EP1494189A2 - Sensing apparatus for detecting ABC weapons - Google Patents

Sensing apparatus for detecting ABC weapons Download PDF

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Publication number
EP1494189A2
EP1494189A2 EP04009517A EP04009517A EP1494189A2 EP 1494189 A2 EP1494189 A2 EP 1494189A2 EP 04009517 A EP04009517 A EP 04009517A EP 04009517 A EP04009517 A EP 04009517A EP 1494189 A2 EP1494189 A2 EP 1494189A2
Authority
EP
European Patent Office
Prior art keywords
sensor device
sensor
housing
determining
target area
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.)
Ceased
Application number
EP04009517A
Other languages
German (de)
French (fr)
Other versions
EP1494189A3 (en
Inventor
Gerd Christian Knese
Wolfgang Dr. Seidel
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 Waffe Munition GmbH
Original Assignee
Rheinmetall W&M GmbH
Rheinmetall Waffe Munition 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 W&M GmbH, Rheinmetall Waffe Munition GmbH filed Critical Rheinmetall W&M GmbH
Publication of EP1494189A2 publication Critical patent/EP1494189A2/en
Publication of EP1494189A3 publication Critical patent/EP1494189A3/en
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
    • F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
    • F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
    • F42B12/365—Projectiles transmitting information to a remote location using optical or electronic means
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems

Definitions

  • the invention relates to an autonomous sensor device which can be brought into a target area.
  • Radioactive radiation as well as biological or chemical warfare agents it is known either persons provided with protective suits or suitably equipped To send armored vehicles into the target area, there to the radiation or the To identify warfare agents.
  • the invention is based on the object of providing a cost-effective solution for determining radioactive radiation and their direction of irradiation and / or biological and / or chemical Indicate warfare agents in a given target area, which is an immediate target Does not require the use of ABC specialists.
  • the goal is the autonomous and early warning of ABC effects.
  • the invention is based essentially on the idea of corresponding ABC sensors to be integrated into an autonomous sensor device, which is controlled by helicopters, drones, Missiles, cargoes (for example, with an artillery shell or steering ammunition), but can also be moved manually to the corresponding destination area.
  • the sensor device according to the invention further includes an electronic evaluation and control device and a messaging device.
  • this preferably comprises a braking device.
  • the sensor device according to the invention has, apart from the fact that it is relatively inexpensive compared to armored vehicles and requires no immediate use of ABC specialists, the advantage that it can be discontinued very quickly in areas which are greater from the operations center 40 km. In addition, only a simple logistics is required and the sensor device can easily ensure autonomous operation over several months, provided that the power supply facilities are designed accordingly.
  • the sensor device 1 is a sensor device according to the invention which has been deposited in a target area designated.
  • the sensor device 1 comprises a housing 2, on which a dashed line indicated parachute device 3 was located shortly before the landing of the sensor device 1 has been separated from the housing 2 by means of a separating lock 4.
  • a mechanical erector 5 which comprises a plurality of paddle-shaped erecting elements 6, which after landing or a Manual positioning of the sensor device 1 were opened and the sensor device 1 bring to a predetermined starting position.
  • a power supply device 7 located on or in the housing of the sensor device 1 is a power supply device 7, one or more sensor carriers 8 with sensors 9 for measuring the radioactivity and for measuring biological and / or chemical warfare agents.
  • the sensor device 1 comprises a device 10 for precise position determination of Sensor device 1, z. B. a GPS module, and an evaluation and control device 11th with a messaging device 13 including a telescopically extendable Antenna 12 for remote data transmission of the measured information.
  • an electronic compass 14 and a tilt sensor 15 integrated into the probe. This is u. a. also the provision the irradiation direction of radioactive radiation.
  • the sensor device 1 If the sensor device 1 spent in the target area and dropped, this is decelerated by the opening of the parachute device 3. After disconnecting the parachute device 3 and landing in the given area of application is the sensor device 1 erected by means of the erector 5 and the antenna 12 and the Sensor carrier 8 pushed out of the housing 2 of the sensor device 1.
  • the sensor device When moving the sensor device 1 by a spin stabilized artillery projectile the sensor device must be unwound before the parachute opening 3 by swirl vanes 16 and be stabilized by a stabilization unit 17 during this phase.
  • the invention is not limited to the embodiment described above limited.
  • the sensor device according to the invention can e.g. also by means of a remotely controllable autonomous vehicle manually deducted in the respective target area become.
  • the parachute device can be omitted.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Measurement Of Radiation (AREA)

Abstract

The sensor has a housing (2) with an electronic evaluation and control equipment (11) as well as a transmission mechanism (13). The sensor measures the radioactive radiation as well as their irradiating direction and or determines the content of biological agents in air and or the content of the air and classification of chemical agents in a target area. The measured values are evaluated and the control equipment sends information to an operation center.

