DE102019212105A1 - Operating procedures for a mine clearance system and a mine clearance system for triggering sea mines - Google Patents

Abstract

A method for operating a mine clearance system (21) is specified, - the mine clearance system (21) comprising at least one drone (22) for triggering sea mines, - the drone (22) at least one magnetic element (27a, 27b, 28) for Magnetic triggering of the sea mines, the method comprising the following steps: a) translational movement of the at least one drone (22) in the water and b) performing a first rotational movement of the drone (22) with respect to a first degree of rotational freedom (r1). A corresponding mine clearance system (21) is also given.

Description

The present invention relates to a method for operating a mine clearing system, the mine clearing system comprising at least one drone for triggering sea mines. The drone includes at least one magnetic element for magnetically triggering the sea mines. The invention also relates to a corresponding mine clearance system.

Known systems for the remote clearance of sea mines use unmanned drones which are equipped with magnetic coils or permanent magnets to trigger magnetic mines. These magnetic elements generate strong magnetic fields that can detonate the sea mines. The drones are designed in such a way that they are not damaged by the detonation at the distance typical for triggering.

Such drones can have their own drive system, for example the German Navy has remote-controlled boats of the "seal" type, which are equipped with a diesel engine. The magnetic element is designed as a magnetic coil and is integrated into the hull of the remote-controlled boats to trigger the mines. The magnetic coil itself is typically formed from a large number of turns of copper cable.

In addition to such drones floating on the surface, underwater drones for mine clearance are also known, which either also have their own drive or can be pulled by other (sub) watercraft.

The self-propelled drones can for example be powered by an electric motor. In general, the magnetic elements of such self-propelled drones can in principle either be designed as additional magnetic elements or they can fulfill a double function in which, in addition to their function for triggering mines, they also serve to generate a magnetic field in the electric motor. Such mine clearance systems with a magnetic dual function are for example in the DE102016203341A1 as well as in the as yet undisclosed German application with the file number 10 2018 217 211.0 described.

Many of the known mine clearing systems have not just one drone but several interconnected drones, each of these drones comprising one or more magnetic elements for triggering the sea mines. Such a network of connected drones, which are towed together as a chain from a transport ship, is for example in the EP0475834B1 described. This concatenation of several drones is used to reproduce a given magnetic signature of a hypothetical ship as accurately as possible. This is necessary because today's relatively complex sea mines are designed to only respond to certain magnetic signatures that correspond to the signatures of certain types of ships. The sea mines cannot easily be triggered by any magnetic signals. Rather, a certain time profile of a magnetic variable, for example the magnetic flux density measured by the sea mine, is necessary in order to cause a detonation. This time profile must correspond as closely as possible to the predefined magnetic signature of a certain type of ship expected by the sea mine in order to be able to cause the sea mine to detonate.

In order to be able to reproduce the magnetic signature of a predefined type of ship as precisely as possible, according to the state of the art, mine clearance systems are mostly used, the length of which is in the range of the length of the type of ship "to be simulated". For this reason, the chain length of several drones attached to one another in a mine clearance system is often in the order of 100 m or more. The number of drones chained to one another can, for example, be in the range between 3 and 7, with a higher number of drones typically being able to achieve better accuracy in the simulation of a specific predetermined magnetic signature.

The disadvantage of the mine clearance system according to the prior art is that the large number of drones used or the length of the chains of drones used results in a comparatively high level of equipment expenditure.

The object of the invention is therefore to specify a method for operating a mine clearance system which overcomes the disadvantage mentioned. In particular, an operating method is to be made available which, in comparison to the state of the art, enables a predefined magnetic profile to be reproduced as precisely as possible with a reduced number of drones or a reduced chain length. Another task is to specify a suitable mine clearance system.

These objects are achieved by the method described in claim 1 and the mine clearing system described in claim 12.

1. a) eine translatorische Fortbewegung der wenigstens eine Drohne im Wasser und
2. b) die Durchführung einer ersten Drehbewegung der Drohne bezüglich eines ersten Rotationsfreiheitsgrades.

The method according to the invention serves to operate a mine clearing system, the mine clearing system comprising at least one drone for triggering sea mines. The drone includes at least one magnetic element for magnetically triggering the sea mines. The procedure consists of the following steps:

1. a) translational movement of the at least one drone in the water and
2. b) performing a first rotational movement of the drone with respect to a first degree of rotational freedom.

The at least one drone can in principle either be self-propelled or it can be towed by another watercraft. In any case, the drone is that element of the mine clearance system which can lead to a magnetically induced detonation of the sea mines by means of the at least one magnetic element. The at least one magnetic element should therefore be designed so that the generated magnetic flux density is sufficient to detonate a sea mine in the vicinity of the drone.

In principle, the drone can either swim on the water surface or be moved under the water surface while diving. In principle, a combination of these two modes “swimming” and “diving” is also possible. In any case, according to step a), the drone should move in a translatory manner. This translational forward movement can in particular be a movement parallel to the water surface. The floating embodiment can in particular involve a movement along the surface of the water. The submerged embodiment can involve a corresponding movement along a lower plane which is parallel to the water surface. In other words, it can preferably be a horizontal translational movement. However, it is also possible and under certain circumstances advantageous that the translational movement also contains a vertical component, so that a diving depth of the drone is varied at the same time during the horizontal movement. In this case, the drone can also sink or climb in the water during the translational movement. It is only essential in connection with the present invention that the translational movement in step a) has at least one horizontal component, that is to say, in other words, a directional component parallel to the water surface.

