EP0769707A2 - Transducer support - Google Patents

Abstract

A probe carrier (1) is described which has at least one probe holder and means for spacing to enable a translational movement of the probe carrier in a direction of movement (25, 25 ') over a search area. At least one probe (10) (eddy current probe and / or magnetic field probe) for soil exploration and foreign body detection is arranged in the search area on the probe holder. A, preferably long, drawbar (11) is provided which is connected to the probe holder and has coupling means (17, 18, 19) remote from the probe holder for flexible coupling to a vehicle. If, for example, the probe carrier is pulled or pushed by a land vehicle, the uneven ground and level differences between the land vehicle and the probe receptacle have only a minor effect on the alignment of the probe receptacle because of the preferably long drawbar, so that the probes connected to the probe receptacle are always largely optimally aligned with the search area stay. <IMAGE>

Description

The invention relates to a probe carrier.

The near-surface area of the ground is heavily contaminated with foreign bodies in many areas, particularly as a result of industrialization and military activities.For example, large areas of the world are contaminated with mines and unexploded ordnance and other war material and therefore because of the danger to life and limb of people and animals practically unusable. The contamination of military training grounds by fragments, projectiles and the like is also problematic. The detection and subsequent clearance of such and similar contaminated sites is of the greatest importance.

For the detection of electrically conductive, in particular metallic, contaminated sites, which are beyond human perception because they are located in the ground, inductive probes that work according to the eddy current principle are often used. It is also known to search for magnetizable, in particular magnetizable ferromagnetic materials by means of magnetic field probes.

In addition to the personnel-intensive, cost-intensive and dangerous manual search by probe users, wherever this is possible from the field, mobile probe carriers are also used, which usually carry several probes and enable a more efficient search. DE 44 43 856 describes a mobile probe carrier which is pulled by means of a rope or a chain from a land vehicle and which has a driver's seat which can also be adapted to a slope. In this method, it is considered advantageous that the probe carrier hanging on the rope or chain is otherwise freely movable and can follow the surface relief of the ground largely freely. With this probe carrier, however, it turns out to be difficult, particularly in the case of probes with a pronounced directional characteristic, to assign the search signals determined by the probes to a specific location in the search area.

DE-A 38 26 731 and 39 28 082 and US-A-4 021 725 have disclosed devices which carry a probe carrier on the brackets of a vehicle. Neither the alignment nor the distance from the ground can be reliably observed. In rough terrain, the probe carrier cannot collide with the ground if the vehicle "nods" due to uneven ground.

DE-A-42 42 541 relates to a search device in which a daughter vehicle with a boom is controlled by a mother vehicle via a supply line or a radio link. The probe holder is also mounted on a boom. Basically, the same problems arise as previously described.

The invention is based on the technical problem of creating a probe carrier with which one or more probes are so can be performed that they are always aligned essentially optimally to the search area, so that the search signals emitted by the probes can be assigned to the actual location of a search object in the search area with greater accuracy.

This problem is solved by a probe carrier with the features of claim 1.

The arrangement according to the invention advantageously limits the freedom of movement of the probe carrier. The connection between the probe holder and the drawbar ensures that tilting movements of the probe holder in the direction of movement are only possible at relatively small angles. The tilting axis is laid in the end area of the drawbar on the vehicle. The tilt angle is thus largely independent of the unevenness of the driving surface in the area of the probe holder and essentially determined by the change in the height difference between the probe holder and the coupling location on the vehicle. The longer the rigid section of the drawbar rigidly connected to the probe holder, the weaker the absolute changes in height difference will be when the probe holder is tilted. The drawbar length depends on the overall size of the vehicle and the purpose and terrain. A drawbar length of 4 to 10 meters, preferably about 7 meters, or about 1.5 to 4 times the horizontal dimensions of the probe holder, gives the desired results.

This also ensures that the orientation of the probes is largely constant relative to the search area. This is particularly advantageous for probes with a pronounced directional characteristic. Large location errors in particular could occur when the probe is in a pronounced inclined position comes as is possible with the probe carrier of the prior art. The long drawbar also enables an advantageous large distance between the probes and the towing vehicle, the metallic parts of which, particularly when they are moved relative to the probes, could act as interferers. Despite the advantageously large space between the preferably manned land vehicle and the probe receptacle, good controllability of the probe carrier with high cornering accuracy and directional stability is maintained.

The probe carrier can be towed by a towing vehicle. This is the preferred way of moving, especially when looking for non-explosive foreign bodies. However, it is also possible to provide security when towing, at least against mines of lower effectiveness, such as personnel mines, which could be triggered by the probe carrier. For example, the running gear could be adjustable in its direction of travel. So you could set the direction of travel specified by the chassis at an angle to the drawbar extension, so that the probe carrier is towed in a lane to the side of the towing vehicle (so-called "dog walk"). In this case, the towing vehicle can drive on safe ground that has already been searched and can expand it further, for example by spiraling around a danger zone.

However, the chassis could also be steerable, the steering preferably being operable from the vehicle. This can be done by cables or other means, such as hydraulic or pneumatic control means. In this case, obstacles can be avoided when towing without the vehicle having to leave the search lane.

In contrast to the previously known probe carriers, the probe carrier of the invention also allows the probe carrier to be pushed in front of the vehicle. This can be advantageous, for example, if there are potentially explosive objects under the search objects. In such a case in particular, the long drawbar also offers an additional safety gain for an operator operating in the vehicle. The steering can be used particularly advantageously in that the probe carrier is steered, for example, in front of a vehicle traveling on a road and searches the lane to be traveled later by the vehicle, for example the towing vehicle of a convoy. The steerability ensures that even relatively narrow search lanes (roads) can be driven in the main vehicle without too much driving skill and above all without leaving the searched lane.

It is particularly advantageous if the drawbar can be bent in the horizontal direction, that is to say about a vertical axis, in order, for example, to be able to drive along serpentines.This is advantageously possible if it consists of a link chain, for example, which is rigid in the vertical direction, but laterally Bends allowed. Such link chains can consist of box-shaped links which are connected to one another by vertical pivot axes. They ensure that the effect of the rigid drawbar is maintained by maintaining the vertical alignment of the probes, but allows deflections when this is necessary, for example, when driving around a rocky outcrop or the like. This also prevents the drawbar, which is also the main carrier of the supply lines etc., from dragging on the ground.

The lateral flexibility can also be particularly advantageously switched on and off from the vehicle, for example by inserting a flexible hose into the link chain, which can be inflated to make the link chain practically a rigid drawbar, and after the air has been deflated the flexibility again.

It is also possible to have the probe carrier towed by a helicopter or a watercraft, e.g. when searching flooded area. Shallow waters, where it is otherwise particularly difficult to search for ammunition or the like, can also be searched with the probe carrier. It is usually necessary that the probe carrier is not only in front of or behind, but also below the towing or pushing vehicle, for example a boat. In order to maintain the alignment of the probes here, the drawbar can always be kept in a desired orientation, for example by means of a parallelogram guide with two drawbar-like elements.

The position to the area to be searched, i.e. the lake bottom, can be determined according to the desired criteria. If the probe carrier is intended to float above the lake bed, the probe carrier, which can advantageously contain a floodable and preferably re-inflatable float, could be controlled by a depth control dependent on this buoyancy balance and / or by a hydrodynamic depth control, for example by wing-like rudders. be controllable. This control can be influenced by a depth or distance measurement, for example an echo sounder. However, since a probe carrier with a landing gear can preferably also be used here, the probe carrier can also roll on the lake bed or be pulled like a sledge. This also helps if a collision with the ground occurs due to sudden bumps even with floating control.

