RU2661295C1 - Device for determination and marking of a territory with chemical and radioactive influence - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to devices for monitoring a territory. Device comprises a robot that is able to move over the surface and in the airspace and consisting of a hexokopter and an aerodynamic array. And the spatial position of the robot is determined regardless of the orientation, speed and time of day. In this case, they receive and recognize sound images, visual images, information on the chemical situation, information on the radiation situation. Electronically and/or mechanically mark dangerous areas of the territory and ensure a long-term autonomous operation of the robot. Universal aerodynamic grille includes rims with spokes, a connecting grid and a horizontal axis, on which a platform-hexokopter and various equipment, including communication devices with a control panel and an autonomously recharged power supply are fixed. Universal remote control contains a computerized pilot workplace, a computerized engineer workstation, an antenna unit, a transceiver and an information encryption unit.

EFFECT: providing control of a multifunctional robot with improved functionality.

19 cl, 9 dwg

Description

The invention relates to devices for monitoring the territory. The scope covers devices for the identification and marking of areas with chemical and radioactive contamination.

Various devices for monitoring the territory based on ground-based airborne remotely controlled systems are known and widely used [1,2].

An essential feature of these devices is that remotely controlled device that can move through the air, combining a robot, a quadrocopter and a wheel that can move on the surface.

The disadvantages of the devices are the impossibility of turning the device in place in the ground position (this significantly limits the use of the robot in cramped conditions of the building and structure), low efficiency due to the increased energy consumption of the propellers of the quadrocopter drives (up to 60%), the need to turn on all four screws for horizontal movement, small loading capacity, strong swinging and low functionality. In addition, there is no automatic control mode.

As a prototype, a device was selected in which a hexocopter is placed in a universal aerodynamic platform, made simultaneously in the form of a cage and a wheel. The device is able to move on the ground and air, deploy on the spot [2].

The disadvantages of the device are the low accuracy of determining the coordinates of the location of the object (universal robot UR), the absence of both automatic and automated modes of operation, low speed, low maneuverability and low functionality (inability to move on snow, ice, water, land, air, inability to move in limited space and at any time of the day, over a mined area and in windy weather; the impossibility of identifying and marking terrains Ithor chemical and radioactive contamination), lack of responsiveness performing the specified process steps, insufficient maintenance convenience and safety of operation, low battery life and light-duty.

The objective of the invention is to provide a device for identifying and marking up areas of a territory with chemical and radioactive contamination with improved functionality by increasing the accuracy and speed of determining coordinates, speed and maneuverability, implementing automatic and automated modes, ensuring operational safety and ease of maintenance, the ability to recognize sound and visual information (images), identify and mark areas of the territory with chemical radioactive contamination.

The problem is achieved in that the claimed device, containing, like the prototype, a universal aerodynamic grill, a platform with propellers and a universal control panel, has the ability to move along any path along the ground surface and in airspace.

New device features:

universal aerodynamic lattice 1 contains two rims with knitting needles, a connecting lattice and a horizontal axis on which a platform with equipment can be fixed;

hexocopter platform 2 contains six drives with a propeller 3-8, attachments comprising: gyroscope 12; accelerometer 13; altimeter 15; mine detector MM 16; radiation and chemical reconnaissance device PRHR 17; 3D color video camera 18; thermal imager 19; night vision device PNV 20; autopilot 28; air temperature meter ITV 31; wind direction and speed meter INSV 32; GPS-GLONASS 33 coordinates determinant; locator 34 and sound analyzer 40;

information processing and control units comprising: MU 11 microcontroller; motion drive control controller KUPD 9; KUPP 10 flight drive control controller; environmental recognizer POC 35; stabilization unit 14; attachment control unit BUNO 21; block marking the dangerous territory BROT 38; the mechanism for installing on the terrain marking blocks of the dangerous territory MUBROT 39; the first transceiver PPP 23 and universal mobile power supply UMBP 29;

