EP1791754A1 - Method and system for the destruction of a localized mine - Google Patents

Method and system for the destruction of a localized mine

Info

Publication number
EP1791754A1
EP1791754A1 EP05752273A EP05752273A EP1791754A1 EP 1791754 A1 EP1791754 A1 EP 1791754A1 EP 05752273 A EP05752273 A EP 05752273A EP 05752273 A EP05752273 A EP 05752273A EP 1791754 A1 EP1791754 A1 EP 1791754A1
Authority
EP
European Patent Office
Prior art keywords
mine
vehicle
primary
localized
secondary vehicle
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
EP05752273A
Other languages
German (de)
French (fr)
Other versions
EP1791754B1 (en
Inventor
Christian Blohm
Martin Pfitzner
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik 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 Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP1791754A1 publication Critical patent/EP1791754A1/en
Application granted granted Critical
Publication of EP1791754B1 publication Critical patent/EP1791754B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G2007/005—Unmanned autonomously operating mine sweeping vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the invention relates to a method for the destruction of a localized mine of the type defined in the preamble of claim 1.
  • an unmanned, remote-controlled underwater vehicle a so-called. ROV, as well as equipped with an explosive charge for mine destruction, remote-controlled search and mine destruction unit is used, which via a glass fiber cable with each other are connected.
  • the ROV is connected via another fiber optic cable to a surface ship, which has a sonar system for detecting and locating mines.
  • the mine and search unit is further equipped with a transponder, acoustic sensors, such as a short-range sonar, with optical sensors, such as a TV camera with a lighting unit, as well as with sensors for measuring actual data for navigation, such as direction of travel, angle to the horizontal plane Distance to the seabed and depth, equipped.
  • the transponder corresponds to an acoustic positioning system (APS) whose hydrophones are located on the ROV.
  • the ROV has an ejector unit, a so-called launcher, with which the search and mine destruction unit is exposed.
  • the search and mine destruction unit is determined by the APS of an im Surface ship positioned operator to the directed to the mine sonar beam of the mine hunting sonar.
  • the search and mine destruction unit whose transponder signals as well as the mine echo signals are displayed in the mine hunting sonar display, is then controlled by the operator to the mine.
  • the mine is inspected by means of the TV camera, and the search and mine destruction unit is brought to the mine by the operator in a location favorable for the destruction and then remotely ignited by the operator.
  • the exploding explosive charge of the search and mine destruction unit which may be, for example, a shaped charge, triggers a detonation of the mine, wherein the search and mine destruction unit is destroyed with.
  • the search and mine destruction unit With its acoustic, optical and navigation sensors is the search and
  • Mine destruction unit is a relatively costly clearing device, but justified in certain applications, the time savings in the mine destruction cost of use.
  • the search and mine destruction unit has not been designed as a disposable vehicle with weapons characteristics, but as a reusable underwater vehicle, which deposits only an explosive charge at the mine and before detonation of explosive charge and mine is overtaken by a surface ship again (Buschhorn and Schütz "mine hunting - a modern variant of the mine mine defense", yearbook of the defense technology, 1976/77, page 142 - 151). After recording the search and mine destruction unit by the
  • the invention has for its object to provide a method for mine destruction, which minimizes the cost of the Räumungscuit and compared to methods that use a reusable search and mine destruction unit, brings a significant reduction in the clearance times with it.
  • the inventive method has the advantage that by using a primary and a secondary vehicle, both unmanned and have its own drive, as an autonomous, so independent of a platform tandem cost-effective allocation of system components on the reusable primary vehicle and on the designed as a one-way vehicle, a torpedo-like weapon performing secondary vehicle is possible. As a result, the costs incurred by destruction of the secondary vehicle, can be kept quite low.
  • the tandem travels autonomously to the mine with the knowledge of the position data of a previously located mine and with the aid of navigation data from an on-board navigation device of the primary vehicle. There, the primary vehicle brings the secondary vehicle by remote control directly to the mine and triggered by a corresponding ignition signal from the detonator of the explosive charge.
  • the secondary vehicle from the Primary vehicle are placed in an optimal position for the detonation of the mine and held in this position until the primary vehicle has taken a safe distance from the mine.
  • the adjustment of an optimal position of the secondary vehicle in turn allows a smaller explosive charge to bring the mine reliably detonated, so that the space required for receiving the explosive charge space in the secondary vehicle and the total weight of the secondary vehicle is reduced. This is essential for demining because then a larger number of secondary vehicles can be held and carried by the platform to a primary vehicle.
  • the secondary engine representing a "mini-effector" can be placed much more accurately and with a significantly reduced amount of explosive, can cause reliable mine destruction.
  • primary and secondary vehicles are interconnected by a cable, are transmitted from the primary vehicle to the secondary vehicle steering signals and drive power for the secondary vehicle and also an electrical ignition signal for remote release of the explosive charge is transmitted.
  • the stretched between the primary and secondary vehicle cable length is controlled so that it continuously between the vehicles currently existing distance is adjusted. This prevents the cable - as opposed to a unwound and loose-hanging cable - from getting caught on objects or bodies or on exterior elements of the preceding secondary vehicle during approach to the mine and can break.
  • a mine destruction system used in the method according to the invention is defined in claim 13 and further embodiments and improvements of
  • FIG. 7 is a block diagram of a primary vehicle used in the method of FIGS. 1-6;
  • FIG. 8 is a block diagram of a secondary vehicle used in the method of FIGS. 1-6.