In step b), in addition to this translational movement, the drone rotates in the water. The order of these two steps a) and b) is basically arbitrary: they can for example be carried out either simultaneously or one after the other, in particular in multiple successive changes. The drone as a freely movable body in the water basically has three independent degrees of freedom of rotation. The rotation of the drone should be a rotary movement with respect to at least a first of these three degrees of freedom of rotation. The rotary movement generally has the advantage that, for example, the magnetic flux density at a target location that is in the vicinity of the drone is also varied.

The “target location” described can in particular be a location in the vicinity of the mine clearance system at which a sea mine can be triggered. This target location does not have to be limited to a point-like area, but in particular it can also be a spatially extended triggering area, which in particular can have the shape of a conical target area. The described interaction of the translatory movement and the rotational movement of the drone can advantageously achieve that a predefined magnetic profile can be formed at the destination, which largely corresponds to the magnetic signature of a given type of ship. This destination is particularly advantageously in front of the drone in terms of translational locomotion (ie “viewed in the direction of travel”). In this way it can be achieved that the magnetic signature required to trigger the sea mines is simulated at the target location before the drone (or the mine clearing system as a whole) reaches the target location. In this way, a greater distance between the demining system and the detonating sea mines can be maintained. This reduces the risk of damage to the demining system if the sea mines detonate.

In other words, a desired magnetic profile can be projected ahead of the drone at a target location in front of the drone in the direction of travel through the described combination of translational forward movement and targeted rotary movement. It is particularly advantageous if, for example, the magnitude of the magnetic flux density at this target location ahead is higher than in the other areas in the vicinity of the drone. By executing the rotary movement (possibly in combination with the additional control variables described below) it can be achieved that not only a specific magnetic flux density is generated at the target location at a specific time, but that a specific temporal course of the flux density is also generated at the target location which largely corresponds to the magnetic signature to be reproduced. The magnetic profile simulated in this way can in particular be a be a predefined time course of the amount of the magnetic flux density, one or more directional components of the magnetic flux density or a combination of these mentioned variables.

This described “advance projection” of a predetermined magnetic profile can advantageously ensure that the mine clearing system causes a reliable detonation of sea mines, while at the same time reducing the number of drones required and / or the length of the chain of drones used compared to the prior art can. This reduction in the outlay on equipment can be achieved in that the rotational movement of the drone provides an additional degree of freedom in order to simulate a complex magnetic profile at a given target location. The extent of the mine clearing system can be reduced in particular by replacing an extensive drone train passing the sea mine at least in part by “projecting” the desired magnetic signature at the potential location of the sea mine. This has the further advantage that the detonation can, under certain circumstances, also take place at a greater and therefore safer distance from the mine clearance system.

The mine clearance system according to the invention has at least one drone for triggering sea mines. The drone comprises at least one magnetic element for magnetically triggering the sea mines. In addition, the drone comprises at least one control element for bringing about a first rotational movement of the drone with respect to a first degree of rotational freedom. In particular, this control element is designed to effect the rotary movement while the drone is swimming a surface of water or dipping below the surface of the water. So it is supposed to be a control element for causing the drone to rotate in the water. In principle, it can either be an active or a passive control element. An active control element should be understood to mean such a control element which has its own drive element in order to actively bring about the corresponding rotary movement. A passive control element should be understood to mean such a control element that does not have its own drive, but can interact with a further drive (for example the translational drive of the drone or an external tow drive by a mother ship or a guide drone) in order to use the water flow to perform a rotary movement effect of the drone. With the mine clearance system according to the invention, the advantages described above in connection with the operating method can be realized.

Advantageous refinements and developments of the invention are based on the claims 1 and 12 dependent claims and the following description. The described configurations of the method and the mine clearing system can advantageously be combined with one another.

In general, particularly advantageously, the drone has a longitudinal axis A. on, and the first degree of freedom of rotation corresponds to a rotary movement about this longitudinal axis. In other words, the rotational movement can involve rolling or heeling of the drone. The elongated shape of the drone is particularly preferred in order to enable low-resistance movement in the water. The rotary movement around the longitudinal axis is accordingly the rotary movement that is possible in the water with the least resistance. This applies in particular to a generally advantageous, largely rotationally symmetrical configuration of the drone with the longitudinal axis A. as an axis of symmetry.

As an alternative to the above-described rotation about the longitudinal axis, however, it is also possible and under certain circumstances advantageous if the first degree of freedom of rotation corresponds to a rotary movement about an axis which is perpendicular to the longitudinal axis. For example, such a rotation axis can be perpendicular to the longitudinal axis and (when the drone is oriented horizontally in the water) essentially parallel to the water surface. In other words, the rotary movement can then involve stamping or trimming the drone. According to a further alternative, the axis of rotation can be perpendicular to the longitudinal axis and (if the drone is oriented horizontally in the water) essentially perpendicular to the water surface. In other words, the rotary movement can then be a yaw or classic turning. In principle, however, rotations are also conceivable and under certain circumstances advantageous, in which these described classic maritime rotational degrees of freedom are combined with one another, so that a rotation is carried out with respect to an axis of rotation that is inclined in relation to the longitudinal axis of the drone.