the universal control panel of the robot UPU 25 contains control units consisting of: a computerized workstation of the pilot KRMP 26; computerized workplace of an engineer KRMI 27; antenna unit with ABA 22 autotracker; second runway transceiver 24; digital telemetry unit CBT 37; BSh 36 encryption unit and USBP 30 universal stationary power supply unit;

at the same time, the MU 11 control microcontroller is connected by separate bi-directional communications to the KUPD 9 motion drive control controller, the KUPP 10 flight drive control controller, GPS / GLONASS 33 coordinate determiner, autopilot 28, the POC 35 environment recognizer, stabilization unit 14, and the BUNO attachment control unit 21, the marking unit hazardous area BROT 37 and the first transceiver PPP 23;

the motion control controller of the motion control valve 9, in turn, is connected by separate bidirectional communications to the first drive with propeller 3 and to the second drive with propeller 4,

the KUPP 10 flight drive control controller, in turn, is connected by separate bidirectional links to the third drive with propeller 5, the fourth drive with propeller 6, the fifth drive with propeller 7 and the sixth drive with propeller 8,

the stabilization unit 14, in turn, is connected by separate bi-directional communications to the gyroscope 12 and the accelerometer 13,

the BUNO 21 attachment control unit, in turn, is connected by separate bi-directional connections to the altimeter 15, the MM 16 mine detector, the radiation and chemical reconnaissance device PRXR 17, the 3D color video camera 18, the thermal imager 19, the night vision device 20, the ITV air temperature meter 31, measuring the direction and speed of the wind, INSV 32, locator 34, sound analyzer 40, and attachments and control units of the hexocopter platform 2 are connected to the universal mobile power supply unit UMBP 29,

the block marking the dangerous territory BROT 38, in turn, is connected by separate bidirectional links to the installation mechanism on the terrain marking blocks dangerous territory MUBROT 39;

at the same time, the computerized workstation of the pilot of the KRMP 26 and the computerized workstation of the engineer of the KRMI 27 are interconnected by separate bidirectional connections and are also connected to the digital telemetry unit CBT 37, the encryption unit BSh 36, the antenna unit with the ABA 22 autotracker and to the universal stationary power supply unit USBP 30, and the aforementioned first transceiver PPP 23 through a series-connected second transceiver runway 24 and the encryption unit BSh 36 has the ability to communicate with the workplace lot 26 KRMP and workplace KRMI engineer 27.

In a particular case, the universal aerodynamic grille contains two rims with spokes and bearings, a connecting grille and a horizontal axis, on which a hexocopter platform with six drives with a propeller mounted on it is mounted.

In addition, the night vision device NVD is made in the form of a television camera containing an infrared searchlight and operating in the infrared optical range.

In addition, the thermal imager is made in the form of a television camera that receives and displays the thermal image of the control object.

In addition, the color 3D video camera has two optical range receivers and is configured to restore a three-dimensional color image of the control object.

In addition, the locator consists of a scanning beam emitter, a receiver of the reflected signal, a display of the received information and a communication interface with the consumer of information.

In addition, the marking unit of the dangerous territory BROT includes a GPS / GLONASS navigator, a chemical analysis device, a radiometer, a radio modem, a comparator and a power supply.

In addition, the installation mechanism on the terrain of marking blocks for hazardous areas MUBROT includes a housing containing marking blocks installed on the ground, an electromagnet, a latch and a control unit

In addition, the BUNO attachment control unit includes a synchronizer for switching on the sequence of devices and a unit for controlling the position of the devices for collecting information and transmitting it to the consumer.

In addition, drives with a propeller 3-8 are made in the form of an engine, gearbox, propeller of the propeller rotation mechanism and a device for mounting the drive to the hexocopter platform.

In addition, the controllers for driving motion and flight drives are made in the form of a processor, a memory unit, and an interface.

In addition, the microcontroller control is made in the form of a processor, a memory unit and an interface.

In addition, the first and second transceivers are made in the form of a converter, encoder, decoder and amplifier.

In addition, the universal control panel includes a processor, a memory unit, an interface and a unit for manually controlling the device using a keyboard and joystick.

In addition, the computerized workplace of the pilot is made in the form of a processor, a memory unit, an interface, a display, and a unit for manual control of the device using the keyboard and / or joystick.

