Remote control mobile robot, mobile robot video camera, sound-responsive self-guidance system, spherical grenade

FIELD: weapons and ammunition.

SUBSTANCE: proposed robot comprises armored body from ceramic plates with rotary turret, running gear with motor-driven wheels, storage battery system, diesel-generator or internal combustion engine, panoramic video cameras arranged on body and turret, sound-responsive self-guidance system. Running gear comprises telescopic posts of motor-driven wheels. Video camera casing comprises sliding armored blinds, and lens glass replacement mechanism. Spherical grenade to be fired from gun comprises ball-shape metallic layer arranged in fluoroplastic shell. Ball-shape explosive is arranged inside said metallic layer that has inner cavity, air ducts penetrating through layers and shell, pressure gage and detonator.

EFFECT: execution police or military missions.

17 cl, 33 dwg

Group of inventions relates to the field of engineering, to the structures of small mobile robots with remote control, designed for protection of various objects.

There is a method of protecting a protected water area of underwater saboteurs and Autonomous unmanned underwater vehicle to protect the protected waters of underwater saboteurs, including durable sealed housing, motor-propulsion system, standalone power source, controls, communications, detection and classification of objects and the means of their destruction (see patent RF №2269449, B63G 8/00, op. 2006). This device performs the functions of an underwater mobile robot carries out underwater exploration, conveys to the operator the information received and, if necessary, destroy objects. However, this solution is not intended for terrestrial conditions.

Known remote controlled radiation reconnaissance containing the support frame, the video monitoring system, consisting of three cameras, the vehicle made in the form of a multiwheel chassis with built in each wheel motor-gearbox, front wheels mounted on a rigid arm, swinging around the longitudinal axis of the chassis and the rear wheels each side is attached to the two swinging wishbone chassis, the Orme chassis installed battery, on the frame are radio and television transmitter, one of the cameras mounted for rotation, the operator panel contains the control module, power supply, battery, computer, video, radio and television receiver (see the patent for useful model RF # 82871, G01T 1/169, op. 2009). In this patent has not solved the problem of the development of armored, protected by a mobile robot. The known device has a maneuverable chassis, but solves the problem only radiation reconnaissance, therefore, not equipped gun systems.

Know the use of elektromotoren-wheels in the chassis of mobile transportation equipment (see patent RF №2291811, B62D 61/00, op. 2007). This solution is complex, bulky design, which cannot be used in compact mobile robots.

Known tracking receiver is a broadband signal with a high level of noise immunity (see patent RF №2157052, NV 7/00, op. in the year 2000). In this patent has not been considered practical use on mobile devices.

Known automatic return of the self-propelled robot to the charger (see patent RF №2306591, G05B 19/00, op. 2007). This patent describes a robot cleaner is running on battery. A problem with overmanage return self-propelled robot to a charger solved in a unique way thanks to the use of an infrared module.

Known combat system containing remotely controlled guns, the camera controller mounted on the weapon, drives the vertical and horizontal movement of the arms, the actuator trigger mechanism, connected by a communication channel with the controller arms and then with an onboard computer and the onboard receiving and transmitting device with on-Board antenna, which is connected by a communication channel through a control receiving-transmitting device with a host computer having a monitor and control device, such as a joystick, a camera, with a remotely controlled guns installed on the mobile installation (see the patent of the Russian Federation No. 2345313, IPC F41H 13/00, op. 2009). Described in this patent battle system solves the narrow task - provide remote control of small arms.