With each of the rotary movements described, a magnetic flux density produced at the target location can preferably be varied particularly well if the at least one magnetic element is designed to form a magnetic field in which at least one pole axis has an angle α other than zero with the axis of rotation relevant for the first degree of freedom of rotation forms. This axis of rotation can particularly preferably be the longitudinal axis of the drone. A polar axis is generally to be understood as such a symmetry axis of the magnetic field on which two magnetic poles are arranged (a north pole and a south pole). Such a polar axis is also referred to as a magnetic axis in the specialist field. The angle α can preferably be in the range between 10 ° and 90 ° and particularly preferably in the range between 45 ° and 90 °. Then a rotation around the respective axis of rotation causes a particularly significant change in the magnetic field generated by the drone in the area. This significant change can in particular be a change in an amount of the magnetic flux density generated at the target location or also a change in the value and / or the sign of one or more individual directional components of the flux density.

• c) die Durchführung einer Drehbewegung der Drohne bezüglich eines zusätzlichen zweiten Rotationsfreiheitsgrades. Eine solche Kombination von wenigstens zwei Rotationsfreiheitsgraden entspricht also einer komplexeren Drehbewegung, mittels welcher ein vorgegebenes magnetisches Profil an einem vorgegebenen Zielort noch genauer nachgebildet werden kann. Die beiden miteinander zu kombinierenden Rotationsfreiheitsgrade können allgemein beliebig aus den drei weiter oben beschriebenen klassischen maritimen Rotationsfreiheitsgraden ausgewählt werden (also jeweils zwei der Freiheitsgrade Rollen/Krängen und/oder Stampfen/Trimmen und/oder Gieren/Drehen). Besonders vorteilhaft können auch alle drei der genannten Rotationsfreiheitsgrade miteinander kombiniert werden, um eine noch genauere Nachbildung eines gegebenen magnetischen Profils an einem gegebenen Zielort zu ermöglichen. Allgemein kann dieser zusätzliche Schritt c) ähnlich wie der bereits beschriebene Schritt b) gleichzeitig oder auch abwechselnd mit der Translation in Schritt a) durchgeführt werden. Auch die Schritte b) und c) können prinzipiell entweder gleichzeitig miteinander oder nacheinander durchgeführt werden.

Generally advantageously, the method can include the following additional step:

• c) performing a rotational movement of the drone with respect to an additional second degree of rotational freedom. Such a combination of at least two degrees of freedom of rotation thus corresponds to a more complex rotational movement, by means of which a predetermined magnetic profile can be simulated even more precisely at a predetermined target location. The two degrees of freedom of rotation to be combined with one another can generally be selected as desired from the three classic maritime degrees of freedom of rotation described above (i.e. two of the degrees of freedom roll / heel and / or pitch / trim and / or yaw / turn). In a particularly advantageous manner, all three of the stated degrees of freedom of rotation can also be combined with one another in order to enable an even more precise simulation of a given magnetic profile at a given target location. In general, this additional step c), similar to the already described step b), can be carried out simultaneously or alternately with the translation in step a). Steps b) and c) can in principle also be carried out either simultaneously with one another or one after the other.

• d) die Veränderung einer Tauchtiefe (T) der Drohne. Unter der Tauchtiefe soll hier allgemein die vertikale Entfernung des am tiefsten liegenden Punkts der Drohne zur Wasseroberfläche verstanden werden. Bei einer schwimmenden und nicht vollständig in das Wasser eintauchenden Drohne kann diese Tauchtiefe auch geringer sein als die vertikale Höhe der Drohne. Es kann sich dann also insbesondere um eine Eintauchtiefe einer an der Oberfläche schwimmenden Drohne handeln.

According to a further advantageous embodiment, the method can include the following additional step:

• d) the change in a diving depth ( T ) the drone. The diving depth is to be understood here generally as the vertical distance of the deepest point of the drone to the water surface. In the case of a floating drone that is not completely submerged in the water, this diving depth can also be less than the vertical height of the drone. It can then in particular be an immersion depth of a drone floating on the surface.

Such a change in the (immersion) depth can also be used to adapt the time curve of the magnetic flux density generated at a given target location even more precisely to a predetermined magnetic profile. In order to generate a predetermined time profile of the magnetic flux density, the at least one degree of freedom of rotation can advantageously be combined with a variation in the immersion depth. Generally, this additional step can d ) similar to the already described step c) can be carried out simultaneously or alternately with the translation in step a). Steps b), c) and / or d) can in principle either be carried out simultaneously with one another or at least in part sequentially.

As an alternative or in addition to the described change in the diving depth, you can (either within step d ) or in a further optional step) the speed and / or the direction of the horizontal movement or the horizontal movement component of the drone can also be changed. This, too, can advantageously enable an even more precise simulation of a predetermined magnetic profile at a specific location.