In addition, the computerized workplace of the engineer is made in the form of a processor, a memory unit, an interface, a display, a keyboard, and an environmental information display unit.

In addition, the recognizer is made in the form of parallel-connected blocks of correlation analysis, Fourier analysis, wavelet analysis, fractal analysis, analysis by neuro-fuzzy methods, analysis by morphological (structural) methods and analysis by structurally tunable methods, and also contains a control unit for processing subsystems images, an intelligent result analysis unit and input and output interfaces.

In addition, the universal stationary power supply unit of the UPS is made in the form of an alternating electric current rectifier, a stabilizer, a battery, a recharge unit, a complex solar battery unit and a mini wind power unit.

In addition, the universal mobile power supply is made in the form of a recharging unit, a battery, a solar battery unit and a mini wind power unit.

The aforementioned rim of the aerodynamic lattice can be made in the form of an unsinkable multilayer rim of high passability, containing an internal power polymer frame, an outer layer of carbon fiber and a filler of lightweight foam.

The proposed device is illustrated by the drawings shown in FIG. 1-9.

In FIG. 1 shows a block diagram of a device.

In FIG. 2 is a structural diagram of an aerodynamic lattice.

In FIG. 3 shows the design of the aerodynamic lattice.

In FIG. 4 shows the structure of the multilayer rim.

In FIG. 5 shows a block diagram of a recognizer.

In FIG. 6 is a structural diagram of a block for automatically marking a hazardous area.

In FIG. 7 shows the appearance and communications of the automatic marking unit of a hazardous area.

In FIG. Figure 8 shows a block diagram of the installation mechanism for marking hazardous area marking blocks on the ground.

In FIG. 9 shows the appearance of the device (universal robot UR).

In FIG. 1 shows the following devices and units:

1 - universal aerodynamic lattice UAR;

2 - platform-hexocopter GHG with attachments;

3 - the first drive with a propeller (PPR);

4 - second (2nd) drive with a propeller;

5 - third (3rd) drive with a propeller;

6 - the fourth (4th) drive with a propeller;

7 - fifth (5th) drive with a propeller;

6 - sixth (6th) drive with a propeller;

9 - controller control drives motion KUPD;

10 - controller control flight drives KUPP;

11 - microcontroller control MU;

12 - gyroscope;

13 - accelerometer;

14 - block stabilization BS;

15 - altimeter;

16 - magnetometer-mine detector MM;

17 - a device for radiation and chemical reconnaissance;

18 - color 3D video camera; 19-imager;

20 - night vision device;

21 - control unit mounted equipment BUNO;

22 - antenna unit with autotracker ABA;

23 - the first transceiver RFP;

24 - second runway transceiver;

25 - universal remote control robot;

26 - computerized workplace pilot KRMP;

27 - computerized workplace engineer KRMI;

28 - autopilot;

29 - universal mobile power supply UMBP;

30 - universal stationary power supply unit;

31 - air temperature meter;

32 - a meter for wind direction and speed;

33 - GPS-GLONASS coordinates determinant;

34 - locator;

35 - recognizer;

36 - BS encryption block;

37 - digital telemetry unit of the pulp and paper mill;

38 - block marking the dangerous territory of the BROT;

39 - installation mechanism on the terrain marking blocks of the dangerous territory MUBROT;

40 - sound analyzer.

The device operates in two modes: 1) the mode of preparation of the reference image and the formation of the program of work; 2) the mode of performing specified operations, and works as follows.