Known mobile robot containing accommodated in the housing of the device to move the robot, the block obstacle detection unit determining the current location of the robot, the controller can monitor the space in front of the robot, control unit, power supply, video camera surveillance, while moving the tool has posted a station of the mobile communication made with the possibility of INTERNET access, remote control, made in the form of the North-South Expressway is the first computer, United news channel with the mobile station, a device for moving a robot made in the form of a self-propelled truck, which is kinematically connected with the moving means, the axes of the driving wheels of self-propelled truck posted by the drive elements of DC motors, drives the driven wheels of self-propelled truck mounted photoemulsion sensors connected outputs to the inputs of block definitions traveled by the robot distances, and accelerometers connected the outputs to the inputs of the measuring unit of acceleration in the motion of the robot, the block detection obstacles is equipped with a transmitter and receiver of the ultrasonic signal (see patent RF №2274543, IPC B25J 5/00, op. 2006). This mobile robot belongs to robotics and is designed for the development of management methods, analysis of the state space in front of the robot and over him, measuring the acceleration when driving, get the image from the camera and save it, obtaining a three-dimensional image of the robot in real-time during its movement on the surface. It can be used for diagnostics of pipelines, hidden cavities, underground utilities in the presence of non-aggressive environment. This solution does not solve the problem of the practical application of mobile robot for razvedyvatel the x, security and military purposes.

Known armored anti-aircraft gun and missile articulated machine, comprising three pivotally connected sections, the outermost of which include suspension and Central placed between them in limbo, while the Central section is equipped with movable supports and the motor-wheel engine and automatic dissection from the extreme by automatic coupling devices, each of the sections is made with the possibility of Autonomous operation (see patent RF №2155314, F41H 7/00, op. in the year 2000). Central (combat) this machine has a rotary tower installation posted on her arms, drives his guidance, radar and optical-electronic information systems of detection and tracking, equipment management and combat crew. Move the combat section of the terrain in the occupation of the firing position is the motor-wheels. Installing the combat section at the firing position, raising and lowering it when the clutch or the clutch with the transport sections is carried out by means of hydraulic jacks. This machine is the original design is not intended for operation in remote control mode. But a complicated system of Assembly-disassembly dramatically reduces the power of its application in the context of rapid response.

Known protection system self-propelled armored devices, such as armored vehicles, including electronic block detection unit detecting the direction of the threat, the block implementation of a retaliatory strike with charges located in the container (see French patent for the invention of FR No. 2936046, IPC F41H 11/02, op. 2010). This system is designed to scan space using trapping Mach waves to detect external threats to self-propelled vehicles and destroy this threat. It is a complex system cannot provide high accuracy detection of threats, its radius is limited and vulnerable to external interference.

The closest technical solution to the claimed group of inventions is a very compact combat radio-controlled robot maneuverable wheel base, including armored body, camera surveillance and weapon system with radio-controlled guidance (see website http://mobbit.info/item/2010/11/15/mega-hurtz-tactical-robot-boevoi-radioypravlyaemyi-robot-dlya-voennyh-celei-video, op. 15.11.2010 year). Known technical solution is intended for use in military and security purposes, search and rescue operations. This minirobot is designed to work at a small distance from the operator, has a very simple design and are virtually protected from the helped it become one of the of the shells of the enemy.

The present invention is directed to the solution of the technical problem of improving the reliability and performance characteristics of a remotely controlled mobile robot while increasing its versatility, expanding the technical capabilities of the mobile robot, increase agility and speed running the system at higher security level.