  • the vehicles 11, 12 are carried by a platform 10, which, for example - as shown in Fig. 1 - is a surface ship.
  • the platform 10 may also be a submarine, a dinghy or a helicopter.
  • the primary vehicle 11 further has a power source 19 in the form of a fuel cell, a battery or a battery and a navigation device 20 and is equipped with acoustic sensors 21 and optical sensors 22 for underwater use.
  • the acoustic sensor used is preferably a near-field sonar known per se, and a TV camera with an illumination device as the optical sensor.
  • a cable winch 23 is installed in the primary vehicle 11, on which a connecting cable 24 which can be connected to the secondary vehicle 12 is drummed.
  • All components are controlled by a control unit 25, which has an artificial intelligence 26 for processing position data of a localized mine and navigation data of the navigation device 20.
  • a memory 27 is provided, which is accessed by the control unit 25.
  • the drive power is supplied to the secondary vehicle 12 from the power source 19 of the primary vehicle 11 via the connection cable 24.
  • the connecting cable 24 is also still the transmission of steering signals to the steering device 16 of the secondary vehicle 12 and for transmitting an igniter 29 activating trigger signal.
  • a control electronics 30 provides for the control of the individual components in dependence on the signals transmitted via the connection cable 24.
  • the predetermined mine clearance area is searched by means of an actively located sonar, a so-called mine hunting sonar 31.
  • a mine 33 lying on the seabed 32 is detected by way of example and localized by determining its position data in a ground-based coordinate system. If the localized mine 33 is to be destroyed, the position data are stored in the memory 27 of the primary vehicle 11 and the two vehicles 11, 12 connected to one another by a connecting cable 24 are inserted into the water by means of a dispensing device 34 (FIG. 1) (FIG ).
  • the tandem formed by the two underwater vehicles 11, 12 operates autonomously, in the primary vehicle 11 by means of the stored position data of the localized mine 33 and the navigation data of the navigation device 20 steering signals for both the primary vehicle 11 and for the secondary vehicle 12 is generated and given to the steering devices 15 and 16 of the two vehicles 11, 12.
  • the data is processed via artificial intelligence algorithms 26.
  • the tandem initially moves on the shortest possible path in the direction of the seabed 32 (FIG. 2), and then at a distance from the seabed
  • the mine 33 is relocated from the primary vehicle 11 (FIG. 4), i. H. their position data are again determined and written in the memory 27, so that now the artificial intelligence control unit 25 improved position data of the mine 33 for generating the steering signals for the secondary vehicle 12 are available and the primary vehicle 11 now the secondary vehicle 12 precisely to the mine 33 can steer. Does the secondary vehicle 12 the mine
  • an ignition signal is generated in the primary vehicle 11, which passes via the connecting cable 24 to the igniter 29 in the secondary vehicle 12 and there the explosive charge 28, which may be formed, for example, as a shaped charge, the mine 33 shoots.
  • the secondary vehicle 12 Upon detonation of the mine 33, the secondary vehicle 12 is destroyed and the connection cable 24 torn (Fig. 6).
  • a program routine is triggered in the control unit 25 of the primary vehicle 11, causing the primary vehicle 11 to return to the platform 10, whose position data are also stored in the memory 27 of the primary vehicle 11, and the control unit 25 for this purpose corresponding steering signals to the steering device 15 of the primary vehicle 11 sets.
  • the tandem drives very close to the mine 33, so that from the primary vehicle 11 by means of lighting and TV camera, the mine 33 is visible in all details (Fig. 4).
  • control signals 25 are generated by the control unit 25 for the secondary vehicle 12 and given to the secondary vehicle 12 for setting an optimum position for the blast at the mine 33.
  • the primary vehicle 11 moves away from the mine 33 to a safety distance (FIG. 5) and detonates the explosive charge 28 by an ignition signal (FIG. 6).
  • the invention is not limited to the embodiment described. So have the position data the localized mine will not be stored in the primary vehicle prior to the mission trip of the tandem. They can also be transmitted from the platform to the primary vehicle during the mission trip of the tandem by wireless underwater communication.

Abstract

A method for the destruction of a localized mine, wherein an unmanned underwater vessel cooperates as a primary vessel ( 11 ) withy another unmanned remote-controlled underwater vessel acting as a secondary vessel ( 12 ) and which is provided with an explosive charge for explosion purposes. To reduce clearing costs compared to a method that uses a disposable vessel and to reduce clearing times compared to a method using a re-usable clearing vehicle, the primary and secondary vessels ( 11, 12 ) are used in an autonomously operating mode wherein the secondary vessel ( 12 ) is remotely controlled by the primary vessel ( 11 ). The tandem mode is effected as far as the mine ( 33 ) from the primary vessel ( 11 ) outwards by use of stored positional data on the localized mine ( 33 ) and on-board assisted navigation data; the mine ( 33 ) is relocalized using optical and/or optical sensors, and the secondary vessel ( 12 ) is positioned in relation to the mine ( 33 ) in a remote-controlled manner once the mine has been relocalized and the explosive charge is exploded by remote control.