By blowing out the flood tanks on the probe carrier, e.g. at the end of the work, ascend to the surface and be picked up again by the watercraft. For this purpose, it is advantageous if the drawbar engages on the ship side on a base element that can be attached to the watercraft, preferably floats. This then forms a second "buoy" next to the probe holder itself, which holds the other end of the drawbar on the surface and thus enables easy recovery. This basic element can also contain the control and supply devices as well as the measuring devices, for example for depth measurement via depth sounder and / or angle measurement on the drawbar, so that together with the probe carrier and its drawbar it forms a functional unit which only has one output connection for Display and recording devices required.

The drawbar can connect the probe holder and the vehicle on an essentially straight line. Advantageously, the drawbar has a shape which generally deviates upwards with respect to a straight connecting line between the coupling means and the probe holder. A curvature of the drawbar upwards can prevent obstacles near the ground, such as bushes or larger stones, from obstructing a lateral movement of the drawbar, particularly when cornering.

Although the drawbar can also be constructed in one piece, it advantageously has at least two, preferably torsionally stable drawbar segments which are detachably connected to one another. These can themselves be curved, but are preferably straight. The construction of the drawbar from drawbar segments makes it possible to increase the drawbar length by installing or removing Drawbar segments of different lengths and / or designs, if necessary, to lengthen or shorten them according to the desired application, or to change the shape of the drawbar. The drawbar segments can for example consist essentially of an aluminum alloy. Some or all of the parts of the drawbar segments can also consist of a plastic which is resistant to bending, in particular made of fiber (for example carbon or glass fiber).

Adjacent drawbar segments can be rigidly connected to one another, for example screwed together. Two successive drawbar segments are advantageously connected to one another via a swivel joint, in particular a rotating ring. This can allow a relative rotation of the neighboring drawbar segments around the local drawbar axis. A swivel joint can serve to relieve the coupling means of torsional forces effective in the drawbar. In particular, it can be arranged near the coupling means, in particular in the half of the drawbar on the vehicle, preferably in the last quarter of the drawbar. To achieve a high torsional rigidity of a drawbar segment with a relatively low weight, it can be advantageous if a drawbar segment has a torsionally stable multi-element structure, in particular if it has end plates that are connected to one another via at least three non-coplanar rods.

The drawbar or the like can be made from a single rod. or consist of several rods, which can be connected to one another to increase the rigidity of the drawbar with other rods or stiffening elements. Rigidity of the drawbar is particularly important in the case of long drawbars in order to prevent the drawbar from bending. A bend or a vibration of the tiller can be particularly uneven Caused by obstacles and can lead to a jerky movement of the probe holder and thus the probes relative to the search area, which in turn makes it difficult to interpret the search signals generated by the probes. In the preferred embodiment, the drawbar is a frame construction with at least three non-coplanar rods formed, the rods being connected on one side to the coupling means and on the other side to the probe receptacle. The connection points between the rods and the probe holder can be selected in such a way that tensions and forces advantageously act on the probe holder. The rods of the frame construction preferably define the edges of a pyramid, the coupling means being arranged on the tip side of the pyramid and the probe receptacle on the base side of the pyramid. The rods on the probe receptacle are further apart than in the area of the coupling means. In the case of a probe receptacle with a large width transverse to the direction of movement, a drawbar with four rods connecting the coupling means to the probe receptacle can be used in the frame construction. The rods can be arranged in two pairs of rods, each pair being attached in a side end region of the wide probe receptacle. The rods of a pair are closer together on the side of the coupling means, and on the side of the probe holder they can have a vertical distance which corresponds approximately to the height of the body of the probe holder. A drawbar with a frame construction of preferably crosswise connected rods, which are rigidly connected to the coupling means and the probe holder, can improve the rigidity and rigidity of the entire probe holder-drawbar construction.

The bars of a frame construction can be constructed from bar segments, for example in a coaxial manner are releasably connected. The rods themselves can also be releasably connected to one another to allow the entire frame structure to be taken apart, for example for transport. For example, the rods can be designed so that they can be individually removed from or attached to the coupling means and / or the probe holder. The longitudinal bars can, for example, be taken apart in two bar segments of approximately the same length. If detachably connectable rod segments are used, the length of the drawbar can advantageously be adapted to the purpose and the environment of a specific search task.

The rods and / or rod segments can be made of lightweight material, which is preferably electrically non-conductive, such as e.g. made of plastic. The material can be fiber reinforced. The bars or bar segments are preferably in the form of hollow tubes. A drawbar constructed in this way as a frame construction facilitates the maneuverability of the probe receptacle when it is pulled through a vehicle or when it precedes a vehicle, i.e. is pushed through the vehicle, or in intermediate situations, e.g. in curves. The pulling or pushing vehicle can be manned or unmanned.

In principle, any measures that allow a movable connection between the end of the drawbar and the vehicle can be considered as coupling means. Known couplings can be used as coupling means, for example trailer couplings as are customary in trucks or car ball-head couplings. Rotary ring arrangements such as those used on articulated lorries are also possible. Advantageously, the coupling means have a holder, preferably articulated to a drawbar segment, in which a connecting element rotatably mounted about a substantially vertical axis of rotation is arranged for connection to the land vehicle. The connecting element is preferably designed for connection to an upper side of the vehicle. For example with the roof of the vehicle. The shape of the drawbar can be designed according to the connection point with the vehicle and its shape so that a free rotation of the vehicle under the drawbar is possible. An overhead swivel coupling of this type enables extreme cornering or a change in the direction of movement of the search party consisting of vehicle and probe carrier in a confined space without dismantling or moving.

The probe holder can be designed as a support frame. The support frame rigidly connected to the drawbar can consist of preferably light, rigid material, for example of metal, in particular an aluminum alloy of high strength. Advantageously, the carrier frame consists essentially of electrically non-conductive, rigid material, preferably of carbon or glass fiber reinforced plastic. This makes the probe carrier particularly light and an interaction of the carrier frame with electromagnetically operating probes can be largely avoided. The support frame can advantageously be composed of detachably connected frame elements. This can make repair work or remodeling easier. A support frame can also have means for detachable, preferably rigid connection to other support frames. In this way, a plurality of carrier frames, which either carry the same or also work according to different principles, can be connected to one another in a modular manner, in particular put together or screwed together. To widen the search width, for example, a plurality of carrier frames can be arranged next to one another in a transverse arrangement. Also tandem arrangements are possible in which several support frames are arranged one behind the other in the direction of movement. The arrangement in series is particularly advantageous when a carrier frame carries probes of one type, for example eddy current probes, and a subsequent carrier frame, for example magnetic field probes. Combinations of transverse arrangement and tandem arrangement are also possible.

A carrier frame or a probe holder can have several probes, whereby these can preferably be of the same type and possibly identical. To increase the search width, the probes can preferably be arranged next to one another, in particular at equal distances from one another, transversely to the direction of movement. The probes are preferably rigidly connected to the support frame or the probe holder. It is also possible for one or more probes to be movably guided relative to the carrier frame. Preferably, when the probe moves relative to the support frame, the orientation of the vertical probe axis, for example, to the preferably horizontal support frame plane remains unchanged. Thus, a probe can perform a back and forth movement transverse to the direction of movement, so that the search area is scanned over a certain width; it is also possible to arrange one or more probes on a rotating arm or the like rotating essentially in a horizontal plane ("lawnmower principle"). A large-area eddy current probe can also be formed in that at least one winding of approximately the size of the base frame is integrated in the base frame or the base frame is designed as a winding. The winding can be a transmit and / or receive winding.