Description

Die Erfindung betrifft eine in ein Zielgebiet verbringbare autonome Sensoreinrichtung.The invention relates to an autonomous sensor device which can be brought into a target area.

Zum Aufspüren radioaktiver Strahlung sowie biologischer oder chemischer Kampfstoffe ist es bekannt, entweder mit Schutzanzügen versehene Personen oder entsprechend ausgerüstete gepanzerte Fahrzeuge in das Zielgebiet zu schicken, um dort die Strahlung bzw. die Kampfstoffe zu ermitteln.For detecting radioactive radiation as well as biological or chemical warfare agents it is known either persons provided with protective suits or suitably equipped To send armored vehicles into the target area, there to the radiation or the To identify warfare agents.

Bei der zunehmenden Bedrohung durch den Einsatz von ABC-Waffen auf den Gefechtsfeldem ist das Bedrohungspotential für die Messungen durchführenden ABC-Spezialisten beträchtlich und der Einsatz entsprechender Fahrzeuge mit hohen Kosten verbunden. Außerdem können entsprechende Fahrzeuge häufig nicht überall auf dem Gefechtsfeld eingesetzt werden, so daß sie nur ein begrenztes Einsatzspektrum besitzen. Schließlich ist ein relativ hoher Logistikaufwand mit dem Einsatz derartiger Fahrzeuge verbunden.In the growing threat posed by the use of ABC weapons on the battlefield is the threat potential for measurements by ABC specialists considerable and the use of appropriate vehicles at high cost. Furthermore Often, such vehicles can not be deployed anywhere on the battlefield so that they have only a limited range of applications. Finally one is relatively high logistics costs associated with the use of such vehicles.

Der Erfindung liegt die Aufgabe zugrunde, eine kostengünstige Lösung zur Ermittlung radioaktiver Strahlung sowie deren Einstrahlrichtung und/oder biologischer und/oder chemischer Kampfstoffe in einem vorgegebenen Zielgebiet anzugeben, welche einen unmittelbaren Einsatz von ABC-Spezialisten nicht erforderlich macht. Ziel ist die autonome und frühzeitige Warnung vor ABC-Einwirkungen.The invention is based on the object of providing a cost-effective solution for determining radioactive radiation and their direction of irradiation and / or biological and / or chemical Indicate warfare agents in a given target area, which is an immediate target Does not require the use of ABC specialists. The goal is the autonomous and early warning of ABC effects.

Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst. Eine weitere, besonders vorteilhafte Ausgestaltung der Erfindung offenbaren die Unteransprüche. This object is achieved by the features of claim 1. A Further, particularly advantageous embodiment of the invention disclose the dependent claims.

Die Erfindung beruht im wesentlichen auf dem Gedanken, entsprechende ABC-Sensoren in eine autonome Sensoreinrichtung zu integrieren, welche mittels Hubschrauber, Drohnen, Raketen, Cargogeschosses (z.B. mit einem Artilleriegeschoß oder Lenkmunition), aber auch manuell in das entsprechende Zielgebiet verbringbar ist. Die erfindungsgemäße Sensoreinrichtung umfaßt ferner eine elektronische Auswerte- und Steuereinrichtung sowie eine Nachrichtenübermittlungseinrichtung.The invention is based essentially on the idea of corresponding ABC sensors to be integrated into an autonomous sensor device, which is controlled by helicopters, drones, Missiles, cargoes (for example, with an artillery shell or steering ammunition), but can also be moved manually to the corresponding destination area. The sensor device according to the invention further includes an electronic evaluation and control device and a messaging device.