In the mode of formation of the program of work through the universal control panel (UPU) 25, all units of the device are turned on, simultaneously from the computerized workplace of the engineer (KMI) 27 through the first and second transceivers (PPP, VPP) 23, 24 are entered into the memory of the microcontroller of control (MU) 11 the program of the device and reference images (EI) of the area. EIs are formed, firstly, in the form of an electronic map of the area by the method of tested passage / span of UR over the territory on which it is planned to work, and secondly, by the method of mathematical and computer modeling or by means of the GLONASS system [3-7]. In the process of preparing the EI, the GC 2 hexocopter platform is switched on and, using the universal aerodynamic lattice of UAR 1, movement along the study area begins. The movement of the PG 2 - UAR 1 system is controlled using the motion drive control controller (KAPD) 9, which includes a first drive with a propeller (Ppr 3) and a second drive with a propeller (Ppr 4). Using the flight drive control controller (KUPP) 10, the third, fourth, fifth and sixth drives with propellers are turned on (Ppr 5, Ppr 6, Ppr 7, Ppr 8). GHG 2 can be a hexocopter (have six propeller engines, as described) or with a different number of propeller drives.

Thus, using KUPS 9, PPR 3 and PPR 4 provides movement on the surface (soil, water, snow, ice), and using KUPP 10, PPR 5, Ppr 6, Ppr 7 and Ppr 8, movement along any path in in the air. Drive controls with propellers 3, 4, 5, 6, 7, 8 provide energy savings. In addition, it is possible to turn around at the site of the PG 2 - UAR 1 system, when, for example, Ppr 3 is switched in one direction (forward), and Ppr 4 is switched in the other direction (back), as well as a more powerful take-off and movement of the entire loaded system along air when turning on drives with propellers 3, 4, 5, 6, 7, 8, in which the propellers are directed upwards (the plane of the propeller is 90 ° relative to the vertical axis). Moreover, all drives with propellers 3-8 can change their position relative to the vertical axis according to the signals from KUPS 9 and KUPP 10. This ensures high maneuverability of the PG 2 - UAR 1 system, for example, in case of windy weather.

In the process of preparing EI, information (images) about the environment is perceived by a color 3D video camera CV 18, a thermal imager 19, a night vision device PNV 20, a locator 34, and information from an altimeter 15, an MM 16 mine detector, a radiation and chemical reconnaissance detector 17, an ITV 31 air temperature meter, an INSV 32 wind direction and speed meter, and a GPS / GLONASS-based position finder. At the same time, such units as an altimeter 15, MM 16, PRHR 17, CV 18, a thermal imager 19, PNV 20, ITV 31 and INSV 32 are controlled by the BUNO 21 attachment control unit by signals from MU 11. In addition, in the preparation of the reference image determined by the navigation parameters from the gyroscope 12 and the accelerometer 13, fixing the coordinates and speed of the PG2 - UAR1 system [9]. The operation of the gyroscope 12 and the accelerometer 13 is controlled by the BS 14 stabilization unit based on signals from MU 11. When using the specified movement program, the autopilot 28 is activated, which controls the PG2 - UAR1 system on a given path. To eliminate third-party interception of information, the corresponding encryption block 36 is used, which encodes the information. The operator controls the device using the computerized workplace of the pilot of the KRMP 26 (moving the device), and all the information is displayed on the display of the computerized workplace of the engineer of the KRMI 27 (collection of received data). Information is processed and displayed on KRMP 26 and KRMI 27 using the digital telemetry unit of the CBT 37. For reliable communication, an antenna unit with an autotracker (ABA) 22 is used that implements a narrowly focused electron beam. The sound analyzer 40 is recorded reference audio information. At this stage, the preparation of EI ends.

At the second stage of the device’s functioning (in the analysis and diagnostic mode), all of the above blocks operate similarly to the stage of preparation of EI, with the exception of the following newly introduced operations. Recognizer 35 is included in the work, which provides analysis and recognition of the environment, correction of the current coordinates is provided by the control microcontroller 11, which accumulates and analyzes information and builds a strategy for accomplishing the task. During operation of the recognizer 35, the EI (reference images) and the TI (current images) are compared; TIs are sensed by information sensors 18, 19, 20, 34, 40. Recognizer 35 operates using correlation analysis, Fourier analysis, wavelet analysis, as well as neuron-fuzzy, structurally tunable and morphological (structural) methods (see Fig. 5) . MU 11 operates on the basis of the brain [8]. In the process, the proposed device is diagnosed (investigated) and the territory is marked and another required task is performed. The sound analyzer 40, operating similarly to the recognizer 35, recognizes the sound. For example, radiation and chemical control is carried out (PRHR 17), the installation sites of explosives (MM 16) and other obstacles and special places are determined. This information is stored and displayed on the screens of KMPF 26 and KMI 27. In addition to the electronic display of information about special places, hazardous area is marked with the help of the hazardous area marking unit (BROT) 38 and the installation of tagging blocks 39 directly on the ground. If necessary, the operator using KRMP 26 translates the operation of the device according to the invention into an automated (manual) mode of operation.