According to a first advantageous embodiment, the at least one magnetic element of the drone can be a permanent magnet. Such a permanent magnetic drone has a comparatively low expenditure on equipment, so that it is easy to manufacture and simple to operate. It is also comparatively robust.

According to an alternative, second advantageous embodiment, the at least one magnetic element of the drone can be an electrical coil element. One advantage of such an electrically magnetized drone is that a desired level of the magnetic flux density can be modulated relatively easily, in particular by means of an adjustable current flow. The electrical coil element can be, for example, either a normally conductive or a superconducting coil element. When using a superconducting coil element, particularly high magnetic flux densities can be generated with a comparatively small overall size.

It can also be advantageous to combine the first embodiment with at least one permanent magnet and the second embodiment with at least one electrical coil element so that several different magnet elements are present next to one another. In general and independently of the precise design of the magnetic element or the magnetic elements, these can be designed to form a magnetic field, the number of poles of which is advantageously between 2 and 16.

• e) eine zeitliche Veränderung eines Betriebsstroms des elektrischen Spulenelements. Hierdurch kann die magnetische Flussdichte an einem vorgegebenen Zielort auf besonders einfache Weise zusätzlich beeinflusst werden. In Kombination mit den bereits weiter oben beschriebenen Variationsmöglichkeiten kann so eine noch genauere Nachbildung eines vorgegebenen magnetischen Profils erfolgen. Allgemein kann dieser zusätzliche Schritt e) ähnlich wie die bereits beschriebenen Schritte b), c) und d) gleichzeitig oder auch abwechselnd mit der Translation in Schritt a) durchgeführt werden. Auch die Schritte b), c), d) und/oder e) können - soweit vorhanden - prinzipiell entweder alle gleichzeitig miteinander oder zumindest teilweise sequenziell durchgeführt werden.

In an embodiment with at least one electrical coil element, the method can generally advantageously include the following additional step:

• e) a change over time in an operating current of the electrical coil element. As a result, the magnetic flux density at a given target location can also be influenced in a particularly simple manner. In combination with the variation options already described above, an even more precise simulation of a given magnetic profile can be achieved. In general, this additional step e), similar to the steps b), c) and d) already described, can be carried out simultaneously or alternately with the translation in step a). Steps b), c), d) and / or e) can - if available - in principle either all be carried out simultaneously with one another or at least partially sequentially.

In general, the at least one drone can be a self-propelled drone in a particularly advantageous manner. A general advantage of a self-propelled drone is that no additional separate mother ship is required, which would be at risk if a sea mine were to detonate. Thus, the risks for the mother ship and its crew are advantageously avoided.

For example, the drone can have an electric drive. For this purpose, the drone can comprise an electric motor which can drive a drive screw of the drone, for example. The at least one magnetic element used to trigger mines can advantageously simultaneously be a magnetic element of an excitation device of the electric motor, similar to that in FIG DE102016203341A1 as well as in the as yet undisclosed German application with the file number 10 2018 217 211.0 is described. It is generally particularly advantageous here if the electric motor has a correspondingly low magnetic shield.

As already mentioned, the order of the steps described can be designed differently. Thus, according to a first advantageous variant, the two steps a) and b) can take place simultaneously. This should be understood to mean that the two steps mentioned overlap at least partially in time. So they do not necessarily have to have exactly the same duration. For example, it is possible and under certain circumstances advantageous if step a) lasts over a longer period of time t _a and step b) is carried out within the period of time t _a in one or more individual and comparatively shorter time intervals t _b . The individual time intervals t _b can in principle either be of the same length or of different lengths. In this first variant, it is only essential that step b) takes place while step a) continues, that is, while the drone is being moved. Step b) is preferably carried out several times in succession during this movement. In this way, a controlled simulation of the desired magnetic signature can take place while the drone is moving and thus while it is changing position. An advantage of this first variant is that the time for the drone to move can also be used for the targeted variation of the magnetic field generated in the environment. In this way, a predetermined, extensive spatial area can be traversed by the mine clearing system in a comparatively short total time and nevertheless be freed from active sea mines in a particularly reliable manner.

According to an alternative, second variant, the two steps a) and b) can also take place one after the other. In particular, both steps can each be carried out several times in a repeated alternating sequence. In other words, the drone can alternately be moved a bit in a translatory manner in order to then effect a targeted replication of the predetermined magnetic profile at the position reached by means of the at least one rotary movement. These two steps a) and b) can each be carried out alternately a large number of times in succession in order to reliably scan a spatially extensive area and to free it from sea mines. An advantage of this second embodiment variant can be that by decoupling the horizontal movement and targeted modulation of the magnetic field generated in the environment, a particularly precise simulation of a predetermined magnetic profile can be carried out at a given fixed target location.

In general and regardless of the exact sequence of the two described steps a) and b), it is advantageous in any case if step b) is carried out several times in succession, with the drone in a different position during each execution of step b) a projection on the water surface. Step b) can in particular be repeated in a periodically recurring sequence. The duration of the individual time intervals t _b for step b) can each advantageously be in a range between 1 second and 3 minutes, particularly preferably between 10 seconds and 3 minutes. Such a time interval is sufficient to simulate a predetermined magnetic signature at a given position of the drone at at least one target location and in particular also at several target locations in the vicinity of this position.