Description

A T L A S E L E K T R O N I K G m b H A T L A S E L E C T R O N I K G m b H
BremenBremen
VERFAHREN UND SYSTEM ZUR VERNICHTUNG EINER LOKALISIERTEN MINEMETHOD AND SYSTEM FOR DESTRUCTION OF A LOCALIZED MINE
Die Erfindung betrifft ein Verfahren zur Vernichtung einer lokalisierten Mine der im Oberbegriff des Anspruchs 1 definierten Gattung.The invention relates to a method for the destruction of a localized mine of the type defined in the preamble of claim 1.
Bei einem bekannten Verfahren zur Detektion und Vernichtung von Minen (EP 0 535 044 Bl) wird ein unbemanntes, ferngelenktes Unterwasserfahrzeug, ein sog. ROV, sowie eine mit einer Sprengladung zur Minenvernichtung ausgestattete, ferngelenkte Such- und Minenvernichtungseinheit eingesetzt, die über ein Glasfiberkabel miteinander verbunden sind. Das ROV ist über ein weiteres Glasfiberkabel mit einem Oberflächenschiff verbunden, das eine Sonaranlage zum Detektieren und Orten von Minen aufweist. Die Minen- und Sucheinheit ist weiterhin mit einem Transponder, akustischen Sensoren, wie einem Nahbereichssonar, mit optischen Sensoren, wie eine TV-Kamera mit einer Beleuchtungseinheit, sowie mit Sensoren zum Messen von Istdaten für die Navigation, wie Fahrtrichtung, Winkel zur Horizontalebene, den Abstand zum dem Meeresboden und Tauchtiefe, ausgestattet. Der Transponder korrespondiert mit einem akustischen Positionssystem (APS) , dessen Hydrofone am ROV angeordnet sind. Das ROV verfügt über eine Auswurfeinheit, einen sog. Launcher, mit dem die Such- und Minenvernichtungseinheit ausgesetzt wird. Die Such- und Minenvernichtungseinheit wird mittels des APS von einem im Oberflächenschiff positionierten Operator zu dem auf die Mine gerichteten Sonarstrahl des Minenjagdsonars gelenkt. Im Sonarstrahl des Minenjagdsonars wird dann die Such- und Minenvernichtungseinheit, deren Transpondersignale ebenso wie die Minenechosignale im Display des Minenjagdsonars dargestellt werden, von dem Operator zur Mine hin gesteuert. Die Mine wird mittels der TV-Kamera geprüft, und die Such- und Minenvernichtungseinheit wird vom Operator in eine für die Zerstörung günstige Position zur Mine gebracht und dann vom Operator ferngezündet. Die explodierende Sprengladung der Such- und Minenvernichtungseinheit, die beispielsweise eine Hohlladung sein kann, löst eine Detonation der Mine aus, wobei die Such- und Minenvernichtungseinheit mit zerstört wird. Mit ihren akustischen, optischen und Navigationssensoren ist die Such- undIn a known method for the detection and destruction of mines (EP 0 535 044 Bl), an unmanned, remote-controlled underwater vehicle, a so-called. ROV, as well as equipped with an explosive charge for mine destruction, remote-controlled search and mine destruction unit is used, which via a glass fiber cable with each other are connected. The ROV is connected via another fiber optic cable to a surface ship, which has a sonar system for detecting and locating mines. The mine and search unit is further equipped with a transponder, acoustic sensors, such as a short-range sonar, with optical sensors, such as a TV camera with a lighting unit, as well as with sensors for measuring actual data for navigation, such as direction of travel, angle to the horizontal plane Distance to the seabed and depth, equipped. The transponder corresponds to an acoustic positioning system (APS) whose hydrophones are located on the ROV. The ROV has an ejector unit, a so-called launcher, with which the search and mine destruction unit is exposed. The search and mine destruction unit is determined by the APS of an im Surface ship positioned operator to the directed to the mine sonar beam of the mine hunting sonar. In the sonar beam of the mine hunting sonar, the search and mine destruction unit, whose transponder signals as well as the mine echo signals are displayed in the mine hunting sonar display, is then controlled by the operator to the mine. The mine is inspected by means of the TV camera, and the search and mine destruction unit is brought to the mine by the operator in a location favorable for the destruction and then remotely ignited by the operator. The exploding explosive charge of the search and mine destruction unit, which may be, for example, a shaped charge, triggers a detonation of the mine, wherein the search and mine destruction unit is destroyed with. With its acoustic, optical and navigation sensors is the search and
Minenvernichtungseinheit ein relativ kostenintensives Räumgerät, doch rechtfertigt in bestimmten Anwendungsfällen die Zeitersparnis bei der Minenvernichtung den Kosteneinsatz.Mine destruction unit is a relatively costly clearing device, but justified in certain applications, the time savings in the mine destruction cost of use.