The UMBP 29 universal mobile power supply unit, which supplies power to the mobile part of the device, consists of a battery, a recharge unit based on a complex solar battery unit and a mini wind power unit. The universal stationary power supply is made in the form of a battery, an alternating electric current rectifier, a stabilizer, a recharging unit, a complex solar battery unit and a mini wind power unit.

In FIG. 2 is a structural diagram of a universal aerodynamic lattice (UAR), and FIG. 3 shows the appearance of the UAR.

UAR (see Fig. 2) includes the following blocks:

41 - horizontal axis;

42 - left bearing;

43 - the right bearing;

44 - left multilayer rim with knitting needles;

45 - right multilayer rim with knitting needles;

46 - connecting lattice;

47.48 - fixing nuts;

49 - knitting needles (see Fig. 3).

Connections of UAR elements provide it with the rigid structure shown in FIG. 3. UAR contain two wheels, including two rims 44, 45 with spokes, interconnected by a horizontal axis 41, which is located in bearings 42, 43. Bearings 42, 43 provide easy rotation of the horizontal axis 38 and, as a result, provide the movement of the wheel aerodynamic platforms 1 in various planes. A multicopter 2 is rigidly fixed on the horizontal axis, which, with the help of two engines (the first and second drives with propellers 3, 4), provides surface movement, and with the help of four engines (the third and sixth drives with electric motors 5-8) it lifts and flies to space.

In FIG. 4 is a cross-sectional view of a multilayer rim 44, 45, which comprises an internal power polymer frame 50, a foam core 51 and an outer layer of carbon 52. This design provides rigidity, lightness and the ability to move on various surfaces (earth, snow, water, wetlands, loose soil, etc.). The power structure of the rim has a stacked design, which allows for maximum stiffness and minimum weight to obtain the necessary volume, which provides the device with a margin of buoyancy. In addition, this solution allows you to reduce ground pressure (for example, when working as a mine detector).

In FIG. 5 is a structural diagram of a recognizer consisting of the following blocks:

53 - input interface;

54 - block correlation analysis;

55 - block analysis of neuro-fuzzy methods;

56 - block Fourier analysis;

57 - block wavelet analysis;

58 - block fractal analysis;

59 is a block analysis structurally tunable methods;

60 is a block analysis by structural (geometric or morphological) methods;

61 - block control subsystems of image processing;

62 - intellectual block analysis of the result;

63 is the output interface.

The recognizer 35 operates as follows. Information from the control microcontroller 11 (collects signals from various sensors and synchronization signals) is fed to an input interface 53, which simultaneously transmits signals to a control unit for image processing subsystems 61 and to blocks of correlation analysis 54, analysis by neuro-fuzzy methods 55, Fourier analysis 56 , wavelet analysis 57, fractal analysis 58, analysis by structurally tunable methods 59 and analysis by structural (morphological) methods 60. These blocks 54-60 operate in accordance with the algorithms specified in [3-7]. Thus, blocks 54-60 operate in parallel. The operation of blocks 54-60 is controlled by a control unit for image processing subsystems 61, which ensures synchronization of information reading in an intelligent result analysis block 62. All information from blocks 54-60 (i.e., the results of these blocks) is transmitted to an intelligent result analysis block IBAR 62, which through the output interface 63 provides the receipt of control signals to the microcontroller control 11.