The mine clearance system can advantageously also include a plurality of drones for triggering sea mines. Thus it can also be provided within the scope of this invention that several such drones are linked together like a chain and travel together through the sea. Due to the advantages of the invention described above, however, the number of individual drones and / or the spatial extent of the chain can be reduced compared to the prior art, although a predetermined magnetic profile can be simulated with sufficient accuracy.

In such an embodiment with several drones, it is particularly advantageous if all of these individual drones have the features described above. For example, all individual drones can each have at least one magnetic element for the magnetic triggering of sea mines. The translational movement according to step a) is advantageously coupled for the individual drones in the chain. However, a certain translational relative movement of the individual drones cannot be ruled out, since this also enables a particularly precise reproduction of a given magnetic profile to be achieved. The rotary movement according to step b) must be implemented for at least one of the drones in the chain. However, it is particularly advantageous if all drones in the chain carry out such a rotary movement according to step b). This rotary movement can in principle either be synchronized for all drones in the chain or it can take place independently of one another. With a separate execution of different rotary movements of the individual drones, a particularly precise simulation of a given complex magnetic profile can in turn be achieved.

In such an embodiment with a chain of several drones attached to one another, it is particularly advantageous if at least one of the drones is self-propelled. This one drone can then tow the other drones in the chain behind it. Alternatively, however, it is also possible and under certain circumstances advantageous if all drones in the chain have their own drive. This enables both a translational relative movement and a separate rotation of the individual drones to be particularly easy.

According to an advantageous embodiment of the mine clearance system, the at least one drone can be a self-propelled drone. Regardless of whether this drone is self-propelled or whether it is moved passively, the control element for effecting the first rotational movement can in principle be either an active or a passive control element. It is particularly advantageous if the at least one drone has its own drive element which can drive both the translational movement of the drone and the rotational movement of the drone. To trigger the rotary movement, an additional passive control element, for example a rudder or a flap, can optionally be present. However, there can also be an additional active control element for the rotary movement, for example a separate motor.

Generally advantageous and independent of the translatory drive of the drone, the at least one control element can be, for example, a rudder, a flap or a motor. The motor can particularly advantageously be a separate motor which is provided in addition to a translatory drive motor of the drone. In particular, this can be a separate electric motor. It can for example be arranged axially in the vicinity of the drone's center of gravity, where it can trigger a rolling movement particularly effectively.

In general and regardless of the drive of the drone and the precise implementation of the control element, the drone can be designed so that in an area outside the drone (but close to its housing) a magnetic flux density of at least 5 mT, in particular at least 50 mT or even at least 500 mT can be achieved. With such high magnetic flux densities in the vicinity of the drone, a magnetic mine can be detonated at a distant target location even from a relatively great distance. For this purpose, an outer wall of the drone can be made of non-magnetic material. In connection with the present invention, an amagnetic material should generally be understood to mean a material with a relative permeability μ _r of at most 300.

In addition, the at least one drone can generally advantageously also include a further triggering system for acoustic and / or electrical triggering of sea mines. According to a particularly advantageous embodiment of the mine clearing system, this can in turn comprise several drones for triggering the sea mines.

• 1 eine schematische Darstellung einer nachzubildenden magnetischen Signatur eines Schiffes zeigt,
• 2 eine schematische Schnittdarstellung eines Minenräumsystems nach einem ersten Ausführungsbeispiel der Erfindung zeigt,
• 3 eine Rechteckspule zeigt,
• 4 ein räumliches Profil für eine mit der Rechteckspule der 3 ausgebildete magnetische Flussdichte zeigt,
• 5 die Abhängigkeit der magnetischen Flussdichte vom Abstand zum Spulenzentrum für verschiedene Raumrichtungen zeigt,
• 6 die Abhängigkeit von verschiedenen Komponenten der magnetischen Flussdichte vom Umlaufwinkel für einen magnetischen Quadrupol zeigt und
• 7 eine schematische Darstellung eines Minenräumsystems nach einem zweiten Beispiel der Erfindung zeigt.

The invention is described below on the basis of a few preferred exemplary embodiments with reference to the attached drawings, in which:

• 1 shows a schematic representation of a magnetic signature to be simulated of a ship,
• 2 shows a schematic sectional view of a mine clearance system according to a first embodiment of the invention,
• 3 shows a rectangular coil,
• 4th a spatial profile for one with the rectangular coil of the 3 shows developed magnetic flux density,
• 5 shows the dependence of the magnetic flux density on the distance to the coil center for different spatial directions,
• 6th shows the dependence of various components of the magnetic flux density on the angle of revolution for a magnetic quadrupole and
• 7th Figure 4 shows a schematic representation of a demining system according to a second example of the invention.

Identical or functionally identical elements are provided with the same reference symbols in the figures.