In Anwendungsfällen, in denen die Räumungszeiten eine geringere Rolle gegenüber den Gestehungskosten der Such- und Minenvernichtungseinheit spielen, hat man die Such- und Minenvernichtungseinheit nicht als Einwegfahrzeug mit Waffencharakteristik, sondern als wiederverwendbares Unterwasserfahrzeug konzipiert, das lediglich eine Sprengladung an der Mine ablegt und vor Detonation von Sprengladung und Mine von einem Oberflächenschiff wieder eingeholt wird (Buschhorn und Schütz "Minenjagd - eine moderne Variante der Seeminenabwehr", Jahrbuch der Wehrtechnik, 1976/77, Seite 142 - 151) . Nach Aufnehmen der Such- und Minenvernichtungseinheit durch dasIn applications in which the evacuation times play a lesser role compared to the cost price of the search and mine destruction unit, the search and mine destruction unit has not been designed as a disposable vehicle with weapons characteristics, but as a reusable underwater vehicle, which deposits only an explosive charge at the mine and before detonation of explosive charge and mine is overtaken by a surface ship again (Buschhorn and Schütz "mine hunting - a modern variant of the mine mine defense", yearbook of the defense technology, 1976/77, page 142 - 151). After recording the search and mine destruction unit by the
Oberflächenschiff wird die Sprengladung vom Oberflächenschiff aus ferngezündet, z.B. durch Auswerfen einer Handgranate ins Wasser. Die dadurch über einen akustischen Zünder ausgelöste Detonation der Sprengladung zerstört die Mine durch eine mit der Detonation der Sprengladung einhergehenden Sympathiedetonation der Mine.Surface ship is remotely ignited the explosive charge from the surface ship, for example, by ejecting a hand grenade ins Water. The detonation of the explosive charge triggered thereby by means of an acoustic detonator destroys the mine by a sympathetic toning of the mine which accompanies the detonation of the explosive charge.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Minenvernichtung anzugeben, das die Kosten für das Räumungsgerät minimiert und gegenüber Verfahren, die eine wiederverwendbare Such- und Minenvernichtungseinheit einsetzen, eine wesentliche Verkürzung der Räumungszeiten mit sich bringt.The invention has for its object to provide a method for mine destruction, which minimizes the cost of the Räumungsgerät and compared to methods that use a reusable search and mine destruction unit, brings a significant reduction in the clearance times with it.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im Anspruch 1 gelöst.The object is achieved by the features in claim 1.
Das erfindungsgemäße Verfahren hat den Vorteil, dass durch das Einsetzen eines Primär- und eines Sekundärfahrzeugs, die beide unbemannt sind und über einen eigenen Antrieb verfügen, als autonomes, also von einer Plattform unabhängiges Tandem eine kostensparende Aufteilung der Systemkomponenten auf das wiederverwendbare Primärfahrzeug und auf das als Einwegfahrzeug konzipierte, eine torpedoähnliche Waffe darstellende Sekundärfahrzeug möglich ist. Dadurch können die Kosten, die durch Vernichtung des Sekundärfahrzeuges entstehen, recht gering gehalten werden. Das Tandem fährt mit dem Wissen der Positionsdaten einer zuvor lokalisierten Mine und mit Hilfe von Navigationsdaten einer bordgestützten Navigationseinrichtung des Primärfahrzeugs eigenständig zu der Mine. Dort bringt das Primärfahrzeug das Sekundärfahrzeug durch Fernsteuerung unmittelbar an die Mine heran und löst durch ein entsprechendes Zündsignal den Zünder der Sprengladung aus. Aufgrund eines eigenen Antriebs und einer eigenen Lenkvorrichtung kann das Sekundärfahrzeug vom Primärfahrzeug in eine für die Sprengung der Mine optimale Position gebracht werden und in dieser Position auch gehalten werden, bis das Primärfahrzeug einen Sicherheitsabstand von der Mine eingenommen hat. Die Einstellung einer optimalen Position des Sekundärfahrzeugs ermöglicht wiederum eine kleinere Sprengladung, um die Mine zuverlässig zur Detonation zu bringen, so dass der für die Aufnahme der Sprengladung erforderliche Bauraum im Sekundärfahrzeug sowie das Gesamtgewicht des Sekundärfahrzeugs verringert wird. Dies ist für die Minenräumung von wesentlicher Bedeutung, da dann zu einem Primärfahrzeug eine größere Anzahl von Sekundärfahrzeugen vorgehalten und von der Plattform mitgeführt werden kann. Im Vergleich zu einem Räumgerät, das eine Sprengladung an der Mine absetzt, kann das einen "Minieffektor" darstellende Sekundärfahrzeug sehr viel genauer platziert werden und mit wesentlich reduzierter Sprengstoffmenge eine zuverlässige Zerstörung der Mine herbeiführen.The inventive method has the advantage that by using a primary and a secondary vehicle, both unmanned and have its own drive, as an autonomous, so independent of a platform tandem cost-effective allocation of system components on the reusable primary vehicle and on the designed as a one-way vehicle, a torpedo-like weapon performing secondary vehicle is possible. As a result, the costs incurred by destruction of the secondary vehicle, can be kept quite low. The tandem travels autonomously to the mine with the knowledge of the position data of a previously located mine and with the aid of navigation data from an on-board navigation device of the primary vehicle. There, the primary vehicle brings the secondary vehicle by remote control directly to the mine and triggered by a corresponding ignition signal from the detonator of the explosive charge. Due to its own drive and its own steering device, the secondary vehicle from the Primary vehicle are placed in an optimal position for the detonation of the mine and held in this position until the primary vehicle has taken a safe distance from the mine. The adjustment of an optimal position of the secondary vehicle in turn allows a smaller explosive charge to bring the mine reliably detonated, so that the space required for receiving the explosive charge space in the secondary vehicle and the total weight of the secondary vehicle is reduced. This is essential for demining because then a larger number of secondary vehicles can be held and carried by the platform to a primary vehicle. Compared to a scraper that drops an explosive charge at the mine, the secondary engine representing a "mini-effector" can be placed much more accurately and with a significantly reduced amount of explosive, can cause reliable mine destruction.
