EP1351031A2 - Système pour localiser et déminage de mines terrestres - Google Patents

Système pour localiser et déminage de mines terrestres Download PDF

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Publication number
EP1351031A2
EP1351031A2 EP03002259A EP03002259A EP1351031A2 EP 1351031 A2 EP1351031 A2 EP 1351031A2 EP 03002259 A EP03002259 A EP 03002259A EP 03002259 A EP03002259 A EP 03002259A EP 1351031 A2 EP1351031 A2 EP 1351031A2
Authority
EP
European Patent Office
Prior art keywords
mine
sensor
clearing system
detection
mines
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03002259A
Other languages
German (de)
English (en)
Other versions
EP1351031B1 (fr
EP1351031A3 (fr
Inventor
Hans Dipl.-Ing. Moser
Detlev Dipl.-Ing. Eckhoff
Hermann Dr. Grosch
Klaus Dipl.-Ing. Neugebauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Landsysteme GmbH
Original Assignee
Rheinmetall Landsysteme GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rheinmetall Landsysteme GmbH filed Critical Rheinmetall Landsysteme GmbH
Publication of EP1351031A2 publication Critical patent/EP1351031A2/fr
Publication of EP1351031A3 publication Critical patent/EP1351031A3/fr
Application granted granted Critical
Publication of EP1351031B1 publication Critical patent/EP1351031B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/13—Systems specially adapted for detection of landmines
    • F41H11/134—Chemical systems, e.g. with detection by vapour analysis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/13—Systems specially adapted for detection of landmines
    • F41H11/136—Magnetic, electromagnetic, acoustic or radiation systems, e.g. ground penetrating radars or metal-detectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles

Definitions

  • the invention relates to a mine detection and clearing system for landmines after Preamble of claim 1.
  • Mines pose a permanent threat to both civilians in many countries as well as members of the armed forces Mines are anti-personnel mines and anti-tank mines on the Surface, on the surface and buried, usually to a depth of 30 cm laid.
  • the mines have a wide variety of ignition and action mechanisms.
  • To endanger people To remove mines, the mines must at least be where people are be cleared.
  • mechanical and pyrotechnic broaching systems are used.
  • FR 914 285 describes a simple mechanical broaching system.
  • EP 0 618 423 A1 discloses a tracked vehicle converted as a mine clearing vehicle with the help of which the mine is conveyed in front of a milling drum and there under Pressurization is detonated. Such a vehicle is optionally remotely controllable.
  • a flail system is known from EP 0 365 264 A1, which has a height sensor can be adjusted with a distance sensor and is located in the front of a vehicle. This sensor should enable height control of the flail.
  • a flail device is considered in more detail in DE 88 07 421 U1.
  • a mine clearing vehicle is also known from DE 44 41 075 C1, here one Front attachment is described in more detail. It is intended for the selection of metal parts Arrange magnets in the area of a milling drum.
  • DE 195 14 569 A1 is concerned with one installed on a vehicle Search and clearing device for landmines.
  • a metal detector is used, the rotating metal detector detects the position and movable grippers can drop a blow charge. Only metallic mines are searched. Non-metallic mines cannot be detected.
  • a device for locating ammunition located below the surface of the earth is disclosed in the generic DE 42 42 541 A1.
  • the invention proposes not to endanger the earth-sensing Sensors on a separate light, unmanned, remote-controlled vehicle To order (daughter vehicle), which is then the area contaminated with ammunition departs.
  • Antennas of a ground radar device are magnetic sensors as well as a camera for ground observation provided on a side Booms of a sensor carrier are attached. The mines are cleared not described here.
  • a mine clearing device for land mines is disclosed in DE 20 52 900 A1.
  • pressure mines, noise mines and magnetic mines vacated The driving speed is kept variable and is independent from a roller speed of an attachment. Triggering the detonation is done by impact and pressure rollers, whereby it is ensured that all Units withstand these short-term operating pressures. About the sensation no statements are made.
  • the invention takes up the task of specifying a mine detection and clearing system, through which such false alarms are excluded and the one has high detection quality with a high area coverage.
  • the invention is based on the idea of a pre-triggering device for triggering the to provide mines located on or near the surface and a sensor system use that takes advantage of different physical effects, making the below surface mines are clearly identified and localized as mines become. That is, all mines on the surface, i.e. Rifle mines, tank mines or Pulling wires that trigger fragments that are located on or next to the route, are triggered by the mechanical pre-triggering. The hidden ones deeper mines are located by the mine detection sensor system. This The location then causes a targeted evacuation possibility by the mine search Clearing system.
  • an additional flail which is preferably functional with the pre-release device Interacting, these located mines are then triggered brought. Then the carrier vehicle is preferably aligned with the mine, that at least one of the additional flails is directly above the mine, the carrier vehicle but removed from it. The additional flail triggers the mine.
  • GPR ground radars
  • EMI electromagnetic pulse sensor
  • TNA thermal neutron activation sensor
  • IMS sensor ion mobility spectrometer
  • the optronic sensors are imaging sensors and evaluate features of mines that are used for automatic detection.
  • secondary features such as changes in surface growth and / or in the temperature profile of the surface, can preferably be evaluated.
  • Ground radars can also be used to detect hidden mines, here without metal components, since mines in the ground represent a change in the dielectric.
  • TNA sensors and NQR sensors stimulate the mine by neutrons or electromagnetic ones Signals and evaluate the returned signal responses.
  • IMS Sensore and electrochemical processes determine the characteristic of explosives the mobility of the molecules or the change in the electrical conductivity of Substances caused by the molecules.
  • a direct, merged evaluation of the sensor data also enables highly precise Determining the location and location of the mines for clearance.
  • the sensor coordinate systems are used directly as part of an adjustment and / or combination with e.g. GPS receivers, inertial sensors determined.
  • the individual sensor data are taken into account in a uniform coordinate system taking into account location and location transformed.
  • the mine detection sensor system can be set so that only a certain group of Mines is detected, which is characterized by preselectable properties. Thereby it is possible to set the sensors so that, for example, only large ones hidden mines (tank mines) are searched for and detected.
  • the chassis of the system is designed so that the mines, that are not triggered by the pre-trigger, also not triggered by the chassis can be.
  • the mine sensor system is arranged behind the mechanical pre-release device.
  • the mine detection and clearing system is preferably remotely controllable and can be made from one Carrier vehicle or two carrier vehicles exist.