Different probe types can either be within one Probe recording or, which is preferred, with different coupled probe recordings can be combined. The depth range of magnetic field probes can typically be up to approx. 6 m. In contrast, the search signals obtainable with eddy current probes originate essentially from a region near the surface, which can typically reach a depth of approximately 75 cm, the optimum effect being approximately 30 cm. Typical publishing depths of mines are in this flat area. A combination of magnetic field probes and eddy current probes makes it possible to combine the information content of both methods, which complement each other in an advantageous manner. It is therefore advantageous if at least one magnetic field probe and at least one eddy current probe are provided. Advantageously, automatically operating switchover means are provided to enable alternating operation of the two types of probes. In this way, mutual disturbances in the procedures are avoided. The probes can partially protrude from the probe receptacle or above it, both upwards, for example between the chains or possibly laterally.

The undercarriage can have skids or a preferably large number of running wheels, which can optionally be suspended and sprung individually. It is also possible to design the undercarriage as a so-called "loop wheel" undercarriage. This concept derives its light weight and simplicity from an endless elastic band made from one piece, which can be made of steel, for example, but can advantageously also be made of plastic with corresponding properties. The belt can be forced into an inevitable guide by a guide wheel and guide rollers at the front and by a chain wheel at the rear. Guided tours without a guide wheel are also possible. Both support rollers are missing as well as rollers and thus the classic suspension, which is usually transferred to the rollers in conventional vehicles. With a loop wheel chassis, the endless belt also takes over the suspension thanks to its elastic properties. In this system, which represents a middle thing between the wheel and chain drive, the guide wheel can be attached to a movable rocker arm and can take part in the horizontal and vertical movements of the endless belt. Shocks that occur can be absorbed by shock absorbers.

In a preferred embodiment, the undercarriage has at least one revolving crawler belt which is guided through guide means assigned to the support frame. One embodiment has a single wide crawler of this type. In the embodiment described in more detail below, two track chains spaced apart laterally at the front are provided. However, it is also possible to provide more than two track chains, which are optionally spaced laterally apart. Track chains can also be arranged one behind the other in the direction of movement.

The use of known crawlers, such as those found in caterpillar vehicles, is possible. A preferred crawler belt has a plurality of treadmills made of elastically resilient material which are arranged parallel to one another and which are connected to one another by elastic cross-connectors arranged transversely to the direction of movement. Such tracks are highly longitudinal and transverse elastic and allow a good adaptation to the surface of the earth, which promotes an advantageously uniform distance from the ground of the probes. The treadmills and the cross connectors preferably consist essentially of electrically non-conductive material, in particular of plastic. The treadmills can too be made of rubber. An advantageously low weight of the crawlers is achieved and interference with the probes is prevented. Corrosion is also avoided.

The guide means can have guide and / or deflection wheels and / or guide strips for lateral guidance, for example. Spring strands of spring-loaded and / or unsprung rollers are also possible. In a preferred embodiment, the guide means comprise guide wheels for lateral guidance of the crawler belt, a guide wheel comprising at least one single wheel, preferably two coaxial single wheels, and wherein each individual wheel engages with its circumferential area essentially without side play in a longitudinal recess formed on the crawler belt. The intervention is preferably carried out from the inside of the crawler belt. Preferably, at least the bottom guide wheels engage essentially centrally on the crawler. As a result, the ends of the cross connectors are free and their bending elasticity leads to a transverse elasticity of the crawler belt, which allows the crawler belt to nestle in particular, for example, a trough or the like running approximately in the direction of movement. Together with the longitudinal elasticity of the crawler belt, which can be further supported by attaching the bottom-side guide wheels to movable, possibly also sprung, suspension arms, the longitudinally and transversely flexible crawler belt is extremely adaptable to uneven ground. This supports the reduction of pressure peaks on the floor and leads overall to an extremely low contact pressure of the chain, which can be of the order of 8 g / cm ² . This means that many pressure leads can be run over without triggering. Use on snow, sandy or boggy ground is also possible thanks to the low contact pressure.

Despite its Laur device, the frame should, however, be designed so that in the event of damage or destruction, eg due to an explosion, can serve as a sled running on the ground so that it can still be pulled out of the danger area. For this purpose, it is advantageous to design the frame with a large cross-tube diameter and the side bolsters at the bottom in an arc-like manner and to ensure that there are plenty of fillets in order to avoid snagging in the field.

A previously mentioned steering device can be constructed from electrically non-conductive elements, so that the steering device does not interfere with the probes. The steering device could also change the relative position of the support frame and drawbar relative to one another, in particular by rotating about an essentially vertical axis. It is also possible to provide a self-propulsion which acts on the undercarriage, in particular on the crawler track which is passive in the above examples. This can be an electric motor that is preferably supplied with energy from the land vehicle, preferably working without interference, e.g. with damped electromagnetic signature, include; it is also possible to drive the self-propulsion via a power transmission, for example a cardan shaft, which is guided through the drawbar, for example, the motor then being able to be arranged on the vehicle. A pneumatic or hydraulic drive can also be made of plastic.

If one or more crawlers are used in the running gear, these can be guided via guide and deflection means in such a way that the rotating crawlers define a chain interior which can be adapted in terms of its shape and dimensions to the requirements. The probes can be arranged so that they are completely inside the chain interior. This probe arrangement in the free space of the chain circulation and the overhead chain circulation thereby achieved protect the probes arranged in the chain interior against Objects penetrating from above, for example tree branches and the like, are guaranteed.

Although the chain design described above is very advantageous in terms of off-road mobility and the low contact pressure, it is possible for many applications to use a chassis with wheels. These can preferably be arranged uniaxially, so that the entire vehicle has the shape of a uniaxial vehicle similar to a "Roman chariot" or Sulky. Rubber tires mounted on a rim, similar to very wide low-profile car tires, can be used as wheels, which should, however, be made entirely free of metal. Such tires can contain Kevlar strands or rovings instead of the usual steel wire inserts in the jacket and bead. These tires can be driven entirely without air pressure because they are very lightly loaded due to the desired low ground pressure, which also makes valves unnecessary. However, more or less elastic support elements, for example foam rings, can be inserted into the tire interior, possibly also only partially filling it. The rim should also be completely metal-free, for example made of plastic, and can, for example, hold the tire beads in place, which is done in normal car tires by the internal air pressure.

This arrangement is extremely simple and advantageous. Due to the wide, soft, low-profile tires, the probe carrier runs very smoothly and can be operated at a higher search speed. On fallow vegetation, large stones and cross-ditches, an arching of the probe body or a run-on slope can prevent snagging or damage even if it touches down. The bikes run on field roads like on asphalt paths rumble-free and gentle on the probe. Rolling over the wheel, i.e. arranging the driving axis very far to the rear, prevents rollovers when the probe is uncoupled or on steep terrain, which is particularly important because they are usually in the vertical direction of the long probes in the receiving tubes and protrude far above the vehicle body. These receiving tubes can be closed at the bottom by caps in order to avoid contamination and to prevent the tubes from overflowing when driving through water or underwater.

A cover of the wheels in the manner of fenders is particularly preferred, at least on the front and upper side. This prevents vegetation from getting caught between the wheels and the probe holder body. Rather, he is rejected and turned over.

These and further features emerge from the description and the drawings in addition to the claims, the individual features being realized individually or in groups in the form of sub-combinations in one embodiment of the invention and in other fields and can represent advantageous embodiments.