Zweckmäßige Ausführungsformen des erfindungsgemäßen Verfahrens mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen.Advantageous embodiments of the method according to the invention with advantageous developments and embodiments of the invention will become apparent from the other claims.
Gemäß einer vorteilhaften Ausführungsform der Erfindung werden Primär- und Sekundärfahrzeug durch ein Kabel miteinander verbunden, über das vom Primärfahrzeug zum Sekundärfahrzeug Lenksignale sowie Antriebsenergie für das Sekundärfahrzeug übertragen werden und auch ein elektrisches Zündsignal zur Fernauslösung der Sprengladung übertragen wird. Bei der Tauchfahrt des Tandems zur Mine wird die zwischen dem Primär- und Sekundärfahrzeug ausgespannte Kabellänge so gesteuert, dass sie fortlaufend dem zwischen den Fahrzeugen momentan vorhandenen Abstand angepasst wird. Dadurch wird verhindert, dass während der Annäherung an die Mine das Kabel - anders als ein abgespultes und lose durchhängendes Kabel - sich nicht an Gegenständen oder Körpern oder an Außenelementen des vorausfahrenden Sekundärfahrzeugs verfangen und reißen kann.According to an advantageous embodiment of the invention, primary and secondary vehicles are interconnected by a cable, are transmitted from the primary vehicle to the secondary vehicle steering signals and drive power for the secondary vehicle and also an electrical ignition signal for remote release of the explosive charge is transmitted. During the dive trip of the tandem to the mine, the stretched between the primary and secondary vehicle cable length is controlled so that it continuously between the vehicles currently existing distance is adjusted. This prevents the cable - as opposed to a unwound and loose-hanging cable - from getting caught on objects or bodies or on exterior elements of the preceding secondary vehicle during approach to the mine and can break.
Gemäß einer vorteilhaften Ausführungsform der Erfindung wird die Lokalisierung der Mine und die Bestimmung der Positionsdaten der lokalisierten Mine, die für die Minenvernichtungsmission dem Primärfahrzeug eingespeichert werden, von der das Tandem aussetzenden Plattform durchgeführt, und zwar mit Hilfe eines an sich bekannten Minenjagdsonars.According to an advantageous embodiment of the invention, the localization of the mine and the determination of the location data of the localized mine, which are stored for the mine destruction mission to the primary vehicle, carried out by the tandem-exposing platform, using a known mine hunting sonar.
Ein Minenvernichtungssystem, das bei dem erfindungsgemäßen Verfahren verwendet wird, ist in Anspruch 13 und weitere Ausgestaltungen und Verbesserungen desA mine destruction system used in the method according to the invention is defined in claim 13 and further embodiments and improvements of
Minenvernichtungssystems sind in den Ansprüchen 14 - 17 angegeben.Mine destruction system are specified in claims 14-17.
Die Erfindung ist anhand eines in der Zeichnung dargestellten Ausführungsbeispiels im folgenden näher beschrieben. Es zeigen:The invention is described in more detail below with reference to an embodiment shown in the drawing. Show it:
Fig. 1 zeitlich aufeinanderfolgende bis β Momentanabschnitte des Verfahrens zur Vernichtung einer lokalisierten Mine,1 temporally successive to β instantaneous sections of the method for the destruction of a localized mine,
Fig. 7 ein Blockschaltbild eines bei dem Verfahren gemäß Fig. 1 - 6 verwendeten Primärfahrzeugs, Fig. 8 ein Blockschaltbild eines bei dem Verfahren gemäß Fig. 1 - 6 verwendeten Sekundärfahrzeugs.7 is a block diagram of a primary vehicle used in the method of FIGS. 1-6; FIG. 8 is a block diagram of a secondary vehicle used in the method of FIGS. 1-6.
Bei dem nachfolgend beschriebenen Verfahren zur Minenvernichtung wird ein Primärfahrzeug 11 und Sekundärfahrzeug 12, wie sie in Fig. 2 - 5 zu sehen sind, eingesetzt. Die Fahrzeuge 11, 12 werden von einer Plattform 10 mitgeführt, die beispielsweise - wie in Fig. 1 dargestellt - ein Oberflächenschiff ist. Alternativ kann die Plattform 10 auch ein U-Boot, ein Schlauchboot oder ein Helikopter sein. Jedes der beiden in Fig. 7 und 8 im Blockschaltbild dargestellten Fahrzeuge 11, 12 verfügt über mindestens einen eigenen Antriebsmotor 13 bzw. 14, der vorzugsweise ein Elektromotor ist, und über eine Lenkvorrichtung 15 bzw. 16 zum Ansteuern von Rudern 17 bzw. 18. Das Primärfahrzeug 11 besitzt weiterhin eine Energiequelle 19 in Form einer Brennstoffzelle, einer Batterie oder eines Akku und eine Navigationseinrichtung 20 und ist mit akustischen Sensoren 21 und optischen Sensoren 22 für den Unterwassereinsatz ausgestattet. Als akustischer Sensor wird vorzugsweise ein an sich bekanntes Nahbereichssonar und als optischer Sensor eine TV-Kamera mit einer Beleuchtungseinrichtung verwendet. In dem Primärfahrzeug 11 ist außerdem noch eine Kabelwinde 23 