The solution of a technical problem is achieved by the fact that the remotely controlled mobile robot, containing armored body with swivel tower installing and running the system, including motors-wheel independent source of energy, systems of automated outdoor surveillance, control units located on the mobile robot and the remote control system, turning gear tower installation made in the form of high-torque electric motor that includes located on the top floor of the armored corps table with stator windings are fixed in the table, and the rotor housing, located in the inner cavity of the table and associated with a table by means of ball bearings, and in the case of the rotor are permanent magnets with the opportunity to interact with the stator winding, while the suspension system is equipped with telescopic racks of elektromotoren-wheel, provided with an additional e what chromatogram, moreover, the system of automatic external tracking performed in the panoramic views located on the housing of the mobile robot and the tower cameras and sumpreme guidance system comprising a broadband receiver audio signals located at the perimeter of the tower directional microphones. The stator winding is fixed in the upper area of the table, and the permanent magnets of the rotor housing is located in its upper zone. The permanent magnets of the rotor body is made of rare earth metals. Additional motors telescopic racks made in the form of a vertically positioned in the lower zone of the telescopic legs of the rotor with the opportunity to interact with the permanent magnets of the stator installed in the housing of the motor-wheel with protective cover. Wheel suspension system installed on the drive, made in the form of a tire filled with a porous material, for example foam rubber, and the Central part of the wheel located therein an electric motor with an outer side provided with armored cap. Armored body is made of ceramic plates. The mobile robot is equipped with a combat unit for shots spherical grenades, including the trunk with the mechanism of change in its position mounted on the tower, and located inside mobilpohotovosti bulb with a spherical grenades, equipped with a screw distributors related to screw conveyor for feeding spherical garnet is the triggering mechanism. The barrel of a combat unit is equipped with a protection device arranged on the output end and is made in the form of rotary valves with actuator. Combat device for shots spherical grenades equipped located on the bracket of the trunk video cameras and a laser target pointer. Mobile robot equipped with an additional combat device located in the rear area of the housing and including a container with compartments for charges type RPG-2, with each compartment of the container is provided with a protective twist-off closures located at the inlet and outlet ends of the compartments and the container is located on the telescopic frame and provided with a driven cast in combat position and the actuator guidance system, and additional combat the device has located inside the body of the mobile robot blocks charges with swivel mounts. Mobile robot equipped with installed on the container extra combat device camera pointing. Mobile robot equipped with machine guns, located on a common bracket with the barrel of a combat unit. Mobile robot equipped with machines that are located on a common bracket with the barrel of a combat unit. Camera mobile is the main robot is equipped with a protective elements.

And the fact that the camera of the mobile robot, including located in the casing of the lens, a casing provided with a protective mobile armored shutters, while the casing is further provided with a set of replaceable glass lens with mechanism replace the damaged glass lens.

And the fact that sumpreme system homing mobile robot that includes a broadband receiver audio signals located at the perimeter of the tower directional microphones, directional microphones are arranged in three rows along the perimeter of the tower, with sound channels of microphones in the bottom row are arranged horizontally, in the middle row - with an inclination to the horizon line at a slight angle, and sound channels of the upper row of microphones are arranged with an inclination of 45° to 75°.

And the fact that spherical garnet, including located in the bore of the shell spherical metal layer, made for example from steel crumb, in the spherical cavity of the metal layer is a spherical layer of explosives with an internal cavity connected to the outside air through the ducts passing through the layers and the membrane, and into the cavity of the spherical layer explosives around the perimeter at the ends of the ducts are located on tchiki air pressure with primers, at the same time, the internal cavity of the spherical layer of the explosive fuse is made that can be activated under high pressure of air at the motion of a spherical grenade down the barrel.

The invention is illustrated by drawings. 1 shows a remotely controlled mobile robot in the transport position, in ISO. Figure 2 - the same, top view. Figure 3 - the same, lateral view. Figure 4 - same options for the location of the barrel and container RPG in working condition. Figure 5 is a mobile robot equipped with machine guns in the transport position, front view. Figure 6 is the same, the trunk side in battle horizontal position, front view. Figure 7 is the same, the trunk side in combat inclined position, front view. On Fig - mobile robot equipped with machines in the transport position, front view. Figure 9 is the same, top view. Figure 10 is the same, the barrel is inclined and deployed at 45°from the front. Figure 11 is the same, a fragment of the tower and with the barrel and machines, in ISO. On Fig - mobile robot is removed from the left side of the casing, side view. On Fig - same with removed top batteries, side view. On Fig - the same is removed from the upper part of casing, top view. On Fig the same, with the removed front part of the casing, the front view. On Fig is the same, the container RPG in the charging position, side view. On Fig - mobile robot, economy version without the RPG system is removed from the side part of the casing, side view. On Fig is the same as in ISO. On Fig - mobile robot, chassis, bottom view. On Fig - system RPG in the working position. On Fig - rotating mechanism of the tower, longitudinal section. On Fig - leaf stem in the closed position. On Fig - leaf stem in the open state. On Fig - wheel with built-in motor (motor-wheel), ISO. On Fig is the same in cross section. On Fig the camera body with a closed protective cover. On Fig the same, with an open shutter. On Fig the same, at the transition point of the glass chamber. On Fig - fragment broadband receiver audio signals, in cross-section. On Fig - spherical grenade in cross section. On Fig - remote control system of mobile robot in the transport condition. On Fig - remote control system of mobile robot in working condition. On Fig depicts an exemplary sequence loaded in the memory of the control system with forbidden images.