The image recognition rule (i.e., the way the recognizer 35 works) is described by the following decision rule:

where P _kn is the probability of image recognition (the image may be video or audio); P _kn - is a comprehensive indicator of recognition;

- значение коэффициента корреляции;

- value of the correlation coefficient;

- значение совпадения с эталонным изображением нейро-нечетким методом;

- the value of coincidence with the reference image by the neuro-fuzzy method;

- значение совпадения с эталонным изображением методом Фурье-анализа;

- the value of coincidence with the reference image by the Fourier analysis method;

- значение совпадения с эталонным изображением методом Вейвлет-анализа;

- the value of coincidence with the reference image by the wavelet analysis method;

- значение совпадения с эталонным изображением методом фрактального анализа;

- the value of coincidence with the reference image by the method of fractal analysis;

- значение совпадения с эталонным изображением структурно-перестраиваемыми методами;

- the value of coincidence with the reference image structurally tunable methods;

- значение совпадения с эталонным изображением морфологическим методом.

- the value of coincidence with the reference image by the morphological method.

установлено экспериментально. При этих значениях

вероятность распознавания объектов (видео, аудио) гарантировано будет равна 1. Методики определения коэффициентов

описаны в [3-8]. Таким образом ИБАР 62 работает в соответствии с правилом (1).Value 0.8 odds

established experimentally. With these values

the probability of recognition of objects (video, audio) is guaranteed to be equal to 1. Methods for determining the coefficients

described in [3-8]. Thus, IBAR 62 operates in accordance with rule (1).

In FIG. 6 is a structural diagram of a hazardous area marking block (BROT) 38, which contains the following devices:

64 - chemical analysis device;

65 - GPS / GLONASS navigator;

66 - radio modem;

67 - radiometer;

68 - a comparator;

69 - power supply;

70 - housing.

BROT 38 works as follows. The GPS / GLONASS 63 navigator determines the coordinates of the location of the BROT [9]. The chemical analysis device (PHA) 64 determines the composition and concentration of the environment by evaluating its molecular and chemical composition and physical characteristics [10]. Radiometer 67 determines the radiation composition and calculates critical radiation hazardous to humans [11]. The radio modem 66 provides communication between the BRT 38 and the control microcontroller (MU) 11. The comparator 68 analyzes the information received from the PCA 64, the radio modem 65 and, if necessary (critical, chemical or radiation characteristics) or, upon command from the MU 11, the mechanism is switched on via the radio modem 65 installation of marking blocks (MUBROT) 39, which installs the marking block in the desired location of the study area. The marking unit performs the function of a beacon and is located in a sturdy, transparent and round case 70. The power supply unit 69 includes a battery, a charging unit, and a solar battery.

In FIG. 7 shows the appearance and some relationships of the marking unit of a hazardous area. The presented image BROT 38 is understandable and does not require special explanations.

In FIG. 8 is a structural diagram of the installation mechanism of hazardous area marking blocks (MUBROT) 39, which includes the following blocks:

70 - case (capacity);

71 - control unit;

72 - electromagnet;

73 - latch;

74 - hole;

38 - marking blocks (beacons of the features of the territory).

MUROT 39 operates as follows. Mobile BROT (beacons) 38 are located in the housing 70. The housing 70 is a closed casing (capacity) with an inclined base having a guide groove with an opening 74 in the lower part. The hole 74 has a size equal to the diameter of the BROT 38. This hole 74 is closed by a latch 73, which is made in the form of a flat rod. If the latch 73 is retracted by the electromagnet 72, then the hole 74 opens and the BROT 38 moves to the surface of the study area. The electromagnet 72 is controlled by a control unit 71, which is connected to a comparator 68.

The device according to the invention has significantly better technical characteristics compared to the closest analogue. These best features are as follows.

1. The accuracy of determining the coordinates of the location of the device is improved by introducing a GPS / GLONASS 33 coordinate determinant, an altimeter 15, a wind direction and speed meter 32, a gyroscope 12, an accelerometer 13, a stabilization unit 14, a recognizer 35, a microcontroller 11, an autopilot 28, color 3 Video cameras 18, thermal imager 19, night vision device 20 and attachment control unit 21. High accuracy of the location of the robot is achieved due to the higher accuracy of coordinate estimation and the use of additional For information by comparing the current and reference images.