  • the sensors are in the front area one of the two vehicles is mounted so far forward that after detection one Mine can stop the vehicle without running over a mine with the undercarriage.
  • the preliminary solution for example a flail system as described in DE 197 81 871 T1 is adjusted so that all Mines and mine detonators that are above the search depth are triggered are, these ground impact energies are significantly lower than in the described Flail system, because with the pre-release there are no deeper mine leads must be triggered. All you need to do is advance the flail elements desired, which advantageously does not destroy the structure of the Leads underground.
  • the flail system is preferably built on the vehicle, can also be used on an independent carrier vehicle.
  • the flail elements, like the additional flails, are preferably chains with one each Percussion element.
  • the flail system has the advantage that the vegetation of the subsoil disappears by leveling. This will damage the sensors avoided by stones, vegetation etc.
  • the flail system has the additional flails on the side, the left and / or right on the flail axis via a coupling to the drive motor are mounted.
  • the additional flails are disengaged.
  • the carrier vehicle 1 shows a mine search and clearing system 100 with a carrier vehicle 1 with a mechanical pre-release device 2, a mine search sensor system 3, also called sensor system, and a sensor and evaluation circuit 4.
  • the carrier vehicle 1 preferably has low-pressure tires 5 and a protective shield 6 attached behind the pre-release device 2 for protecting the sensor system 3. If pre-release device 2 and sensor system 3 are integrated on a common vehicle 1, at least here the undercarriage (wheel drive, chain drive) is designed such that the mines, which are not triggered by pre-release device 2, cannot be triggered by the undercarriage either.
  • the sensor system 3 is preferably mounted in the rear area of the vehicle 1.
  • additional flails 7 can be attached to the right and / or left of the drive axle of the pre-release device 2. These additional flails 7 can trigger a mine after detection of a mine and be destroyed (still under construction).
  • Fig. 2 shows the separate attachment of the individual modules divided into two Carrier vehicles 10, 11.
  • the pre-release device 2 is attached to the first carrier vehicle 10 in the direction of travel 9.
  • the chassis of the carrier vehicle 10 is designed such that Mines that are not triggered by the pre-release device 2, also by the undercarriage cannot be triggered.
  • the sensor system 3 is in the front area of the vehicle 11 so far forward that the vehicle 11 preferably after detection of a mine can be stopped without the landing gear To overflow mine.
  • the carrier vehicle 11 comprises a pivotable sensor pivot arm 8, on which the sensor system 3 is attached.
  • the sensor and evaluation circuit 4 is also integrated.
  • FIG. 3 A further embodiment is shown in FIG. 3.
  • the sensor system 3 consists of a large number of different physical effects exploiting sensors, but at least each of at least one optronic Sensor 3.1, a ground radar 3.2, an X-ray reflective sensor 3.3, an EMI 3.4 and / or an explosives detector 3.5.
  • a flail system is provided as the pre-release device 2. This shows impact or flail elements 2.1.
  • the principle of the effective mine detection and clearing system 100 according to FIGS. 1 to 3 consists in the mechanical pre-release device 2 all mines at or near destroy or trigger the earth's surface and adjust the sensor system 3 in such a way that it is optimized for the detection of buried mines.
  • the preliminary solution is done by opening the flail elements 2.1 on the flail system 2.
  • sensor 3 depending on the specification, only certain groups of mines are used detected, which are predetermined by preselectable properties. These properties can position below the earth's surface with a minimum depth x as well be a minimum size / volume to be detected.
  • Flail system 2 switched off.
  • the vehicle 1 is then moved so that one of the additional flails 7 is positioned exactly above the mine.
  • the additional flail 7 is coupled and rotated via the flail motor (not shown).
  • the Flail system 2 is then selectively lowered into the ground until it is in the ground lying mine is destroyed. This means the full drive power of the Flail system 2 available for the additional flail 7, which means that it can be cleared quickly.
  • the carrier vehicle becomes when a mine is detected 10 with its flail system 2 and the additional flails 7 in the appropriate position driven, which is also preferably done remotely, the location as information from the carrier vehicle 11 to the first carrier vehicle 10 is given. It is then triggered as already described.
  • Additional sensors 13 can be uneven surfaces, built-up areas or with vegetation and stones of excellent terrain can be searched specifically. Examples would be Road edges or ditches, the immediate surroundings of trees and bushes, bridge driveways etc.
  • This additional sensor system 13 is modular and can be connected to the Search width can be optimized for the search tasks.
  • the sensor data are merged directly evaluated. This is done in conjunction with location referencing, which is vehicle-specific and take absolute coordinates into account.
  • the sensor coordinate systems are determined directly.
  • individual Sensor data taking into account location and location precisely in a uniform Coordinate system transformed.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP03002259A 2002-04-06 2003-02-01 Système pour localiser et déminage de mines terrestres Expired - Fee Related EP1351031B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10215220A DE10215220B4 (de) 2002-04-06 2002-04-06 Minensuch- und Räumsystem für Landminen
DE10215220 2002-04-06