Remote controlled compact mobile robot includes a housing 1 with a ceramic armor, consisting of rugged ceramic plates 2. Limit the size of a mobile robot height does not exceed 1.5 meters. In the upper zone of the housing 1 is tower installation including a rotary tower is 3. The mobile robot has a suspension system comprising a wheel 4 (motors-wheel) with integrated electric motor 5, which is located on the horizontal axis, connected through the housing 6 mechanism 7 to rotate around a vertical axis by means of a vertically positioned motor 8. Mobile robot equipped with cameras 9 of the housing 1, panoramically located on the body 1 at its perimeter and video cameras 10 tower 3, panoramically located on the tower 3 along its perimeter.

Rotary tower 3 has technological Luke 11 and can be equipped with a combat unit with the mechanism 12 changes the position of the shaft 13, intended for shots spherical grenades 14. The barrel 13 is provided with a device 15 protection with rotary valves 16 around axis 17 by means of the actuator 18. On the brackets of the barrel 13 is installed additional camera 19 and the laser pointer 20 goals. Tower 3 is located on the upper space 21 of the housing 1. At obtuse angles thereto adjacent the upper side sloping platform 22, the forward inclined pad 23 and the rear inclined pad 24. The camera 9 is located in the upper zone of the upper sloping sites 22, 23 and 24. Service hatch 25 is located on the platform 23, towing loops 26 are installed at sites 23 and 24. The forward inclined platform 23 with the inclined bottom of the housing 1 forms a wedge-shaped edge, the stepping forward, which if necessary can be used as a battering RAM. Mobile robot can be equipped with additional combat unit, located on the rear of the inclined pad 24 in a special opening and including a container 27 with compartments 28 for charges 29 type RPG-2 (standard Russian anti-tank grenade launcher). Each compartment 28 is supplied located at the inlet and outlet ends of the compartments 28 protective swivel caps 30. The container 27 mounted camera 31 guidance. The container 27 is located on the telescopic frame 32 with the actuator 33 cast in combat position and the actuator 34 of the guidance system.

The suspension system of a mobile robot equipped with a telescopic racks 35 wheels 4 located above the electric motors 8 which includes a stator 36, the permanent magnets 37 of the rotor, upper and lower bearings 38 mounted in the housing 6 with a protective cover 39. Wheels 4 mounted on the disks 40, represent the tire 41 filled with a porous material 42, such as foamed rubber. The Central part of the wheel 4 located there by the electric motor 5 from the outer side protected by the armored cap 43. This design provides protection and stable operation of 4 wheels with the electric motor 5 when hit various projectiles and splinters.

The video camera 10, 19, 31, pictured on Fig-28 located is received in the casing 44 and provided with a protective mobile armored shutters 45. In the casing 44 is a set of replacement glass 46 mechanism replace the damaged glass lens 47. Camera 9 of the housing 1 is equipped with an adjustable armored shutters 48.

The rotary mechanism of the tower 3 is a high-torque direct motor, which includes located on the upper platform 21 of the housing 1 table 49, which is the body of the stator, in the upper zone which is fixed to the winding 50 of the stator. In the inner cavity of the table 49 is the case 51 of the rotor associated in the lower area with table 49 by means of ball bearings 52. In the upper zone of the housing 51 of the rotor permanent magnets 53 of rare earth metals with the opportunity to interact with the winding 50 of the stator. On the rotary turret 3 in its lower zone is Svyatlana system homing representing a wideband receiver 54 audio signals, including arranged in three rows along the perimeter of the tower 3 microphones 55 directed action. In the bottom row audio channels 56 microphones 55 are arranged horizontally, in the middle row - with an inclination to the horizon line at a slight angle. The top row of microphones 55 has a greater slope (from 45° to 75°).

The housing 1 of the mobile robot and the rotary tower 3 can be made watertight for movement under water. For this purpose, the housing 1 and tower 3 equip seals (the e is shown) to prevent the ingress of moisture into the housing 1.