installiert, auf welcher ein an das Sekundärfahrzeug 12 anschließbares Verbindungskabel 24 aufgetrommelt ist. Alle Komponenten werden von einer Steuereinheit 25 gesteuert, die eine künstliche Intelligenz 26 zur Verarbeitung von Positionsdaten einer lokalisierten Mine und Navigationsdaten der Navigationseinrichtung 20 aufweist. Zum Abspeichern der Positionsdaten einer nach deren Lokalisierung zu vernichtenden Mine ist ein Speicher 27 vorgesehen, auf den die Steuereinheit 25 zugreift. Das Sekundärfahrzeug 12, das als Einwegfahrzeug konzipiert ist, stellt einen sog. Minieffketor dar, der im wesentlichen nur mit einer Sprengladung 28 zur Minenvernichtung und einem dazugehörigen Zünder 29 ausgestattet ist. Die Antriebsenergie wird dem Sekundärfahrzeug 12 von der Energiequelle 19 des Primärfahrzeugs 11 über das Verbindungskabel 24 geliefert. Das Verbindungskabel 24 dient außerdem noch der Übertragung von Lenksignalen an die Lenkvorrichtung 16 des Sekundärfahrzeugs 12 und zur Übertragung eines den Zünder 29 aktivierenden Auslösesignals. Eine Steuerelektronik 30 sorgt für die Ansteuerung der einzelnen Komponenten in Abhängigkeit von den über das Verbindungskabel 24 übertragenen Signalen.In the method for mine destruction described below, a primary vehicle 11 and a secondary vehicle 12, as can be seen in FIGS. 2-5, are used. The vehicles 11, 12 are carried by a platform 10, which, for example - as shown in Fig. 1 - is a surface ship. Alternatively, the platform 10 may also be a submarine, a dinghy or a helicopter. Each of the two in FIGS. 7 and 8 shown in the block diagram vehicles 11, 12 has at least one own drive motor 13 and 14, which is preferably an electric motor, and a steering device 15 and 16 for driving rudders 17 and 18th The primary vehicle 11 further has a power source 19 in the form of a fuel cell, a battery or a battery and a navigation device 20 and is equipped with acoustic sensors 21 and optical sensors 22 for underwater use. The acoustic sensor used is preferably a near-field sonar known per se, and a TV camera with an illumination device as the optical sensor. In addition, a cable winch 23 is installed in the primary vehicle 11, on which a connecting cable 24 which can be connected to the secondary vehicle 12 is drummed. All components are controlled by a control unit 25, which has an artificial intelligence 26 for processing position data of a localized mine and navigation data of the navigation device 20. For storing the position data of a mine to be destroyed after its localization, a memory 27 is provided, which is accessed by the control unit 25. The secondary vehicle 12, which is designed as a one-way vehicle, represents a so-called. Minieffketor which is essentially equipped only with a demolition charge 28 for mine destruction and an associated detonator 29. The drive power is supplied to the secondary vehicle 12 from the power source 19 of the primary vehicle 11 via the connection cable 24. The connecting cable 24 is also still the transmission of steering signals to the steering device 16 of the secondary vehicle 12 and for transmitting an igniter 29 activating trigger signal. A control electronics 30 provides for the control of the individual components in dependence on the signals transmitted via the connection cable 24.
Mit diesen beiden Fahrzeugen 11, 12, die bei einer Mission zur Minenvernichtung als autonom operierendes Tandem eingesetzt werden, wird das Verfahren wie folgt durchgeführt:With these two vehicles 11, 12, which are used as autonomously operating tandems in a mine destruction mission, the procedure is carried out as follows:
Von der Plattform 10 wird mittels eines aktiv ortenden Sonars, einem sog. Minenjagdsonar 31, das vorgegebene Minenräumgebiet abgesucht. Wie in Fig. 1 dargestellt ist, wird dabei beispielhaft eine am Meeresboden 32 liegende Mine 33 detektiert und durch Bestimmen ihrer Positionsdaten in einem erdgestützten Koordinatensystem lokalisiert. Soll die lokalisierte Mine 33 vernichtet werden, so werden die Positionsdaten in den Speicher 27 des Primärfahrzeugs 11 eingespeichert und die beiden durch ein Verbindungskabel 24 miteinander verbunden Fahrzeuge 11, 12 mittels einer Ausbringvorrichtung 34 (Fig. 1) in das Wasser eingesetzt (Fig. 2) . Das von den beiden Unterwasserfahrzeugen 11, 12 gebildete Tandem operiert autonom, indem im Primärfahrzeug 11 mittels der abgespeicherten Positionsdaten der lokalisierten Mine 33 und den Navigationsdaten der Navigationseinrichtung 20 Lenksignale sowohl für das Primärfahrzeug 11 als auch für das Sekundärfahrzeug 12 generiert und an die Lenkvorrichtungen 15 und 16 der beiden Fahrzeuge 11, 12 gegeben werden. Die Daten werden dabei über Algorithmen der künstlichen Intelligenz 26 verarbeitet. Dabei fährt das Tandem zunächst auf möglichst kurzem Weg in Richtung Meeresboden 32 (Fig. 2), um dann im Abstand vom MeeresbodenFrom the platform 10, the predetermined mine