Sofern es sich um eine abwerfbare Sensoreinrichtung handelt, umfaßt diese vorzugsweise eine Bremseinrichtung.
Die erfindungsgemäße Sensoreinrichtung weist, abgesehen davon, daß sie im Vergleich zu gepanzerten Fahrzeugen relativ kostengünstig ist und keinen unmittelbaren Einsatz von ABC-Spezialisten erfordert, den Vorteil auf, daß sie sehr schnell auch in Gebieten abgesetzt werden kann, welche von der Operationszentrale einen Abstand größer 40 km aufweisen. Außerdem ist nur eine einfache Logistik erforderlich und die Sensoreinrichtung kann problemlos über mehrere Monate einen autonomen Betrieb gewährleisten, sofern die Stromversorgungseinrichtungen entsprechend ausgelegt sind.If it is a disposable sensor device, this preferably comprises a braking device.
The sensor device according to the invention has, apart from the fact that it is relatively inexpensive compared to armored vehicles and requires no immediate use of ABC specialists, the advantage that it can be discontinued very quickly in areas which are greater from the operations center 40 km. In addition, only a simple logistics is required and the sensor device can easily ensure autonomous operation over several months, provided that the power supply facilities are designed accordingly.

Weitere Einzelheiten und Vorteile der Erfindung ergeben sich aus dem folgenden anhand einer Figur erläuterten Ausführungsbeispiel.Further details and advantages of the invention will become apparent from the following a figure illustrated embodiment.

In der Fig. ist mit 1 eine in einem Zielgebiet abgesetzte erfindungsgemäße Sensoreinrichtung bezeichnet. Die Sensoreinrichtung 1 umfaßt ein Gehäuse 2, an dem sich eine gestrichelt angedeutete Fallschirmeinrichtung 3 befand, die kurz vor der Landung der Sensoreinrichtung 1 von dem Gehäuse 2 mittels eines Trennschlosses 4 abgetrennt wurde.In the figure, 1 is a sensor device according to the invention which has been deposited in a target area designated. The sensor device 1 comprises a housing 2, on which a dashed line indicated parachute device 3 was located shortly before the landing of the sensor device 1 has been separated from the housing 2 by means of a separating lock 4.

An dem Gehäuse 2 ist außerdem eine mechanische Aufrichtvorrichtung 5 vorgesehen, welche mehrere paddelförmige Aufrichtelemente 6 umfaßt, die nach der Landung bzw. einer manuellen Positionierung der Sensoreinrichtung 1 aufgeklappt wurden und die Sensoreinrichtung 1 in eine vorbestimmte Ausgangsposition bringen.On the housing 2, a mechanical erector 5 is also provided, which comprises a plurality of paddle-shaped erecting elements 6, which after landing or a Manual positioning of the sensor device 1 were opened and the sensor device 1 bring to a predetermined starting position.

Ferner befinden sich an bzw. in dem Gehäuse der Sensoreinrichtung 1 eine Stromversorgungseinrichtung 7, ein oder mehrere Sensorträger 8 mit Sensoren 9 zur Messung der Radioaktivität sowie zur Messung biologischer und/oder chemischer Kampfstoffe. Außerdem umfaßt die Sensoreinrichtung 1 eine Vorrichtung 10 zur genauen Positionsbestimmung der Sensoreinrichtung 1, z. B. ein GPS-Modul, und eine Auswerte- und Steuereinrichtung 11 mit einer Nachrichtenübermittlungseinrichtung 13 einschließlich einer teleskopartig ausschiebbaren Antenne 12 für die Datenfernübertragung der gemessenen Informationen.Further, located on or in the housing of the sensor device 1 is a power supply device 7, one or more sensor carriers 8 with sensors 9 for measuring the radioactivity and for measuring biological and / or chemical warfare agents. Furthermore the sensor device 1 comprises a device 10 for precise position determination of Sensor device 1, z. B. a GPS module, and an evaluation and control device 11th with a messaging device 13 including a telescopically extendable Antenna 12 for remote data transmission of the measured information.

Zur Bestimmung der Sondenausrichtung in Bezug zur magnetischen Nordrichtung und der Sondenneigung sind ein elektronischer Kompass 14 sowie ein Neigesensor 15 (z. B. ein Beschleunigungsaufnehmer) in die Sonde integriert. Dies dient u. a. auch der Bestimmung der Einstrahlrichtung radioaktiver Strahlungen.For determining the probe orientation with respect to the magnetic north direction and the Probe tilt are an electronic compass 14 and a tilt sensor 15 (eg, a Accelerometer) integrated into the probe. This is u. a. also the provision the irradiation direction of radioactive radiation.

Wird die Sensoreinrichtung 1 in das Zielgebiet verbracht und abgeworfen, wird diese durch die sich öffnende Fallschirmeinrichtung 3 abgebremst. Nach Abtrennen der Fallschirmeinrichtung 3 und Landung in dem vorgegebenen Einsatzgebiet wird die Sensoreinrichtung 1 mittels der Aufrichtvorrichtung 5 aufgerichtet und die Antenne 12 sowie der Sensorträger 8 aus dem Gehäuse 2 der Sensoreinrichtung 1 herausgeschoben.If the sensor device 1 spent in the target area and dropped, this is decelerated by the opening of the parachute device 3. After disconnecting the parachute device 3 and landing in the given area of application is the sensor device 1 erected by means of the erector 5 and the antenna 12 and the Sensor carrier 8 pushed out of the housing 2 of the sensor device 1.