Fig. 1

eine perspektivische, schematische Gesamtansicht eines fahrbaren Sondenträgers

Fig. 2

eine perspektivische, schematische Teilansicht eines fahrbaren Sondenträgers mit detaillierter Darstellung einzelner Bauteilanordnungen,

Fig. 3

eine teilweise schematische Querschnittsansicht durch eine von einem Führungsrad geführte Laufkette mit einem Querverbinder,

Fig. 4 und 5

einen Sondenträger in Seitenansicht und Draufsicht,

Fig. 6

einen Querschnitt durch einen Reifen und einen Teil seiner Felge,

Fig. 7

eine teilgeschnittene Explosionsansicht von Reifen und Felge,

Fig. 8

ein zur Veranschaulichung teilweise transparent dargestelltes Detail eines Sondenträgers mit Radabdeckungen,

Fig. 9

eine perspektivische Ansicht eines Sondenträgers mit der Ausführung nach Fig. 8,

Fig. 10 und 11

Detaildarstellungen des Sondenträgers nach Fig. 8 und 9 bei Einsatz im Gelände,

Fig. 12 bis 14

einen für Unterwassereinsatz ausgebildeten bzw. abgewandelten Sondenträger in drei Arbeitspositionen,

Fig. 15

einen Sandenträger mit einer Mehrfach-Radanordnung,

Fig. 16

die schematische Darstellung einer Seitenankopplung zweier Sondenträger,

Fig. 17

die schematische Darstellung eines Sondenträgers entsprechend Fig. 9 mit seitlichen Auslegern,

Fig. 18

einen Sondenträger mit Lenkfahrwerk,

Fig. 19

eine perspektivische Ansicht eines Sondenträgers mit Raupenfahrwerk,

Fig. 20

eine Draufsicht auf den Sondenträger nach Fig. 19,

Fig. 21

eine Seitenansicht dieses Sondenträgers und

Fig. 22 bis 24

diesen Sondenträger in schematischer Darstellung in drei verschiedenen Arbeitspositionen.

Embodiments of the invention are shown in the drawings and are explained in more detail below. The drawings show:

Fig. 1

a perspective, schematic overall view of a mobile probe carrier

Fig. 2

2 shows a perspective, schematic partial view of a mobile probe carrier with a detailed representation of individual component arrangements,

Fig. 3

2 shows a partially schematic cross-sectional view through a crawler track guided by a guide wheel with a cross connector,

4 and 5

a probe carrier in side view and top view,

Fig. 6

a cross section through a tire and part of its rim,

Fig. 7

a partially sectioned exploded view of the tire and rim,

Fig. 8

a detail of a probe carrier with wheel covers, shown in a partially transparent manner,

Fig. 9

8 shows a perspective view of a probe carrier with the embodiment according to FIG. 8,

10 and 11

8 and 9 when used in the field,

12 to 14

a probe carrier designed or modified for underwater use in three working positions,

Fig. 15

a sand carrier with a multiple wheel arrangement,

Fig. 16

the schematic representation of a side coupling of two probe carriers,

Fig. 17

9 the schematic representation of a probe carrier according to FIG. 9 with lateral arms,

Fig. 18

a probe carrier with a steering gear,

Fig. 19

a perspective view of a probe carrier with crawler track,

Fig. 20

19 shows a plan view of the probe carrier according to FIG. 19,

Fig. 21

a side view of this probe carrier and

22 to 24

this probe carrier in a schematic representation in three different working positions.

In the perspective, schematic overall view of the mobile probe carrier 1 in FIG. 1, some non-transparent components appear transparent for better clarification of the construction, so that details that are not visible in this view can also be seen. The probe carrier 1 has a drawbar 11 and a carrier frame 2, which is composed of a plurality of elements, some of which are detachably connected to one another, which forms a probe receptacle 62 and is essentially composed of a base frame 3, which is rectangular when viewed from above, and a frame 4 connected to it and approximately trapezoidal in side view . The base frame 3 and the frame 4 consist essentially of glass fiber reinforced plastic. The base frame 3 is constructed from a front cross member 5 which is round in cross section and a rear cross member 6 of the same type, which are connected to one another by removable side walls 7, 8 screwed to the cross members are connected. A central cross member 9, which is screwed to the side walls 7, 8 and runs parallel to the cross members 5, 6 centrally between them, and which can be seen better in FIG. 2, carries four magnetic field probes 10 which are at the same lateral distance from one another on the central cross member 9 are arranged. The elongated, tubular magnetic field probes 10 are aligned vertically to a substantially horizontal plane defined by the base frame 3, because of the rigid connection between the base frame 3 and the magnetic field probes regardless of the orientation of the base frame in space. Due to the large diameter of the round crossbeams and a rounded or bevelled underside of the side bolsters, the frame has a sled shape that allows it to be towed across the terrain even in the event of an emergency and thus also provides a means of keeping the probes at a distance from the ground.

With the front cross member 5, the drawbar 11, which is curved in its overall shape, is rigidly but separably connected by a screw connection. The drawbar is made up of several drawbar segments. These include the straight first drawbar segment 12, which is rigidly connected to the front crossmember and extends obliquely upward with respect to the base frame 3, the second straight drawbar segment 13, which is rigidly connected to it by screwing and runs approximately horizontally, and an obtuse angle with the first drawbar segment 12 forms, and the short tapered third drawbar segment 15 connected to the second drawbar segment via a rotary ring 14. The rotary ring 14 allows the adjacent drawbar segments 13 and 15 to freely rotate relative to one another about the local drawbar axis 14. The third drawbar segment is connected to a joint 16 with a horizontal hinge axis 16 a flat, essentially horizontally aligned holder 17 is articulated. In a circular In the recess of the holder 17, a rotating ring 18 is arranged, which allows a circular, horizontal connecting element 19 to be rotated relative to the holder 17 about an essentially vertical axis 20. The prebinding element 19 can be screwed to a correspondingly designed counter element, which can be fastened, for example, on the roof of a land vehicle, for example an off-road military vehicle which may also be armored.

The dimensions of the probe carrier can be correspondingly large; in the embodiment shown, the distance between the connecting element 19 and the probes 10 is approximately 7 meters. The drawbar segments are correspondingly large and, in particular, are designed to be torsionally rigid. For example, the second drawbar segment 13 has three rods 21 which are round in cross section and run parallel to one another and form an isosceles triangle in cross section. The three rods are each connected on the end face with essentially triangular end plates. This structure is stable against torsion and at the same time relatively light. The interior formed between the three bars is protected; In it, for example, cable ducts or the like can run through which supply and signal lines for the magnetic field probe 10 can run. To protect these lines and to additionally stiffen a drawbar segment, a central tube 23 can also be provided, as can be seen in the first drawbar segment 12. On the first drawbar segment 12, guide rods 24 are also arranged laterally at an angle to the front corners of the base frame 3. On the one hand, these serve to additionally stiffen the arrangement; These guide means are also particularly advantageous because they prevent obstacles, for example stones, from moving when the probe carrier moves in the direction of movement 25, that is to say when the probe carrier is operating. Catch trees or the like on the front cross member 5 of the base frame 3 and thus hinder further travel or lead to damage to the probe carrier. Rather, obstacles are pushed to the side and / or the probe carrier is pushed to the side. Diverter means can also be provided on the carrier element for overrun operation in the direction of movement 25.

The support frame 2 is associated with means 60 for keeping the probes at a distance from the surface 61 to be searched, the floor, which mainly comprise a running gear 63 which is described in connection with FIG. 2. In the embodiment shown, it comprises two wide crawlers 26, 27, each running on approximately triangular tracks in side view. The magnetic field probes 10 are arranged completely within the free space of the chain circulation, so that the crawlers can ensure protection of the magnetic field probes, particularly upwards. An overhead chain circulation of this type is advantageous and can also be realized by means of circulation configurations other than triangular. For example, with a chain upper strand running horizontally between deflecting means and / or with run-on slopes or chain sections rising vertically. Another embodiment, not shown, has only a single wide crawler.