clearance area is searched by means of an actively located sonar, a so-called mine hunting sonar 31. As shown in FIG. 1, a mine 33 lying on the seabed 32 is detected by way of example and localized by determining its position data in a ground-based coordinate system. If the localized mine 33 is to be destroyed, the position data are stored in the memory 27 of the primary vehicle 11 and the two vehicles 11, 12 connected to one another by a connecting cable 24 are inserted into the water by means of a dispensing device 34 (FIG. 1) (FIG ). The tandem formed by the two underwater vehicles 11, 12 operates autonomously, in the primary vehicle 11 by means of the stored position data of the localized mine 33 and the navigation data of the navigation device 20 steering signals for both the primary vehicle 11 and for the secondary vehicle 12 is generated and given to the steering devices 15 and 16 of the two vehicles 11, 12. The data is processed via artificial intelligence algorithms 26. The tandem initially moves on the shortest possible path in the direction of the seabed 32 (FIG. 2), and then at a distance from the seabed
32 längs des Meeresbodens 32 die Mine 33 anzulaufen (Fig. 3) . Bei dieser Missionsfahrt wird durch Steuerung der Kabelwinde 23 im Primärfahrzeug 11 die ausgezogene Kabellänge zwischen Primär- und Sekundärfahrzeug 11, 12 fortlaufend dem zwischen den Fahrzeugen 11, 12 momentan vorhandenen Abstand angepasst (Fig. 2 und 3) . Damit weist die ausgezogene Kabellänge des32 to approach the mine 33 along the seabed 32 (Figure 3). During this mission trip, by controlling the cable winch 23 in the primary vehicle 11, the extended cable length between the primary and secondary vehicles 11, 12 is continuously adjusted to the distance currently present between the vehicles 11, 12 (FIGS. 2 and 3). This indicates the extended cable length of the
Verbindungskabels 24 nur eine minimale Lose auf, so dass das im Wasser gleitende Verbindungsstück des Verbindungskabels 24 nicht an Objekten im Wasser hängen bleiben oder sich an Vorstehelementen an Primär- oder Sekundarfahrzeug verfangen kann.Connecting cable 24 only a minimal amount of loose, so that the water-sliding connector of the connecting cable 24 does not stick to objects in the water or can get caught on protruding elements of primary or secondary vehicle.
Mittels des akustischen Sensors 21 wird die Mine 33 vom Primärfahrzeug 11 aus relokalisiert (Fig. 4), d. h. ihre Positionsdaten werden erneut bestimmt und in den Speicher 27 eingeschrieben, so dass nunmehr der Steuereinheit 25 mit künstlicher Intelligenz 26 verbesserte Positionsdaten der Mine 33 zur Erzeugung der Lenksignale für das Sekundärfahrzeug 12 zur Verfügung stehen und das Primärfahrzeug 11 nunmehr das Sekundärfahrzeug 12 präzise zu der Mine 33 lenken kann. Hat das Sekundärfahrzeug 12 die MineBy means of the acoustic sensor 21, the mine 33 is relocated from the primary vehicle 11 (FIG. 4), i. H. their position data are again determined and written in the memory 27, so that now the artificial intelligence control unit 25 improved position data of the mine 33 for generating the steering signals for the secondary vehicle 12 are available and the primary vehicle 11 now the secondary vehicle 12 precisely to the mine 33 can steer. Does the secondary vehicle 12 the mine
33 erreicht (Fig. 5) , so wird im Primärfahrzeug 11 ein Zündsignal generiert, das über das Verbindungskabel 24 zum Zünder 29 im Sekundärfahrzeug 12 gelangt und dort die Sprengladung 28, die beispielsweise als Hohlladung ausgebildet sein kann, auf die Mine 33 abschießt. Bei der Detonation der Mine 33 wird das Sekundärfahrzeug 12 zerstört und das Verbindungskabel 24 zerrissen (Flg. 6) . Nach Positionieren des Sekundärfahrzeugs 12 an der Mine 33 wird in der Steuereinheit 25 des Primärfahrzeugs 11 eine Programmroutine ausgelost, wodurch das Primärfahrzeug 11 zur Rückkehr zur Plattform 10, deren Positionsdaten ebenfalls im Speicher 27 des Primärfahrzeugs 11 abgespeichert sind, veranlasst wird und die Steuereinheit 25 hierzu entsprechende Lenksignale an die Lenkvorrichtung 15 des Primärfahrzeugs 11 legt.33 reached (Fig. 5), an ignition signal is generated in the primary vehicle 11, which passes via the connecting cable 24 to the igniter 29 in the secondary vehicle 12 and there the explosive charge 28, which may be formed, for example, as a shaped charge, the mine 33 shoots. Upon detonation of the mine 33, the secondary vehicle 12 is destroyed and the connection cable 24 torn (Fig. 6). After positioning the secondary vehicle 12 at the mine 33, a program routine is triggered in the control unit 25 of the primary vehicle 11, causing the primary vehicle 11 to return to the platform 10, whose position data are also stored in the memory 27 of the primary vehicle 11, and the control unit 25 for this purpose corresponding steering signals to the steering device 15 of the primary vehicle 11 sets.