Bei Verbringung der Sensoreinrichtung 1 durch ein drallstabilisiertes Artilleriegeschoß muss die Sensoreinrichtung vor der Fallschirmöffnung 3 durch Drallflügel 16 entdrallt und während dieser Phase durch eine Stabilisierungseinheit 17 stabilisiert werden.When moving the sensor device 1 by a spin stabilized artillery projectile the sensor device must be unwound before the parachute opening 3 by swirl vanes 16 and be stabilized by a stabilization unit 17 during this phase.

Anschließend wird dann mit Hilfe der Sensoren 9 und der Auswerte- und Steuereinrichtung 11 das Vorhandensein von Radioaktivität und biologischen sowie chemischen Kampfstoffen ermittelt und die entsprechenden Meßwerte einschließlich der - durch die Vorrichtung 10 - ermittelten Position der Sensoreinrichtung 1 per Langstreckenfunk oder via Satellit an eine Operationszentrale übermittelt.Then, with the help of the sensors 9 and the evaluation and control device 11 the presence of radioactivity and biological as well as chemical Warfare agents and the corresponding measured values including - by Device 10 - determined position of the sensor device 1 by long-distance radio or transmitted via satellite to an operations center.

Die Erfindung ist selbstverständlich nicht auf das vorstehend beschriebene Ausführungsbeispiel beschränkt. So kann die erfindungsgemäße Sensoreinrichtung z.B. auch mittels eines fernsteuerbaren autonomen Fahrzeuges manuell in dem jeweiligen Zielgebiet abgesetzt werden. In diesem Fall kann die Fallschirmeinrichtung entfallen. Of course, the invention is not limited to the embodiment described above limited. Thus, the sensor device according to the invention can e.g. also by means of a remotely controllable autonomous vehicle manually deducted in the respective target area become. In this case, the parachute device can be omitted.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

11
Sensoreinrichtungsensor device
22
Gehäusecasing
33
Fallschirmeinrichtung, BremsvorrichtungParachute device, brake device
44
Trennschloßrelease lock
55
Aufrichtvorrichtungerecting
66
Aufrichtelementrighting
77
StromversorgungseinrichtungPower supply means
88th
Sensorträgersensor support
99
ABC-SensorenABC sensors
1010
Vorrichtung zur dreidimensionalen Positionsbestimmung, z. B. GPS-ModulDevice for three-dimensional position determination, z. B. GPS module
1111
Auswerte- und SteuereinrichtungEvaluation and control device
1212
Antenneantenna
1313
NachrichtenübermittlungseinrichtungMessaging device
1414
Elektronischer KompassElectronic compass
1515
Neigesensortilt sensor
1616
Drallflügelswirl unit
1717
Stabilisierungseinheitstabilization unit

Claims (5)