The crawlers, which are described in more detail in connection with FIG. 1, are advantageously endless, ie without a chain lock. They can be replaced by removing one of the removable side trays 7, 8 of the base frame 3 and removing the corresponding crawler. A crawler belt has a plurality of treadmills 28 made of elastically resilient material which are arranged parallel to one another and which are connected to one another by elastic cross-connectors 29 arranged transversely to the direction of movement 25. The treadmills and in the example shown, the cross connectors consist essentially of plastic, which does not conduct electricity and thus does not cause any interfering interaction with the probes.

The crawlers are guided by guide means assigned to the carrier frame. These guide means comprise deflection elements 30 arranged in the upper area of the chain circulation above the magnetic field probe 10, which are fastened in the upper area of the frame 4 and have the shape of an inverted "V" with a rounded apex in side view. In the deflection elements 30, slot-shaped leanings 31 are provided in the middle, which run parallel to the direction of movement 25 and through which upper guide wheels 32 engage the crawlers from the inside thereof. Between the deflecting elements 30, a substantially triangular, essentially triangular, parallel to the direction of movement 25 dividing wall 31 is fastened to the frame 4 vertically down to the level of the base frame 3.

The upper guide wheels 32 are rotatable about an axis running parallel to the cross members 5, 6 and are mounted on the upper part of the frame 4. The upper guide wheels 32 serve for lateral guidance of the crawler belt. Each guide wheel has two coaxial individual wheels, and each individual wheel engages with its circumferential area essentially without play in a longitudinal recess formed on the crawler belt between parallel treadmills (see FIG. 3).

Identical plastic guide wheels are also arranged in the bottom area of the crawler belt. For each of the two adjacent crawlers 26, 27, two bottom-side guide wheels 33, 34 are provided, which are arranged one behind the other in the direction of movement 25 on a common chassis rocker 35 are rotatably mounted. The chassis rocker 35 has a structure which is symmetrical with respect to the central cross member 5 and is mounted by means of a roller bearing 36 on the central cross member 9 so as to be pivotable about a substantially horizontal pivot axis running perpendicular to the direction of movement. As a result of this mounting, an upward movement of the front bottom-side guide wheel 33 causes a corresponding downward movement of the rear bottom-side guide wheel 34 and vice versa. Seen in the direction of movement between the bottom-side guide wheels, each of the laterally guided crawlers runs freely, so that a high degree of longitudinal elasticity of the chain is ensured. This is supported by the bearing of the guide wheels on the chassis rocker 35. In other embodiments, independent wheel suspensions, optionally also with springs, can also be provided. There can also be more than two guide wheels per chain.

As shown in FIG. 3, the bottom guide wheels engage essentially centrally on the crawler belt. This leaves the lateral ends of the respective cross connectors free, which promotes a particularly high transverse elasticity of the crawler in the floor area. Overall, the crawler can nestle perfectly in the longitudinal direction as well as in the transverse direction on unevenness in the floor, without overriding these unevenness leading to substantial tilting movements of the base frame 3 from its preferably horizontal orientation. This also means that the magnetic field probes 10 remain aligned essentially vertically with respect to the ground being driven over, because they are rigidly connected to the base frame 3. This rigid connection is achieved in that the magnetic field probes vertical holes are fastened by holding sleeves 37, which in turn are fixed to the base frame 3 on the central cross member 9. In the gaps between the holding sleeves 37, the chassis rockers 35 are arranged largely without play, so that the holding sleeves 37 simultaneously serve to guide the chassis rockers 35.

3 shows the construction in the preferred embodiment of a crawler belt 38 which is laterally guided by a guide wheel 39 which has two coaxial individual wheels 40, 41. The crawler belt 38 consists of a plurality of treadmills 42 to 46 which are arranged parallel to one another and have a continuously rectangular cross section. The treadmills can also be chain-shaped or, for example, toothed belt-shaped. In the example shown, they consist of resilient plastic. The treadmills are connected to one another by tubular cross elements 47 running transversely to the direction of movement. To secure the treadmills against axial displacement on the cross elements 47, spacer sleeves 48 with flange-like edges 49 are arranged on the tubular cross elements 47 between the treadmills. Screws 50 with a flange-like, laterally projecting, wide head are screwed into the open end faces of the tubular cross element 47, by means of which the overall arrangement can be clamped together. It is also possible to use an inner rod which passes through the tubular cross element and which can be somewhat shorter than the cross element 47 and can be screwed into the corresponding end plates as the tensioning element.

The three identical middle treadmills 43 to 47 are arranged in the same axial position relative to one another symmetrically to the center of the crawler belt. Between them, groove-shaped longitudinal recesses 51 with vertical side walls are formed on the side facing the guide wheel 39. Each individual wheel 40, 41 engages with its outer circumference in a longitudinal recess 51 a. Each longitudinal recess 51 forms two vertical lateral guide surfaces for the single wheel engaging in it, so that a total of four lateral guide surfaces are formed between the guide wheel and the crawler belt. This enables a particularly safe cornering. With this advantageous type of guidance, the ends of the cross connectors remain free, which causes a high transverse elasticity of the crawler.

The probe carrier 1 shown in FIGS. 4 to 7 consists of a drawbar 11 and a probe receptacle 62 in the form of a horizontal cylinder or probe carrier body 64 which is elongated at the ends and is closed at the ends. Axle stubs 66 protrude from the end faces 65, specifically from the lower section of the cylinder, which is offset to the rear from the drawbar, so that overall a single-axle two-wheeled carriage is formed, the wheels of which also have a caster in relation to the cylindrical probe carrier body 64.

The drawbar 11 is formed from an upwardly bent, reinforced plastic tube with lateral guide rods 24 in accordance with FIG. 1. It can be removed from the probe carrier body 64 so that it and the drawbar can be stored or transported parallel to one another. At its front end, the drawbar contains a coupling 67 for coupling to a vehicle 68, for example a conventional trailer ball-head coupling, or, if necessary, can be exchanged for this, a coupling eye for a conventional ball-type coupling.

Wheels 69 are mounted on the stub axles 66, each consisting of a rim 70 and a tire 71. The tire is a tire made of a rubber-like material, similar to a pneumatic vehicle tire, in a low cross-sectional format, ie with a very large width in comparison to the height of the tire cross-section. The tread 72 can, but should not be profiled if possible, in order to avoid "picking up" metallic parts that could interfere with the measurement.

The tire consists of a synthetic or natural rubber and is provided with non-metallic reinforcements, for example in the form of Kevlar strands or rovings. Together with some such strands running in the circumferential direction in the tread, they also run in a cross shape over the flanks 73 of the tire 71. The pronounced bead 74 is also metal-free and contains corresponding metal-free reinforcements instead of the usual metal wire rings.

The tire 71 is clamped on its beads 74 between two ring disks 75, 76 of the rim. These, including the screws connecting them, are made of metal-free material, e.g. Plastic, manufactured They enclose the bead with appropriate formations 77 and thus fix the tire to the rim. During assembly, the inner rim rings 76 starting from a cylinder ring 78 are first inserted into the tire interior 79 and then the outer disks 75 are screwed tight with the screws 80.

Fig. 7 shows plastic ball bearings 81 and their fastening parts with which the rim is rotatably mounted on the axis 66.

The use of low-profile rubber tires in a metal-free design for probe carriers is particularly advantageous, as far as a wheel is available that works reliably with a very large contact width and thus relatively low contact pressure even in the harshest of operations. The fact that no air pressure builds up in the tire interior 71 needs to be simplified, the construction is further simplified and the smooth running of the probe carrier, which is very light in comparison to the size of the tire. The tire and in particular its sidewalls 73 have sufficient inherent stability, but also flexibility, in order to absorb the forces and shocks that arise without supporting internal pressure.