In 1 Figure 3 is a schematic representation of a magnetic signature 1 of a ship is shown, which has a length in the range of about 200 m. This magnetic signature should be reproduced as detailed as possible by a mine clearance system in order to simulate a modern complex sea mine that a corresponding ship is passing by and thus trigger the sea mine. In 1 is the dependence of the amount of the magnetic flux density B. shown from the position of an observation point, for example below the ship. The horizontal distance is correspondingly on the abscissa d of the observation point from the center of gravity of the ship in meters. This is a location-dependent magnetic signature 1 . An example is in 1 only the magnitude of the magnetic flux density is shown. Corresponding additional curves result analogously if the individual direction components (for example in the Cartesian spatial directions) are dependent on the horizontal distance x , y and z ) the magnetic flux density must be considered. Modern complex sea mines are often designed to compare a measured course for the amount of magnetic flux density as well as for its individual directional components with the known magnetic signatures of predefined ship types and to detonate only if they match sufficiently.

In the following, a magnetic signature is generally understood to mean the dependence of the magnetic flux density on a spatial coordinate, as shown in FIG 1 is shown. However, since a sea mine is not spatially extensive, it cannot measure the detected magnetic parameters as a function of location, but only as a function of time. This time dependency is calculated from the in 1 dependence of a magnetic parameter in combination with the speed of the passing ship and the (shortest) distance in which the ship passes the stationary sea mine. A time-dependent magnetic profile is actually measured by the sea mine, which is a function of the in 1 sketched magnetic signature results. The task of a mine clearance system is therefore to simulate the corresponding time-dependent magnetic profile of such a passing ship as well as possible, ideally not only for the in 1 shown amount of magnetic flux density B. but also for one or more directional components at the same time. This can result in complex characteristic patterns for certain predetermined types of ships.

2 shows a schematic partial perspective sectional view of a mine clearance system 21st according to a first example of the invention. This mine clearance system 21st includes only a single drone in the example shown 22nd which ones here in the water 20th and below the surface of the water 29 dives with a diving depth T . As an alternative or in addition, however, an insert floating on the surface of the water can also be considered. The drone 21st has a central longitudinal axis A. and moves along a direction of travel v which here with the longitudinal axis A. coincides.

It's the drone 22nd a self-propelled drone, which is driven by an electric motor 23 and a drive screw mechanically coupled to it 24 can even move in the water and does not have to be towed by a mother ship. Alternatively, however, an embodiment with a passive towing drive is also conceivable. The drone 22nd is designed to be at one destination 26th to generate a time-dependent magnetic profile, which corresponds as closely as possible to the magnetic profile that a ship passing at a typical speed would generate with a predetermined magnetic signature. In other words, the magnetic signature of a known type of ship is to be faked to one at the destination 26th detonated the positioned sea mine.

To get the desired time-dependent magnetic profile at the destination 26th to generate is the drone 23 equipped with at least one magnetic element. Are only exemplary for the drone 22nd of the 2 Several different magnetic elements shown: On the one hand, this drone has several coil elements 27a on which as excitation coils of the electric motor 23 be used. These coil elements 27a but fulfill a double function and at the same time serve to generate the desired magnetic profile at the target location 26th to participate. Additionally are in the back of the drone 23 further coil elements 27b shown which also in generating the desired magnetic profile, but are not part of the electric motor. From both types of bobbins 27a or. 27b there may be one or more in such a drone. It is particularly advantageous if the individual coil elements can be fed with a variable current so that the amplitude of the magnetic field generated can also be modulated. The drone points in the front area 22nd additionally a permanent magnet 28 on, which is shown here, for example, as an annular disc magnet. In principle, however, such permanent magnets can be present in the drone in any form and also in any number. Such permanent magnets can also contribute to the generation of the desired magnetic profile. The arrangement of each different type of magnet element 27a , 27b and 28 within a drone is only to be understood as an example here. Although a plurality of such elements can be arranged within a drone, it is generally sufficient if the drone comprises at least one magnetic element in order to bring about a magnetic triggering of a sea mine.

In the example of 2 is the current direction of travel v of the drone coaxial with the longitudinal axis A. . In principle, however, the translational movement of the drone can also have other directional components. In 2 is the direction of travel v slightly inclined in the coordinate system shown (with the Cartesian direction coordinates x , y and z ). The direction of travel v has a relatively large horizontal directional component within the xy plane, which is parallel to the water surface. However, it also has a slight component in the z-direction, which here corresponds to a slight sinking of the drone.

In addition to this translational movement, the drone also performs at least one rotary movement with respect to at least one degree of rotational freedom. The drone's three independent degrees of freedom of rotation are in 2 by the arrows r1 , r2 and r3 designated. The degree of freedom of rotation corresponds to this r1 rolling or heeling of the drone, the degree of freedom of rotation r2 corresponds to a stamping or trimming and the degree of freedom of rotation r3 corresponds to yawing or turning. A complex rotary movement can also take place in which the drone is rotated through several of the stated degrees of freedom of rotation. In any case, the described rotation of the drone at a certain point in time at the target location 26th generated magnetic flux density modulated. This generally applies to both the amount and the individual directional components of the flux density. Thus, the rotary movement can be used to get to the destination 26th to reproduce the time-dependent magnetic profile, which should correspond to the magnetic signature of a passing ship, as precisely as possible. In order to improve the simulation of the desired magnetic profile even further, the described rotary movement can optionally be varied with the immersion depth T and / or with a change in the operating current of a coil element 27a or 28a and / or with a variation of the direction of travel v and / or driving speed can be combined.