2. Provides automatic and automated device control modes. The automated mode is carried out by the operator using the universal control panel 25, the computerized workplace of the pilot 26 and the computerized workplace of the engineer 27. The automatic mode is performed according to the automatic program recorded in the memory of the microcontroller 11, and when it is adapted (tuning the program and parameters) using information from recognizer 35, autopilot 28, as well as all current information received in the microcontroller control 11.

3. The functionality of the device is expanding, which consists, firstly, in the ability to move along the ground, snow, ice and water due to the multilayer rim of 44, 45 two-wheeled chassis, as well as movement through the mined area (as ground pressure is reduced) secondly, in the ability to move at any time of the day, in the ability to move on a horizontal and inclined surface, to recognize and avoid obstacles by using a color 3D video camera 18, a thermal imager 19, a night vision device 20, a locator 34, an altimeter 15 and 35, thirdly, in ensuring the search for explosives, marking of dangerous places and environmental assessment using a mine detector 16, a radiation and chemical reconnaissance device 17 and an air temperature meter 31, fourthly, in the possibility of drawing on an electronic map of the area dangerous areas (mined, chemically and radiation hazardous) and other dangerous objects (equipment, obstacles, etc.), fifthly, the possibility of transporting a larger mass of payload due to the reduction of pressure on the ground, snow, ice and water, shes s, image recognition of various dimensions and color, as well as audio information.

4. An increase in maneuverability and controllability (adaptability) to the changing wind situation (wind speed and direction) by changing the direction and speed of rotation of the propellers of electric drives of blocks 3-8.

5. Improving the speed and efficiency of performing specified operations through the implementation of parallel computing, analysis and processing of multidimensional information (including 3D images), performing automatic and automated modes of operation.

6. The increase in the duration of the autonomous mode of operation due to the use of a universal mobile power supply unit 29 and a universal stationary power supply unit 30, which consist of batteries and rechargeable units based on solar panels and a mini wind power unit.

7. Improving the convenience of servicing the device due to the additionally introduced computerized workstations of the pilot 26 and engineer 27, performing automatic and automated control modes for the robot, providing various information about the functioning state of the robot and the state of the external environment, as well as quick assembly, disassembly and transportation of the device.

8. Ensuring the safe functioning of the device by using various information about the state of the external environment (blocks 15-20, 31, 32), recognition of environmental objects (recognizer 35) and generation of safe control movements by the microcontroller control 11.

9. Ensuring own information security of the device, carried out by the encryption unit 36.

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Claims (20)