8 shows the probe carrier body 64 of the probe carrier 11, each with a cover 82 in the manner of fenders, which covers the wheels 69 at the front and at the top. As shown in FIG. 8, the covers 82 can be attached as separate parts, but, as shown in FIG. 9, can also be formed as an integral part of the probe carrier body 64.

The probe receptacle 62 carries magnetic field probes 10, which are designed in the form of long rods and inserted into insertion sleeves or receiving tubes 83, which pass through the probe carrier body 64 essentially vertically. The magnetic field probes 10 protrude far beyond the probe carrier body 64 and their height can be adjusted by means of a locking screw 84. The probes and their receiving tubes are very easily accessible from the rear of the probe holder. The rod probes 10 are centered in the insertion sleeves and are secured against slipping out, namely in an adjusting cone of the probe carrier receiving tube 83. This can be closed at the bottom and optionally sealed at the top. There are several, e.g. five pipes arranged in a row next to each other; 8, a further probe is provided in the area of the covers 82 in order to practically extend the search width to the total width of the probe carrier.

In FIG. 9, in addition to the probe receptacle tubes 83, a similar middle receptacle 99 is provided for a mast carrying a GPS antenna or a laser locating mirror.

It can be seen that this probe carrier can be manufactured relatively easily and completely metal-free and nevertheless robust. The drawbar and the probe carrier body 64, including the stub axles and receiving tubes 84, can also be produced from high-strength metal-free materials, such as glass fiber, kevlar or carbon fiber reinforced plastic. Due to the wheel formation following the roller-shaped probe carrier body, obstacles such as larger stones, tree stumps 98 or the like can also be overcome (cf. FIG. 10). The roller-shaped underside of the probe carrier body 64 serves as a slide or guide plate on which the probe carrier, which is not too heavy, is lifted over these obstacles, even if these objects are further out of the wheel track than the ground clearance of the probe carrier.

Fig. 11 shows that possibly also by the guide rods 24 laterally rejected plant material is prevented by the cover 82 in the gap between the end surfaces 65 of the probe carrier body 64 and the wheels and, although the axis 66 is stationary, under the action of Wheel rotation to wrap around this.

Fig. 4 shows that in addition to the magnetic field probes 10, which respond to changes or deflections of the earth's magnetic field as passive probes and thus enable the detection of ferromagnetic parts even at greater depths below the floor 61, other types of probes can be used, which are indicated in the boom indicated by the broken line 85 can be arranged at the rear of the probe carrier. These can be inductive probes that work according to the eddy current principle and can also locate non-ferromagnetic metal parts. An arrangement corresponding to the boom 85 is also suitable as To serve as a platform for an operator to ride on, for example for visual inspection or to collect fragments.

FIGS. 12 to 14 show a probe carrier 1 modified for underwater use. Its probe holder 62 with probe carrier body 64 and wheels 69 largely corresponds to that of FIGS. 4 and 5. Instead of the drawbar rigidly attached to the probe carrier body 64, a drawbar 11a is provided, which consists of two long ones parallel struts or tubes 86 are formed, each of which is pivotable about a horizontal pivot axis 87 on the probe carrier body 64 and, on the opposite side, on a floatable base element 88 in the form of a floating body or box. Overall, they form a pivotable parallelogram, which enables the probe carrier body 64 with the probes 10 to be in the same orientation, i.e. the same orientation, in every depth position that can be reached by the drawbar 11a. here with the probes 10 in a vertical orientation, as long as the base element 88 remains in the appropriate orientation.

The base element 88 is provided with coupling devices 89 with which it can be coupled to the rear of a watercraft 68a. This coupling can optionally be made elastic so that excessive forces do not act on the drawbar 11a when the watercraft is at sea.

In this embodiment, the probe carrier body is designed as a flood chamber, which, controlled by the watercraft 68, flooded and blown out again by means of its own compressed air reservoir or via an air line guided in the tubes 86, so that the probe receptacle 62 plunges and reappears like a submarine can, without corresponding lifting or lowering forces have to be exerted via the drawbar.

When flooding, a state of equilibrium is preferably set in which the probe holder hovers in the water or, in order to compensate for the forces generated by the water resistance during the movement of the movement, is balanced somewhat more heavily.

A depth rudder in the form of a horizontal wing or rudder 90 projecting laterally beyond the end faces 65 is used for precise depth control and can be controlled from the vehicle 68a or the base element 88 by means of suitable control means (cables, hydraulics or the like). The base element contains a large part of the supply, control and measuring devices, for example also evaluation devices for the probes 10. Furthermore, a depth measuring device 91 for the probe holder 62 is provided in it, which e.g. by means of an angle measurement of the tubes 86 to the horizontal, and an echo sounder 92 for determining the depth of the lake bottom 61a below the water surface 93. By influencing the flooding and the rudder 90, the probe receptacle can thus be guided at a predetermined distance above the lake bottom 61a, whereby the echo sounder 92 determines the corresponding sea bottom profile and, depending on this, with an offset corresponding to the length of the drawbar 11a, the probe holder tracks this profile. The probe holder can also be particularly aerodynamically designed or clad for special underwater use. The wheels 69 are not absolutely necessary for this floating application, but help to overcome underwater obstacles that could no longer be controlled dynamically.

13 shows the use which is also possible as a probe carrier rolling on the lake bottom 61a by means of the wheels 69. This is particularly expedient on hard sandy ground, because it means that there is less distance from the ground and therefore one particularly precise location is possible. In this case, the probe receptacle 62 is flooded or ballasted. Possibly. A dynamic compensation of the upward component of the towing forces could also be generated by a corresponding negative position of the deep tube 90.

14, the probe receptacle 62 can be brought to the surface by blowing out the flood tanks. The base element 88 can then be uncoupled from the vehicle and, for example with dinghies or directly from the ship, the device can be brought along, disassembled into suitable sections and stowed on deck. It can be seen that the probe carrier is shown greatly enlarged in comparison to the vehicle for clarification. It is also possible to provide other types of parallel guidance or, for example, to directly link the pipes 86 to the watercraft.

15 shows an embodiment in which a wheel 69 is also provided in the center of the probe carrier body 64 in addition to the side wheels. The arrangement of one or more additional wheels between the side wheels 69 makes it possible to produce very wide probe carriers with little ground clearance and thus a small probe distance from the ground, which work even on uneven terrain without frequent chassis collisions.

16 shows the lateral coupling of two probe carriers 1, which are towed via a common or two connected drawbars. They can be connected to one another in a fixed or articulated manner, so that their transverse alignment can adapt to the terrain.

The probe support arms 1a connected laterally to the probe support 1 in FIG. 17 are firmly connected to the central special support, which rolls on the ground with wheels 69. These additions could be added, for example, on very flat terrain to increase the search range.

18 shows a preferred embodiment in the functional diagram, in which the wheels 69 are attached to the probe carrier body 64 in a steerable manner. For this purpose, for example, as shown, knuckle steering can be provided, in which the wheel axles 66a can be steered or adjusted in the same direction about a vertical-axle knuckle pin 94. The same effect is possible, however, in that the drawbar 11 is pivotally connected to the probe carrier body in the manner of a turntable steering, for example the guide rods 24 could serve as handlebars which are actuated from the vehicle. The steering 95 of the steering knuckle steering shown, which is actuated mechanically or pneumatically in any manner, is only indicated by dash-dotted lines in FIG. 18.

