of the frame body.connected to the first input of the common electronic control unit, a machine gun with an electric trigger, a roll and pitch sensor of the rotary support device, which is connected to the second input of the common electronic control unit, the third and fourth inputs of the common electronic control unit are connected respectively to a weather sensor rigidly fixed to the body of the BM-03 combat module, and a GPS receiver, the first, second and third control outputs of the common electronic control unit are connected respectively to the control input of the rotary support device, the control input of the electric trigger of the machine gun and the control inputs of the electromechanical drives, characterized in that the connection of the electromechanical drives to the batteries is realized through a converter rigidly fixed to the frame, namely, the power outputs of the batteries are connected to the first inputs of the converter, the first output of which is connected to the power inputs of the electromechanical drives,a box with a spherical upper dome is also rigidly fixed to the frame with its base, the box body has a flat box-type bottom, the lower cover of which is rigidly attached to the upper flanges of the bushing insulators, in the lower cover of the flat box-type bottom there are openings through which the current-carrying rods of the bushing insulators pass, which are connected to the outputs of the charge level control unit, and its power input is connected to the output of the charger, the control input of the charge level control unit is connected to the fourth control output of the common electronic control unit, the fifth control output of the common electronic control unit is connected to the first control input of the diesel generator, a radio signal receiver located inside the flat box-type bottom is connected to the fifth input of the common electronic control unit, the side surface of the box body consists of two hollow semi-cylinders,wherein the radius of the side surface of the first semi-cylinder is greater than the radius of the side surface of the second semi-cylinder, the lower edge of the first semi-cylinder is rigidly attached to the edge of the upper cover of the box-type flat bottom, on the outer surface of the upper cover of the box-type flat bottom a circular guide of the movable joint of the second semi-cylinder with a radius smaller than the radius of the side surface of the first semi-cylinder is rigidly fixed, the movable carriages of the circular guide are rigidly fixed on the lower edge of the second semi-cylinder, in the internal cavity of the box-type flat bottom a reversible rotary electric motor is rigidly fixed, the shaft of which passes through an opening in the upper cover of the box-type flat bottom, a rubberized wheel is rigidly fixed at the end of the shaft, which is in mechanical contact with the side surface of the second semi-cylinder, the input of the reversible rotary electric motor is connected to the second output of the converter, to the third,the fourth, fifth, sixth and seventh outputs of the converter are respectively connected to the first input of the charger, video cameras, rotary support device, electric shutter and the second control input of the diesel generator, the second input of the converter is connected to the sixth output of the common electronic control unit, the current-carrying rods connected to the outputs of the charge level control unit are connected to the ring-shaped electrode and the circular electrode located inside the ring-shaped electrode, the ring-shaped and circular electrodes are rigidly fixed on the outer surface of the top cover of the flat bottom of the box type, an inductive sensor located on a limiter rigidly fixed on the edge of the side surface of the first semi-cylinder is connected to the sixth input of the common electronic control unit,in response to the inductive sensor, a first permanent magnet is rigidly fixed on the edge of the side surface of the second half-cylinder, and symmetrically to it, a second permanent magnet is rigidly fixed on the other edge of the side surface of the second half-cylinder; a presence sensor mounted on the outer surface of the top cover of the flat bottom of the box-type is connected to the seventh input of the common electronic control unit; an unmanned electric aerial vehicle is located inside the box.

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