In general, it is particularly effective when the drone is in motion 22nd through the water at least the described rotary movement is performed several times in a row. This can be achieved one after the other at different destinations 26th a desired magnetic profile is simulated. This applies regardless of whether the rotary movement carried out is carried out simultaneously with the translational forward movement or alternately with the translational forward movement of the drone.

It is particularly advantageous if the rotational movement of the drone is at least one rotational movement with respect to the first degree of rotational freedom r1 is, in other words, if it includes rolling or heeling of the drone. To enable such a roll, the drone is 22nd of the 2 with a control 25th Mistake. This can either be an active control element (for example an electric motor) or also a passive control element (for example a rudder or a flap). Also for the rotary movement with respect to the other rotational degrees of freedom r2 and or r3 Corresponding further control elements (not shown here) can be provided.

The mine release by the mine clearance system described 21st is especially effective when at the destination 26th a comparatively high magnetic flux density is generated in comparison to the rest of the environment of the drone, this target location 26th in the direction of travel v can still be seen in front of the drone. It can particularly preferably be used as in 2 The direction of travel shown is in front of the drone and below the drone with respect to the water surface. The desired magnetic profile can be projected in advance at this target location and sea mines arranged at the target location can be detonated at a certain distance from the drone passing by, which reduces the risk of damage to the drone during the detonation.

With the following 3 to 6th it should be made clear how the described rotary movement of the drone contributes to the at least one magnetic element at a target location 26th to vary the generated magnetic field. So is in 3 an approximately square rectangular coil 31 shown, as for example as a coil element 27a or 27b in the drone of the 2 can be used. In the 3 Cartesian coordinate directions shown x , y and z represent only a local coordinate system and should not necessarily be those 2 correspond to the spatial directions shown. However, the local coordinate system used will be used in the following 4th and 5 maintained. When a current flows through the rectangular coil 31 a two-pole magnetic field is generated, the polar axis of which is denoted by P.

In 4th is the simulated spatial profile of the rectangular coil 31 of the 3 trained magnetic flux density B. shown at a given constant current flow. Shown are the curves for the magnitude of the magnetic flux density, which result from the center Z going outwards for three different surface sections: a square section of the xy plane, a square section of the xz plane and a square section of the yz plane each an edge length which corresponds to a multiple of the coil diameter. For this purpose, the corresponding area sections are divided into areas of similar magnetic flux density by hatching, the subdivision into the value ranges being selected according to a logarithmic scale. The end points of the value ranges are given in arbitrary units, whereby the numerical values are only intended to make it clear that a logarithmic scale was used. In 4th it can be clearly seen that for a certain distance from the center the magnitude of the magnetic flux density developed B. depends strongly on the spatial orientation of the observation point. Thus, by rotating the drone carrying the coil, a significant modulation of the magnetic flux density generated at an external target location can be achieved. This modulation is particularly strong if the rotary movement takes place around an axis of rotation which has an angle other than zero with the polar axis P includes. In other words, the field distribution in the environment changes particularly strongly when the magnetic pole axis is rotated P itself is tilted.

In 5 is the dependence of the on the rectangular coil 31 of the 3 trained magnetic flux density B. from the distance d from the coil center M. shown. This dependency is shown for different spatial directions: This is how the curve shows Bx the distance dependence for different positions along the x-axis. The curve By analogously shows the distance dependency for different positions along the y-axis. Finally the curve shows Bw the distance dependency along the diagonal direction (within the xz plane) given in 4th is denoted by w. The values for the amount of magnetic flux density B. are again given in arbitrary units on a logarithmic scale. The values for the distance d are given in multiples of the coil diameter. The noticeable peaks of the two curves By and Bw mark the locations of the current-carrying conductors. It can be seen that with larger distances of several coil diameters, the amounts of the flux densities on the x-axis are significantly greater than on the other two axes. This also shows that by rotating the drone accordingly, the magnetic flux density generated at the target location can be strongly modulated. The directional components (not shown here) can also be modulated accordingly, with a change in sign also being able to be effected at a correspondingly high angle of rotation.

The statements in connection with the 3 to 5 apply not only to the coil geometry considered here, but in a similar way also to other coil shapes. The strong directional dependence of the generated magnetic flux density also applies in a similar way to permanent magnetic dipoles. Even in the case of multi-pole magnet systems, a rotation of the excitation device can cause a significant modulation of the magnetic flux density generated. This is supposed to go through 6th exemplified for a magnetic quadrupole arrangement: So shows 6th the dependence of various components of the magnetic flux density on the angle of rotation 63 for a magnetic quadrupole, which can be implemented, for example, by a symmetrical arrangement of four electrical coil elements. In the upper part of the 6th is shown as the magnitude of the magnetic flux density 61 (here in arbitrary units) varied over half a revolution of 180 ° around the quadrupole arrangement. This revolution was simulated with a constant radius. The magnetic flux density 61 achieved in the area of the two magnetic pole axes P1 or. P2 a maximum, while in the areas in between it drops by a clear factor.