Various applications are possible with this version. With the fixed wheel lock shown in FIG. 18, the probe receptacle 62 behind the towing vehicle 68 assumes the laterally offset oblique position shown. The probe carrier then runs in the so-called "crab walk" at an angle to its main axis direction and thus sweeps a search track 96 which, in front of or even completely, runs along the lane 97 of the towing vehicle 68. This makes it possible to always lay the lane on terrain that has already been searched, thus minimizing the danger to the towing vehicle. The version works particularly well with the wheel version according to FIGS. 4 ff., But can also be used with the caterpillar version according to FIGS. 1 to 3 are used, in particular by a steerable drawbar linkage on the frame.

With active steering of the wheels from the towing vehicle, the search track can be adjusted accordingly or without the towing vehicle having to deviate from its track, e.g. a probe carrier can be driven around a tree. It is also possible to change the search lane from right to left of the search vehicle.

However, the steerable design of the running gear on the probe carrier also enables a further, very advantageous application, namely to use the probe carrier as an element preceding the vehicle 68. This use is particularly useful in rented areas, for example to secure a vehicle column on a road against mines. The rigid drawbar design enables the probe holder to be pushed in front of the vehicle. This is basically also possible with a fixed wheel setting, but requires very great attention from the driver of vehicle 68 and, in order to carry out the steering of the dike effectively, also a fairly large road width, especially in tight bends, because the push vehicle has to swing out very far, which in turn could be dangerous. It is simpler if, for example, a passenger with a separate steering for the chassis of the probe carrier actively controls the latter in front of the vehicle, and possibly even a wheel drive for the wheels 69 can be provided, which can consist, for example, of a metal-free pneumatic drive. In this case it would also be possible to take relatively tight curves.

A further improvement, not shown in detail here, would be if, for such tight curves, for example in serpentines around rocky outcrops, the Drawbar 11 is made articulated in the horizontal direction by a link formation. However, it remains rigid in the vertical direction, so that it does not drag on the ground, but makes it possible to extend a serpentine in front of the following vehicle 68 in the steered and driven probe carrier. The drawbar could then be made rigid again by inflating an air hose arranged in the link chain.

The undercarriage could also have a mechanical positive-tracking steering, particularly when the probe carrier is towed, which is controlled by the angular position between the drawbar and the towing vehicle. This would make it possible to search in curves even in curves despite the long drawbar, i.e. to achieve a complete match between lane and search lane.

To generate an accurate search log, i.e. an exact local assignment of the signals determined by the probes to the search field, e.g. optically working odometer on the wheel 69 (pulse generator) may be provided. In deviation from the other principle of the probe carrier being free of metal and in particular magnet-free, a small magnet could even be attached to the wheel, which then uses the magnetic probes to generate a path coding on the recording, which overlaps the actual measurement but does not interfere due to the constant return or can be filtered out.

FIGS. 19 to 24 show a probe carrier, which is designed in particular as a mine detector that drives in front of a mother vehicle or a convoy. However, it can also be used for other purposes by equipping it with other probes.

19 shows a probe carrier 1 with two caterpillars or crawlers 66, 67 which extend over almost the entire width and length of the vehicle and which can be designed similarly to those described with reference to FIGS. 1 to 3. These are caterpillars which are composed of extremely light and strong carbon fiber tubes which extend between a plurality of toothed belt-like treadmills 42 to 46. The three middle of the treadmills run over guide or drive wheels. A rear drive wheel 100 is toothed and can therefore transmit a drive power generated by an electrical, pneumatic or hydraulic hub motor 101 to the caterpillar. A front guide wheel 102, like the drive wheel 100, is attached to a chassis longitudinal member 103, while a middle guide wheel 104 is also guided on the longitudinal member 103, but, as can be seen from FIG. 21, in a vertical guide 105 ( an elongated hole) is vertically adjustable by an adjusting device 106.

On the side member is in the front area, i.e. just behind the front guide wheel 102, a support plate 107 for eddy current probes 108 is attached. These run within the caterpillars across the entire width of the vehicle.

20 shows the undercarriage without the caterpillars. The two longitudinal beams 103 for the caterpillars are connected to one another in the front area by a wishbone 109 which is engaged by a push rod 110 which is connected to the mother vehicle via a partially flexible chain 111. This already described partially flexible link chain, possibly stiffened by an internal compressed air hose, can serve as a thrust element, so that the probe carrier does not need to be self-propelled, or can only be used as a carrier for supply lines, for example compressed air or electrical lines for the drive, etc., be flexible in itself, but prevent the chain from dragging on the floor due to the link design with any lateral mobility.

But it is also possible to let the probe carrier 1 freely and independently steer ahead of the mother vehicle. For example, the supply or control lines 112 could be attached to a flexible mast which projects upwards from the probe carrier and is connected to a similar mast on the mother vehicle by the supply lines 112 and thus is not a dragging on the ground, but forms a flexible connection.

The mode of operation is as follows: The probe carrier 1, which for example has a width that is greater than the track width of subsequent vehicles, is pushed by the following parent vehicle or drives automatically by means of the drive motors 101. Due to the extremely low weight and the practically the entire surface of the probe carrier bearing surface of the caterpillar, the ground pressure is very low, so that there is little fear that mines responding to vehicles are triggered by being run over. 22 to 24, the probe carrier 1 is operated in such a way that its front section 113 is slightly raised from the ground 61, ie a gap 114 arises, but at least this section is relieved. For this purpose, the middle guide wheel 104 is moved downward by the adjusting device 106, which could also be a handwheel, for example, so that the entire longitudinal beam 103 points obliquely upward and the front guide wheel 102 and the caterpillar part guided therefrom are lifted off the ground. The driving stability is guaranteed because the rear part of the vehicle with the drive wheel 100 and possibly a drive motor 101 is heavier. It can be seen that in this way the caterpillar adapts ideally to the circumstances. When driving on a flat route, for example on an asphalt road, the gap 114 can be very small (FIG. 22), while on a gravel road this angle is set somewhat larger and when driving over larger chunks or when driving off-road the gap 114 is very large can be chosen. This can either be preset according to the road conditions or readjusted while driving, for example using a pneumatic cylinder. The front, tapering section 113, which also allows a good view from the following mother vehicle to the road through this taper, can thus stand up like a snake in front of an obstacle and crawl over it, due to the fact that the front Part of the caterpillar is rolled over, the obstacles can be taken without problems. Every part of the vehicle that encounters an obstacle climbs up this obstacle.

The distance between the probes 108 changes when the front part is erected, so that it makes sense to travel with the smallest possible gap 114 for the most accurate probing.

The probe carrier can be steered by the two tracks 66, 67 driven by its own motors. A braking device that is as effective as possible should also be integrated. A system is also provided which immediately stops the probe carrier when there is an output signal from the probe which could correspond to a mine. Due to the large contact surface and the low total weight of the probe carrier, which largely consists of high-strength non-metallic materials, an immediate stop is possible, so that the probe carrier stops in the area of the wheel 104 before the first contact with the ground comes when a mine is probed. A similar, but milder-acting braking device can be provided in the following mother vehicle, or braking can be recognized optically or by a signal from the driver, so that he also brakes in good time. For this reason, the flexible connection either via the link chain 111 or a cable connection 112 is important, so that there is a certain margin between the preceding probe carrier and the mother vehicle in order to stop in good time. Braking that would start suddenly, as with the probe carrier, would expose the personnel in the mother vehicle to great delays.

It is also possible to steer the probe carrier, which is always steered by the mother vehicle, by means of wireless remote control. In this case, however, he would have to carry his own energy source for his drive.

It is also important that all mechanical parts that may do not allow metal-free manufacture (electric motors etc.), are located in the rear part of the probe holder, so that the front section carrying the probes is free of interference.

It is also possible to mount a television camera on the push rod 110 (see FIG. 19), which may be designed as a vertical strut, and which is aimed at the floor in front of the probe carrier and makes it easier for the driver or front passenger in the mother vehicle to steer.