To ensure noiseless move the mobile robot is equipped with a battery system, consisting of dry batteries 57 compactly located inside the housing 1. If necessary, the mobile robot can be additionally equipped with a diesel generator, or the internal combustion engine (ice) 58 associated with the generator 59 by means of a belt 60. In a mobile robot, you can use a diesel generator or engine 58 as the main engine for the cases when there is no need to silence a mobile robot.

In the embodiment, a mobile robot equipped with a combat device using spherical garnet 14, the front area of the internal cavity of the housing 1 has a reservoir 61 flasks 62, equipped with a screw valves 63. The container 61 is connected with the screw conveyor 64 for feeding spherical grenades to pneumatic triggering mechanism (not shown) of the barrel 13. Next to the tank 61 are cylinders 65 of compressed air designed for launch and activation spherical garnet 14. Pomegranate 14 contains a spherical metal layer 66, made for example from steel powder coated with fluoroplastic sheath 67. Inside the metal layer 66 is spherical layer 68 explosives with an internal cavity 69. The cavity 69 is connected with the outdoor air posledstvija.moscow 70, passing through the layers 68, 66 and the shell 67. Each duct ends 70 sensor 71 air pressure located in the cavity 69 along its perimeter. Near the sensors 71 are primers 72. Inside the cavity 69 is a fuse that can only be activated under high pressure of air at the motion of a spherical grenades 14 on the shaft 13.

In the use case of a mobile robot additional military devices for charge type standard Russian antitank grenade launcher RPG-2 inside the housing 1 in its rear area units charges 29 type RPG holders 73, equipped with a mechanism 74 of the rotation.

To increase the versatility of a mobile robot it can optionally be equipped with either machine guns 75 that are located on a bracket 76 with the shaft 13, or machines 77 located on the bracket 78 parallel to the barrel 13. The mechanism 12 changes the position of the shaft 13 is also designed to change the position or machine gun 75 or machine 77.

Executive blocks 79 electronic system 80 of the remote control are located on the inner surface of the housing 1 and is securely protected by armor, which consists of the ceramic plates 2. Compact portable system 80 remote control housed in a portable case 81. In the case 82 case 81 are keyboard with the tour 83 programmer, remote 84 switching driving modes, regulators 85 parameters of a mobile robot, joysticks 86 manual movement control, joysticks 87 and 88 manual control of combat units. On the housing 82 of the case 81 is hinged stand under the hand of the operator. In the cover 89 of the case 81 posted by the monitor 90, lighting the lamp 91 and the antenna 92. In the monitor 90 provides a window 93 to receive images from all cameras 9, 10, 19, 31.

Modern automated and robotic welding technology and the availability of rugged and lightweight metal alloys allow to make the main nodes of the mobile robot is durable, lightweight and reliable. Ceramic armor made of fine ceramics and composites based on high-strength materials, as well as dispersion-ceramic armor provide high protection mobile robot guard. Thanks to the use of motor-wheels mobile robot has high speed and good maneuverability even in a small space.

Remote controlled compact mobile robot operates in the following manner. In a variant, when the mobile robot is equipped with only batteries 57, his work is limited by the number of batteries 57: the more options has a mobile robot, the less space for extra batteries 57. Single or group of mobile Rob is tov be in the area of protection together with complex charging and spare mobile robots. During the movement in the protected area is very important silence and invisibility of a mobile robot. Therefore, its small size it is maximally lowered to the ground: strut 35 4 wheels are in the down position. Raising the telescopic legs 35 is implemented just for a brief moment, when the mobile robot should be increased overview in height. Most of the programs contained in the system memory 80 control allows you to operate the mobile robot in automatic mode, but one or two operators constantly monitor all incoming information and, if necessary, correct the movement and operation of the mobile robot.