In ein Zielgebiet verbringbare autonome Sensoreinrichtung (1) mit den Merkmalen: a) die Sensoreinrichtung (1) umfaßt ein Gehäuse (2) mit einer elektronischen Auswerte- und Steuereinrichtung (11) sowie einer Nachrichtenübermittlungseinrichtung (13); b) die Sensoreinrichtung weist ferner Sensoren (9) zur Messung der radioaktiven Strahlung sowie deren Einstrahlrichtung und/oder zur Bestimmung des Gehaltes der Luft an biologischen Kampfstoffen und/oder des Gehaltes der Luft und Klassifizierung von chemischen Kampfstoffen im Zielgebiet auf, deren Meßwerte von der Auswerte- und Steuereinrichtung (11) auswertbar und über die Nachrichtenübermittlungseinrichtung (13) an eine Operationszentrale übermittelbar sind. Autonomous sensor device (1) which can be moved to a target area and has the features: a) the sensor device (1) comprises a housing (2) with an electronic evaluation and control device (11) and a message transmission device (13); b) the sensor device further comprises sensors (9) for measuring the radioactive radiation and its direction of irradiation and / or for determining the content of air in biological warfare agents and / or the content of the air and classification of chemical warfare agents in the target area, the measured values of the Evaluation and control device (11) can be evaluated and transmitted via the message transmission means (13) to an operations center. Sensoreinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Sensoreinrichtung (1) mindestens einen Sensorträger (8) für mindestens einen der Sensoren (9) umfaßt, welcher aus dem Gehäuse (2) herausschwenkbar oder herausschiebbar an diesem angeordnet ist.Sensor device according to Claim 1, characterized in that the sensor device (1) comprises at least one sensor carrier (8) for at least one of the sensors (9) which can be pivoted out of or pushed out of the housing (2). Sensoreinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß im Falle einer durch Abwurf verbringbaren Sensoreinrichtung (1) an oder in dem Gehäuse (2) eine Bremsvorrichtung (3), und eine Aufrichtvorrichtung (5) - welche auch bei manueller Verbringung vorhanden ist - vorgesehen sind.Sensor device according to Claim 1 or 2, characterized in that, in the case of a sensor device (1) which can be brought about by being dropped off, on or in the housing (2), a braking device (3), and a straightening device (5) - which is also present with manual movement - are provided. Sensoreinrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß bei der Verbringung der Sensoreinrichtung (1) durch ein drallstabilisiertes Artilleriegeschoß ein Entdrallvorgang durch Drallflügel (16) und eine Stabilisierungseinheit (17) vorgesehen ist.Sensor device according to one of claims 1 to 3, characterized in that during the transfer of the sensor device (1) by a swirl-stabilized artillery projectile a de-twisting operation by swirl vanes (16) and a stabilization unit (17) is provided. Sensoreinrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Sensoreinrichtung (1) eine Vorrichtung zur dreidimensionalen Positionsbestimmung, z. B. ein GPS-Modul (10), sowie einen elektronischen Kompass (14) zur Bestimmung der Ausrichtung in Bezug auf die magnetische Nordrichtung des Endmagnetfeldes und einen Neigesensor (15) zur Bestimmung der Winkellage im Raum umfaßt.Sensor device according to one of claims 1 to 4, characterized in that the sensor device (1) comprises a device for three-dimensional position determination, for. B. a GPS module (10), and an electronic compass (14) for determining the orientation with respect to the magnetic north direction of the final magnetic field and a tilt sensor (15) for determining the angular position in space comprises.
EP04009517A 2003-07-04 2004-04-22 Sensing apparatus for detecting ABC weapons Ceased EP1494189A3 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10330387 2003-07-04
DE10330387 2003-07-04
DE10331909 2003-07-15
DE10331909A DE10331909A1 (en) 2003-07-04 2003-07-15 ABC sensor device

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EP1494189A2 true EP1494189A2 (en) 2005-01-05
EP1494189A3 EP1494189A3 (en) 2006-06-07

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP1657572A2 (en) 2004-09-15 2006-05-17 Rheinmetall Waffe Munition GmbH An autonomous nuclear, biological, chemical (NBC) probe
EP1750082A1 (en) * 2005-08-06 2007-02-07 Rheinmetall Waffe Munition GmbH Reconnaissance probe
WO2007121820A1 (en) * 2006-04-21 2007-11-01 Rheinmetall Waffe Munition Gmbh Reconnaissance sonde

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US7688198B2 (en) * 2006-11-29 2010-03-30 Honeywell International Inc. Apparatus and method for monitoring hazardous materials in a processing or other environment
DE102006059741A1 (en) * 2006-12-18 2008-07-03 Siemens Ag Sensor support module for use as component part of integrated mechatronics i.e. control electronics, in gearbox in automobile industry, has sensor support module fastenable mechanically on housing
WO2009103308A1 (en) 2008-02-19 2009-08-27 Rag Aktiengesellschaft Method for controlling longwall mining operations, taking into account air and air conditioning resources

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DE19906970A1 (en) * 1999-02-19 2000-09-07 Rheinmetall W & M Gmbh Reconnaissance probe
US6531965B1 (en) * 2000-04-11 2003-03-11 Northrop Grumman Corporation Modular open system architecture for unattended ground sensors

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Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1657572A2 (en) 2004-09-15 2006-05-17 Rheinmetall Waffe Munition GmbH An autonomous nuclear, biological, chemical (NBC) probe
EP1750082A1 (en) * 2005-08-06 2007-02-07 Rheinmetall Waffe Munition GmbH Reconnaissance probe
WO2007121820A1 (en) * 2006-04-21 2007-11-01 Rheinmetall Waffe Munition Gmbh Reconnaissance sonde

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DE10331909A1 (en) 2005-01-20
EP1494189A3 (en) 2006-06-07

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