When using pneumatic motors as drive and / or a pneumatic brake system, the air hose in link chain 111, which stiffens the link chain to the push rod, could be connected directly to the brake system, so that at the same time as braking or even using this compressed air for the brake, the air hose is emptied and the link chain can thus become flexible again, so that the necessary run-out reserve for the mother vehicle is possible even when the probe carrier is braked in overrun mode.

Claims (30)

Probe carrier (1) with - at least one probe receptacle for at least one probe (10) for soil detection and foreign body detection in the search area and means for spacing to enable a translational movement of the probe carrier in a direction of movement (25, 25 ') over a search area, marked by - A tiller (11) connected to the probe receptacle, which has coupling means (17, 18, 19) remote from the probe receptacle for flexible coupling to a vehicle. Probe carrier according to claim 1, characterized in that the drawbar (11) has a large length in comparison to the unevenness in the floor to be overcome, which preferably corresponds to 1.5 to 4 times the horizontal dimensions of the probe holder and / or four to is eight meters and / or long and rigidly connected to the probe holder. Probe carrier according to claim 1 or 2, characterized in that the drawbar (11) has a generally upward deviating shape with respect to a straight connecting line between the coupling means (17, 18, 19) and probe receptacle and preferably at least two drawbar segments (12, 13, 15). A probe carrier according to claim 3, characterized in that two successive drawbar segments (13, 15) are connected via a swivel joint (14) and / or a drawbar segment (12) has end plates (22) on the front which are arranged via at least three non-coplanar rods ( 21) are interconnected. Probe carrier according to one of the preceding claims, characterized in that the drawbar is designed as a frame construction with at least three non-coplanar rods, the rods being connected on one side to the coupling center and on the other side to the probe receptacle, preferably the rods Define the edges of a pyramid in the frame construction, with the coupling means on the top side of the pyramid and the probe holder on the base side of the pyramid. Probe carrier according to one of the preceding claims, characterized in that the coupling means have a holder (17), which is preferably connected in an articulated manner to a drawbar segment, in which a connecting element (19) rotatably mounted about an essentially vertical axis of rotation (20) is arranged for connection to the towing vehicle is, the connecting element is preferably designed for connection to an upper side of the vehicle. Probe carrier according to one of the preceding claims, characterized in that it consists essentially of electrically non-conductive and / or non-magnetizable, rigid material, preferably of glass or carbon fiber reinforced plastic. Probe carrier according to one of the preceding claims, characterized in that the probe carrier (2) and / or the drawbar is composed of frame elements (4 to 8) which are detachably connected to one another. Probe holder according to one of the preceding claims, characterized in that means are provided for detachable, preferably rigid connection to further probe holders with or without their own undercarriage. Probe carrier according to one of the preceding claims, characterized in that at least one eddy current probe and / or at least one magnetic field probe is provided as the probe, which are preferably held detachably in receiving sleeves, in particular several probes being arranged next to one another transversely to the direction of movement and / or at least one magnetic field probe and at least one eddy current probe is provided and switching means are provided to enable alternating operation of the eddy current probe and the magnetic field probe. Probe carrier according to one of the preceding claims, characterized in that the spacing means comprise a carriage (63) with at least one rotating crawler belt (26, 27, 38), which is guided by guide means (30, 32, 33, 34) and / or has a plurality of treadmills (28, 42 to 46) made of elastic, resilient material which are arranged parallel to one another and which extend transversely to the direction of movement ( 25, 25 ') arranged, resiliently elastic cross connectors (29, 47, 48) are connected to one another, the treadmills (28, 42 to 46) and the cross connectors (29, 47, 48) preferably consisting essentially of electrically non-conductive material, especially made of plastic, such as carbon fiber composite pipes. A probe carrier according to claim 11, characterized in that the guide means comprise guide wheels (32, 33, 34, 39) for lateral guidance of the crawler, a guide wheel comprising at least one single wheel, preferably two coaxial single wheels (40, 41) and one single wheel with its The peripheral area engages in a longitudinal recess (51) formed on the crawler belt (26, 27, 38), essentially without side play, the bottom-side guide wheels (33, 34) preferably engaging essentially centrally on the crawler belt and / or two bottom-side guide wheels (33, 34) are arranged on a chassis rocker arm (35) which is pivotably mounted about a pivot axis running transversely to the direction of movement. Probe carrier according to one of claims 11 or 12, characterized in that the crawler (26, 27, 38) defines a chain interior and that the at least probe (10) is arranged entirely within the chain interior. Probe carrier according to one of the preceding claims, characterized in that the probe carrier (1) has a sled- or trough-shaped underside, which possibly forms a sliding device for the probe carrier (1). Probe carrier according to one of the preceding claims or the preamble of claim 1, characterized in that the spacing means (60) comprise a chassis (63) with at least two preferably uniaxially arranged wheels (69) with preferably completely metal-free tires mounted on a rim (70) (71) have the type of car tires. A probe carrier according to claim 15, characterized in that the tires (71) are designed as pneumatic tires, optionally provided with an elastic support element, but without compressed air filling, the tire beads (74) preferably being clamped onto the rim (70), which is in particular also metal-free. Probe holder according to claim 15 or 16, characterized in that on the probe holder (1) the wheels (69) on the circumference and possibly also on the outside in the manner of fenders are partially covered covers (82), which are preferably also probes (10 ) record, tape. Probe carrier according to one of the preceding claims, characterized in that the running gear (63) can be adjusted in its direction of travel, preferably can be steered, the steering in particular being operable from the vehicle (68). Probe carrier according to one of the preceding claims, characterized in that it is towed by the vehicle (68). Probe carrier according to one of claims 1 to 18, characterized in that it is designed to drive ahead of the vehicle (68). Probe carrier according to one of the preceding claims, characterized in that the drawbar (11) is articulated in a horizontal plane, but rigid in the vertical plane, and preferably consists of a link chain which contains, in particular, actuatable stiffening means, such as an inflatable tube. Probe carrier according to one of the preceding claims, characterized in that it has a self-propulsion which can be actuated from the vehicle (68) and is preferably supplied with drive energy. Probe carrier according to one of the preceding claims, characterized in that it is designed for searching a water-covered floor (61a) and is preferably designed for towing behind a watercraft (68a). Probe carrier according to one of the preceding claims, characterized in that the drawbar (11a) is provided for a parallel offset of the probe holder (62) at different depths under the vehicle (68a), preferably contains a parallelogram guide (86). Probe carrier according to claim 24, characterized in that the drawbar (11a) on the vehicle side at an Vehicle (68a) attachable, preferably floatable base element (88) which optionally contains control, measuring and supply devices for the probe carrier (1). Probe carrier according to one of claims 23 to 25, characterized in that it contains a floodable and preferably blow-out floating body (64). Probe holder according to one of Claims 23 to 25, characterized in that it has a hydrodynamic depth control (90) which can be controlled or regulated as a spacing means (60) depending on a measurement of the water depth and the depth of the probe holder below the water surface (93) . Probe carrier according to one of claims 23 to 27, characterized in that an angle measuring element (91) engaging on the drawbar (11a) is provided for measuring the depth of the probe holder (62) under the vehicle (68a). Probe carrier according to one of the preceding claims, characterized in that the undercarriage has a front section (113) which can be relieved or lifted off from the floor (61), preferably central guide wheels (104) of the ramps (66, 67) surrounding the probes (108) ) are adjustable in height. Probe carrier according to one of the preceding claims, characterized in that a braking device is provided which responds to signals from the probes and initiates immediate braking of the probe carrier (1) in the event of a danger signal before the danger point is passed over, with an unsteady connection to a the vehicle (68) following the probe carrier enables a greater braking distance.

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