Due to the fact that the perimeter of the tower 3 is a panoramic Svyatlana system homing representing a wideband receiver 54 audio signals, comprising three rows of microphones 55 directional with wide angle coverage, height, provides a high scanning speed of sound space and the isolation of the strongest signal. High performance and security quality mobile robot enable instant response to threat signals: gunshots, explosions, etc. In a combat situation, when revealed the presence of a hazard, the system 80 mobile robot control or triggered instant homing: is he can answer, shot for shot, explosion and similar danger, or instant change of location of the mobile robot. Multiple levels of security of mobile robot and high maneuverability due to the use of wheels 4 built-in electric motor 5, and the rack 35 of the electric motor 8, provides a high level of "survival". With the support of his weapons mobile robot can perform all of its functions to the full discharge of the battery 57. Ideally, the mobile robot must be able to return to the complex charging, and in its place sent the following mobile robot from being in stock. In a variant, when the mobile robot is equipped with a diesel generator, or the internal combustion engine (ice) 58, his independent movement increases significantly, but it becomes more vulnerable to systems Zvukovaya.

The presence of sets of interchangeable glass 46 mechanism replace the damaged glass 47 of the camera lens 10, 19, 31 enables a mobile robot to explore the protected territory while fighting the enemy even in the absence of military weapons in a mobile robot scout. Instant replacement glass 47 practically does not interrupt the transmission of the images. Several video cameras 9 and 10 provide a panoramic scope and duplicate part of the coal shall review each other. Video cameras 9, 10, 19, 31 carry out surveillance under any lighting conditions, including that they are designed for night vision.

Military weapons that can be used on a mobile robot, also has several levels of protection. The barrel 13 is provided with a device 15 protection with rotary valves 16 around axis 17 by means of the actuator 18, thus eliminating the bombardments of the enemy in the bore of the barrel 13. On the shaft 13 is installed additional camera 19 with interchangeable glass 46. Due to the high speed performance of the swivel mechanism of the tower 3 through the use of high-torque electric motor, the rotation shaft 13 in the direction of the kick is very fast, which is one of the important conditions for survival of a mobile robot in a combat situation. Spherical grenades 14 to activate the barrel 13 by blowing through ducts 70 compressed air are completely safe. They do not explode when hit. Spherical grenades 14, located in the tubes 62, roll under its own weight as spending via valves 63, and to the trunk 13 of them served with the screw conveyor 64. Activation garnet 14 occurs at the last moment move inside the barrel 13 before their departure. Only in this case garnet 14 explodes when you hit the target.

Additional combat device is ustwo, located in the opening in the rear of the inclined pad 24 with the container 27, armoured mobile robot and extends outward from the opening of the platform 24 just before striking. The outer surface of the container 27 is also covered with ceramic armor. The camera 31 is equipped with sets of interchangeable glass 46. To recharge compartments 28 new party charges 29 container 27 is put forward at an acute angle to the horizon on the length of the container 27. Recharge occurs inside the housing 1. Each compartment 28 is a shaft for a shot charge 29. Shots charges 29 of the compartments 28 are carried out by the queue automatically. Recharging of the container 27 is almost instantaneous. The presence of such additional options as gun 75 or machine 77 on a mobile robot increases its protection.

In the memory system 80 remote control of mobile robot entered the forbidden images 94 (an example of the sequence depicted in Fig). Images from video cameras 9, 10, 19, 31, in the online mode are scanned and mapped system 80 with forbidden images 94, so the shots towards children, women, the elderly and peaceful people, etc. is practically eliminated. Program system 80 is provided for the situation where a mobile robot has expended resources battery 57 or has damage that is not compatible with the further performance of their function is, and is surrounded by the enemy threat of capture, that triggered the command of self, and mobile robot snapdrive.

The versatile design of mobile robot and its main components: chassis, high mobility, armored corps, panoramic sumpreme guidance system in conjunction with a rotary mechanism for tower 3, possessing a high degree of performance, easily made in terms of both the single and serial production using modern element base, advanced engineering materials. This mobile robot can perform security functions for almost all remote objects, and the presence of weapons - even in hazardous areas.

Thus, the technical result achieved with the use of the claimed invention is to improve reliability and improve operational characteristics of a remotely controlled mobile robot while increasing its versatility and increase scanning speed of sound space, expanding the technical capabilities of the mobile robot, easy manoeuvrability and speed running the system at higher security level.