In the lower part of the 6th is shown how the directional components 62 the magnetic flux density vary with a corresponding revolution. Here, too, are the values for the directional components 62 given in arbitrary units. The curve Br denotes the course of the local radial directional component, while the curve Bt shows the course of the local tangential directional component. Viewed over half the rotation of 180 °, strong modulations with two zero crossings each result for both curves. Thus, by rotating a drone with a magnetic quadrupole, a strong modulation can be achieved both for the amount of the magnetic flux density and for the individual directional components. In particular, a predefined complex profile of the individual directional components can be simulated.

So if the sea mine to be detonated compares not only the amount of magnetic flux density but also its individual directional components with a stored target profile, a suitable sequence of rotational movements of the drone can still largely simulate the desired magnetic profile .

7th finally shows a schematic representation of a mine clearance system 21st according to a further example of the invention. The mine clearance system shown here has a guide drone 22nd on which, for example, are similar to the drone 22nd of the 2 can be constructed. In particular, this guidance drone 22nd be a self-propelled drone and have similar translational and rotational movements as the drone's 2 To run. In addition, the mine clearance system 21st of the 7th two more drones 71 on which by a tow rope 72 with the guide drone 22nd are connected. This multi-part mine clearance system is also overall for the formation of a predefined magnetic profile at a target location 26th designed. Each of the drones instructs you to do this 22nd or. 72 at least one magnetic element. The two rear drones too 71 are designed to perform rotary movements independently of one another with respect to at least one degree of rotational freedom. Because of this multitude of rotatable drones 22nd or. 72 can create the desired magnetic profile at the destination 26th can be modulated even more precisely. The outlay on equipment (in particular the number of drones and / or the spatial extent of the chain) can advantageously be kept lower than in the prior art by utilizing the rotary movements.

List of reference symbols

1

magnetic signature

20th

water

21st

Mine clearance system

22nd

drone

23

Electric motor

24

Drive screw

25th

Control

26th

Destination

27a

Coil element

27b

Coil element

28

Permanent magnet

29

Water surface

31

Rectangular coil

61

Magnitude of the magnetic flux density

62

magnetic flux density

63

Angle of revolution in degrees

71

drone

72

Tow rope

A.

Longitudinal axis

B.

magnetic flux density

Br

radial component of the magnetic flux density

Bt

tangential component of the magnetic flux density

Bx

Flux density curve along the x-axis

By

Flux density curve along the y-axis

Bw

Course of the flux density along the direction w

d

Distance from the center of gravity

M.

Center of the coil element

P

Polar axis

P1

first polar axis

P2

second polar axis

r1

first degree of freedom of rotation

r2

second degree of freedom of rotation

r3

third degree of freedom of rotation

T

Diving depth

v

Direction of travel

w

diagonal spatial direction in the yz plane

x, y, z

Cartesian spatial directions

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102016203341 A1 [0005, 0032]
• DE 102018217211 [0005, 0032]
• EP 0475834 B1 [0006]

Claims (15)

Method for operating a mine clearance system (21), - wherein the mine clearance system (21) comprises at least one drone (22) for triggering sea mines, - wherein the drone (22) comprises at least one magnetic element (27a, 27b, 28) for magnetic triggering of the sea mines, - wherein the method comprises the following steps: a) translational movement of the at least one drone (22) in the water and b) performing a first rotational movement of the drone (22) with respect to a first degree of rotational freedom (r1). Procedure according to Claim 1 , in which the drone (22) has a longitudinal axis (A), - wherein the first degree of freedom of rotation (r1) corresponds to a rotary movement about the longitudinal axis (A). Method according to one of the Claims 1 or 2 which comprises the following additional step: c) performing a rotational movement of the drone (22) with respect to an additional second degree of rotational freedom (r2, r3). Method according to one of the preceding claims, comprising the following additional step: d) the change in a diving depth (T) of the drone (22). Method according to one of the preceding claims, in which the at least one magnetic element of the drone (22) is a permanent magnet (28). Method according to one of the preceding claims, in which the at least one magnetic element of the drone (22) is an electrical coil element (27a, 27b). Procedure according to Claim 6 which comprises the following additional step: e) a change over time of an operating current of the electrical coil element (27a, 27b). Method according to one of the preceding claims, in which the drone (22) is a self-propelled drone. Method according to one of the preceding claims, in which steps a) and b) take place simultaneously. Method according to one of the Claims 1 to 8th , in which steps a) and b) take place one after the other. Method according to one of the preceding claims, in which the mine clearing system (21) comprises a plurality of drones (22, 71) for triggering sea mines. Mine clearance system (21) with at least one drone (22) for triggering sea mines, - wherein the drone (22) comprises at least one magnetic element (27a, 27b, 28) for magnetic triggering of the sea mines, - wherein the drone (22) comprises at least one control element (25) for causing a first rotational movement of the drone (22) with respect to a first degree of freedom of rotation (r1). Mine clearance system (21) according to Claim 12 in which the at least one drone (22) is a self-propelled drone. Mine clearance system (21) according to one of the Claims 12 or 13 in which the control element (25) is a rudder, a flap or a motor. Mine clearance system (21) according to one of the Claims 12 to 14th , which includes several drones (22,71) for triggering sea mines.

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