Publications (3)

Publication Number Publication Date
EP1351031A2 true EP1351031A2 (fr) 2003-10-08
EP1351031A3 EP1351031A3 (fr) 2004-05-19
EP1351031B1 EP1351031B1 (fr) 2008-04-16

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EP03002259A Expired - Fee Related EP1351031B1 (fr) 2002-04-06 2003-02-01 Système pour localiser et déminage de mines terrestres

Country Status (3)

Country Link
US (1) US20030196543A1 (fr)
EP (1) EP1351031B1 (fr)
DE (2) DE10215220B4 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1388724A2 (fr) * 2002-08-07 2004-02-11 Constructions Industrielles De La Mediterranee- Cnim Système de déminage pour mines terrestres
EP1882151A2 (fr) * 2005-04-22 2008-01-30 Humanistic Robotics, Inc. Appareil et procede de deminage de mines terrestres

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US6892622B2 (en) * 2002-08-12 2005-05-17 John E. Watson Anti-mine unit
DE102004003055A1 (de) * 2004-01-20 2005-08-18 Rheinmetall Landsysteme Gmbh Anordnung von einem ersten und mindestens einem weiteren Fahrzeug in einem lose koppelbaren nicht spurgebundenen Zugverband
US7859566B2 (en) 2004-01-20 2010-12-28 Rheinmetall Landsysteme Gmbh Arrangement of a first and at least a second additional vehicle in a loosely couplable not track bound train
US20050235815A1 (en) * 2004-02-03 2005-10-27 Vikram Shankhla Knee link flail (KLF) system
DE102004046571A1 (de) * 2004-09-24 2006-04-06 Rheinmetall Landsysteme Gmbh Vorrichtung zum Verbringen einer Nutzlast, insbesondere zur Neutralisierung von Minen oder dergleichen
US8374754B2 (en) * 2005-12-05 2013-02-12 Niitek, Inc. Apparatus for detecting subsurface objects with a reach-in arm
DE102007018137B3 (de) 2007-04-16 2008-10-30 Rheinmetall Landsysteme Gmbh Neutralisierungsverfahren für Sprengkörper und Vorrichtung zur Durchführung des Verfahrens
WO2009018495A1 (fr) * 2007-07-31 2009-02-05 Niitek, Inc. Système de commande d'endommagement et procédé pour un capteur de véhicule
EP2198238A4 (fr) * 2007-09-20 2013-04-03 Humanistic Robotics Inc Système de rouleaux
US20090095096A1 (en) * 2007-10-10 2009-04-16 Charles Edwin Dean Hazardous materials sensing robot
FR2939502B1 (fr) * 2008-12-10 2016-07-29 Mbda France Materiel roulant pour declencher des charges explosives et ensemble motorise pour securiser des routes, pistes ou analogues
US20100270347A1 (en) * 2009-04-22 2010-10-28 Willowview Consulting, Llc Systems for detecting objects in the ground
CN102022956A (zh) * 2009-09-23 2011-04-20 汪国胜 一种特种车辆
WO2011091318A2 (fr) * 2010-01-22 2011-07-28 Willowview Systems, Inc. Systèmes et procédés de détection d'objets dans le sol
US8397612B2 (en) * 2010-01-27 2013-03-19 Humanistic Robotics, Inc. Modular roller system
US11221196B2 (en) * 2015-03-30 2022-01-11 Director General, Defence Research & Development Organisation (Drdo) Vehicle and method for detecting and neutralizing an incendiary object
TR201913129A2 (tr) * 2019-08-29 2021-03-22 Tuerkiye Bilimsel Ve Teknolojik Arastirma Kurumu Tuebitak Araca takili metal ve mayin dedektörü

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WO2001092976A1 (fr) * 2000-05-26 2001-12-06 Furukawa Equipement S.A. Procede de deplacement automatique sur un terrain, d'un outil monte a l'extremite d'un bras articule

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WO2001092976A1 (fr) * 2000-05-26 2001-12-06 Furukawa Equipement S.A. Procede de deplacement automatique sur un terrain, d'un outil monte a l'extremite d'un bras articule

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1388724A2 (fr) * 2002-08-07 2004-02-11 Constructions Industrielles De La Mediterranee- Cnim Système de déminage pour mines terrestres
EP1388724B1 (fr) * 2002-08-07 2008-03-05 Constructions Industrielles De La Mediterranee- Cnim Système de déminage pour mines terrestres
EP1882151A2 (fr) * 2005-04-22 2008-01-30 Humanistic Robotics, Inc. Appareil et procede de deminage de mines terrestres
EP1882151A4 (fr) * 2005-04-22 2011-03-23 Humanistic Robotics Inc Appareil et procede de deminage de mines terrestres

Also Published As

Publication number Publication date
EP1351031B1 (fr) 2008-04-16
DE50309611D1 (de) 2008-05-29
US20030196543A1 (en) 2003-10-23
DE10215220B4 (de) 2006-09-07
DE10215220A1 (de) 2003-10-23
EP1351031A3 (fr) 2004-05-19

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