1. Remote-controlled mobile robot, containing armored body with swivel is ashenai installing and running the system, including electric motors-wheel independent source of energy, systems of automated outdoor surveillance, control units located on the mobile robot and the remote control system, while the rotary mechanism of tower installation made in the form of high-torque electric motor that includes located on the top floor of the armored corps table with stator windings are fixed in the table, and the rotor housing, located in the inner cavity of the table and associated with a table by means of ball bearings, and in the case of rotor permanent magnets with the opportunity to interact with the stator winding, while the suspension system is equipped with telescopic racks of elektromotoren-wheels, equipped with an additional electric motors and automatic external tracking performed in the panoramic views located on the housing of the mobile robot and the tower cameras and sumpreme guidance system comprising a broadband receiver audio signals located at the perimeter of the tower directional microphones.

2. The robot according to claim 1, characterized in that the stator winding is fixed in the upper area of the table, and the permanent magnets of the rotor housing is located in its upper area.

3. The robot according to claim 1, characterized in that the permanent mA the magnets of the rotor body is made of rare earth metals.

4. The robot according to claim 1, characterized in that the additional electric telescopic racks made in the form of a vertically positioned in the lower zone of the telescopic legs of the rotor with the opportunity to interact with the permanent magnets of the stator installed in the housing of the motor-wheel with protective cover.

5. The robot according to claim 1, characterized in that the wheel suspension system installed on the drive, made in the form of a tire filled with a porous material, for example foam rubber, and the Central part of the wheel located therein an electric motor with an outer side provided with an armoured dome.

6. The robot according to claim 1, characterized in that his armored body is made of ceramic plates.

7. The robot according to claim 1, characterized in that it is equipped with a combat unit for shots spherical grenades, including the trunk with the mechanism of change in its position mounted on the tower, and located inside a mobile robot with a spherical bulb grenades, equipped with a screw distributors related to screw conveyor for feeding spherical garnet is the triggering mechanism.

8. The robot according to claim 7, characterized in that the barrel of a combat unit is equipped with a protection device arranged on the output end and is made in the form of rotary valves with actuator.

9. The robot according to claim 7, ex is different, however, that combat device for shots spherical grenades equipped located on the bracket of the trunk video cameras and a laser target pointer.

10. The robot according to claim 1, characterized in that it is provided with an additional combat device located in the rear area of the housing and including a container with compartments for charges type RPG-2, with each compartment of the container is provided with a protective twist-off closures located at the inlet and outlet ends of the compartments and the container is located on the telescopic frame and provided with a driven cast in combat position and the actuator guidance system, and additional combat the device has located inside the body of the mobile robot blocks charges with swivel holders.

11. The robot of claim 10, characterized in that it has installed on the container extra combat device camera pointing.

12. The robot according to claim 1, characterized in that it is equipped with machine guns, located on a common bracket with the barrel of a military unit.

13. The robot according to claim 1, characterized in that it is equipped with machines that are located on a common bracket with the barrel of a military unit.

14. The robot according to claim 1, characterized in that its camera is equipped with protective elements.

15. The camera of the mobile robot, including located in the casing of the lens, being the m a casing provided with a protective mobile armored shutters, when this casing is further provided with a set of replaceable glass lens with mechanism replace the damaged glass lens.

16. Svyatlana system homing mobile robot that includes a broadband receiver audio signals located at the perimeter of the tower microphones directional and directional microphones are arranged in three rows along the perimeter of the tower, with sound channels of microphones in the bottom row are arranged horizontally, in the middle row - with an inclination to the horizon line at a slight angle, and sound channels of the upper row of microphones are arranged with an inclination of 45° to 75°.

17. Spherical grenade, including located in the bore of the shell spherical metal layer, made for example from steel crumb, while in the spherical cavity of the metal layer is a spherical layer of explosives with an internal cavity connected to the outside air through the ducts passing through the layers and the membrane, and into the cavity of the spherical layer explosives around the perimeter at the ends of the ducts are pressure sensors with primers, while in the internal cavity of the spherical layer of the explosive fuse is made with the possibility of aktivirovaniya high pressure air when the motion of a spherical grenade down the barrel.