1. A device for determining and marking up areas of a territory with chemical and radioactive contamination, comprising a robot with a universal aerodynamic lattice, a hexocopter platform with motion drives and propellers, and a ground-based universal robot control panel, characterized in that it is equipped with mounted equipment on the hexocopter platform with a gyroscope, accelerometer, altimeter, mine detector, radiation and chemical reconnaissance device, 3D color video camera, thermal imager, n full-time vision, air temperature meter, wind direction and speed meter, GPS / GLONASS coordinate locator, locator, sound analyzer, information processing and control units with microcontroller control, motion drive control controller, flight drive control controller, autopilot, environment recognizer, unit stabilization, the attachment control unit, the marking unit of the hazardous area, the mechanism for installing on the terrain marking units of the hazardous area, a first transceiver and a universal mobile power supply unit, and the universal robot control panel contains control units comprising a computerized pilot workstation, a computerized engineer workstation, an antenna unit with an autotracker, a second transceiver, an encryption unit, a digital telemetry unit and a universal stationary power supply, while the control microcontroller is connected by separate bi-directional communications to the motion drive control controller, the control controller with flight drives, GPS / GLONASS coordinates, autopilot, environmental recognition, stabilization unit, attachment control unit, hazardous area marking unit and first transceiver, the movement drive control controller is connected by separate bi-directional connections to the first drive with a propeller and to the second drive with by a propeller, the flight drive control controller is connected by separate bidirectional communications to a third drive with a propeller, a fourth drive with a propeller, to that drive with a propeller and a sixth drive with a propeller, the stabilization unit is connected by separate bi-directional connections to the gyroscope and accelerometer, and the attachment control unit is connected by separate bi-directional connections to the altimeter, magneto-mine detector, radiation and chemical reconnaissance device, color 3D video camera, thermal imager, night vision device, air temperature meter, wind direction and speed meter, locator, sound analyzer, while attachments and control units hexocopter platforms are connected to a universal mobile power supply unit, a hazardous area marking unit is connected by separate bi-directional communications to a mechanism for installing hazardous area marking units on a terrain, a pilot's computerized workstation and an engineer's computerized workstation are connected by separate bidirectional connections and connected to an encryption unit, digital a telemetry unit, an antenna unit with an autotracker and a universal stationary power supply, and the first the transceiver by means of series-connected the second transceiver, the encryption unit and the antenna unit with the autotracker is configured to communicate with the pilot's workplace and with the engineer’s workstation. 2. The device according to p. 1, characterized in that the universal aerodynamic lattice contains two rims with spokes and bearings, connecting lattice and a horizontal axis on which the hexocopter platform is mounted with six drives with a propeller mounted on it. 3. The device according to p. 1, characterized in that the night vision device is made in the form of a television camera containing an infrared projector and having the ability to operate in the infrared optical range. 4. The device according to p. 1, characterized in that the thermal imager is made in the form of a television camera, perceiving and displaying a thermal image of the control object. 5. The device according to p. 1, characterized in that the color 3D-video camera has two optical range receivers and is configured to restore a three-dimensional color image of the control object. 6. The device according to p. 1, characterized in that the locator consists of a scanning beam emitter, a receiver of the reflected signal, a display of the received information and a communication interface with the consumer of information. 7. The device according to claim 1, characterized in that the hazardous area marking unit contains a chemical analysis device, a radiometer, a radio modem, a comparator, a GPS / GLONASS navigator and a power supply. 8. The device according to p. 1, characterized in that the installation mechanism on the terrain marking blocks of the hazardous area is equipped with a housing containing a control unit, a latch, an electromagnet and installed marking blocks. 9. The device according to claim 1, characterized in that the attachment control unit comprises a synchronizer for switching on the sequence of operation of the devices and a unit for controlling the position of the devices for retrieving information and transmitting it to the consumer. 10. The device according to p. 1, characterized in that the drives with a propeller are made in the form of an engine, gearbox, propeller, propeller rotation mechanism and attachment device to the hexocopter platform. 11. The device according to claim 1, characterized in that the control microcontroller is made in the form of a processor, a memory unit and an interface. 12. The device according to p. 1, characterized in that the controllers control the motion drives and flight drives are made in the form of a processor, a memory unit and an interface. 13. The device according to p. 1, characterized in that the transceivers are made in the form of a converter, encoder, decoder and amplifier. 14. The device according to claim 1, characterized in that the computerized workplace of the engineer is made in the form of a processor, a memory unit, an interface, a display, an environmental information display unit, and a keyboard. 15. The device according to p. 1, characterized in that the computerized workstation of the pilot is made in the form of a processor, a memory unit, an interface, a display and a manual control unit for the robot using the keyboard and / or joystick. 16. The device according to p. 1, characterized in that the environmental recognizer contains parallel-connected blocks of correlation analysis, Fourier analysis, wavelet analysis, fractal analysis, neural-fuzzy analysis, morphological analysis and structurally tunable analysis methods, and contains an intelligent unit analysis of results and input and output interfaces. 17. The device according to p. 1, characterized in that the universal stationary power supply is made in the form of a battery, an alternating electric current rectifier, a stabilizer, a charging unit, a solar battery unit and a mini-wind power unit. 18. The device according to p. 1, characterized in that the universal mobile power supply is made in the form of a battery, a recharge unit, a solar battery unit and a mini-wind power unit. 19. The device according to p. 2, characterized in that the rim of the aerodynamic lattice is made in the form of an unsinkable multilayer rim of high passability, containing an internal power polymer frame, an outer layer of carbon fiber and a filler of lightweight foam.

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