Bei einigen Minenarten ist es erforderlich, die Mine optisch genau zu inspizieren, um das Sekundärfahrzeug 12 optimal an der Mine 33 zu platzieren. Hier fährt das Tandem sehr dicht an die Mine 33 heran, so dass vom Primärfahrzeug 11 aus mittels Beleuchtung und TV-Kamera die Mine 33 in allen Einzelheiten sichtbar ist (Fig. 4) . Mittels dieser optischen Daten werden von der Steuereinheit 25 entsprechende- Lenksignale für das Sekundärfahrzeug 12 generiert und an das Sekundärfahrzeug 12 zwecks Einstellung einer für die Sprengung optimalen Position an der Mine 33 gegeben. Dabei ist es vorteilhaft, in dem Primärfahrzeug Daten des optischen Aussehens von verschiedenen Minentypen abzuspeichern und die mit der TV-Kamera aufgenommenen Daten mit den abgespeicherten Daten zu vergleichen. Dadurch kann die Mine sehr genau identifiziert und aufgrund der bekannten Eigenschaften der identifizierten Mine die beste Platzierung des Sekundärfahrzeugs ausgewählt werden. Das Primärfahrzeug 11 entfernt sich von der Mine 33 bis auf eine Sicherheitsdistanz (Fig. 5) und bringt die Sprengladung 28 durch ein Zündsignal zur Explosion (Fig. 6) .In some mine species, it is necessary to optically inspect the mine to optimally place the secondary vehicle 12 at the mine 33. Here, the tandem drives very close to the mine 33, so that from the primary vehicle 11 by means of lighting and TV camera, the mine 33 is visible in all details (Fig. 4). By means of these optical data, control signals 25 are generated by the control unit 25 for the secondary vehicle 12 and given to the secondary vehicle 12 for setting an optimum position for the blast at the mine 33. It is advantageous to store in the primary vehicle data of the visual appearance of different mine types and to compare the recorded with the TV camera data with the stored data. As a result, the mine can be identified very accurately and the best placement of the secondary vehicle selected based on the known properties of the identified mine. The primary vehicle 11 moves away from the mine 33 to a safety distance (FIG. 5) and detonates the explosive charge 28 by an ignition signal (FIG. 6).
Die Erfindung ist nicht auf das beschriebene Ausführungsbeispiel beschränkt. So müssen die Positionsdaten der lokalisierten Mine nicht vor Beginn der Missionsfahrt des Tandems in das Primärfahrzeug eingespeichert werden. Sie können auch während der Missionsfahrt des Tandems durch drahtlose Unterwasserkommunikation von der Plattform zum Primärfahrzeug übertragen werden. The invention is not limited to the embodiment described. So have the position data the localized mine will not be stored in the primary vehicle prior to the mission trip of the tandem. They can also be transmitted from the platform to the primary vehicle during the mission trip of the tandem by wireless underwater communication.

Claims

A T L A S E L E K T R O N I K G m b HBremenPATENTANSPRÜCHE ATLASELEKTRONIKG mb HBremenPATENTANSPRÜCHE
1. Verfahren zur Vernichtung einer lokalisierten Mine (33), bei dem ein unbemanntes Unterwasserfahrzeug als Primärfahrzeug (11) mit einem unbemannten, ferngesteuerten Unterwasserfahrzeug als Sekundärfahrzeug (12), das mit einer Sprengladung (28) ausgerüstet ist, zur Sprengung der lokalisierten Mine (33) kooperiert, dadurch gekennzeichnet, dass die beiden Unterwasserfahrzeuge (11, 12) als ein autonom operierendes Tandem eingesetzt werden, bei dem das Sekundärfahrzeug (12) vom Primärfahrzeug (11) aus ferngesteuert wird, dass vom Primärfahrzeug (11) aus mittels abgespeicherter Positionsdaten der lokalisierten Mine (33) und bordgestützten Navigationsdaten das Tandem zur Mine (33) geführt wird, dass vom Primärfahrzeug (11) aus die Mine (33) mittels akustischer und/oder optischer Sensoren (21, 22) relokalisiert wird, dass nach Relokalisieren der Mine (33) das Sekundärfahrzeug (12) vom Primärfahrzeug aus ferngesteuert an der Mine (33) positioniert wird und dass vom Primärfahrzeug (11) aus die Sprengladung (28) ferngezündet wird.A method of destroying a localized mine (33) comprising an unmanned underwater vehicle as a primary vehicle (11) having an unmanned, remote-controlled submersible vehicle as a secondary vehicle (12) equipped with an explosive charge (28) for detonating the located mine ( 33) cooperates, characterized in that the two underwater vehicles (11, 12) are used as an autonomously operating tandem, in which the secondary vehicle (12) from the primary vehicle (11) is remotely controlled from the primary vehicle (11) by means of stored position data the localized mine (33) and onboard navigation data is tandemed to the mine (33) that from the primary vehicle (11) from the mine (33) by means of acoustic and / or optical sensors (21, 22) is relocalized that after relocalization of Mine (33) the secondary vehicle (12) from the primary vehicle is remotely positioned at the mine (33) and that of the primary vehicle (11) from the explosive charge (28) is remotely ignited.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass vom Primärfahrzeug (11) aus zusätzlich eine optische Identifikation der relokalisierten Mine (33) durchgeführt und anhand gespeicherter Minendaten die Positionierung des Sekundarfahrzeugs (12) an der Mine (33) optimiert wird.2. The method according to claim 1, characterized in that from the primary vehicle (11) in addition carried out an optical identification of the relocalized mine (33) and based on stored mine data the Positioning of the secondary vehicle (12) at the mine (33) is optimized.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass vor Fernzündung der Sprengladung (28) im Primarfahrzeug (11) eine Programmroutine ausgeführt wird, die eine einem vorgegebenen Sicherheitsabstand entsprechende Absetzbewegung des Primarfahrzeugs (11) von der Mine (33) auslost.3. The method according to claim 1 or 2, characterized in that before remote ignition of the explosive charge (28) in the primary vehicle (11) a program routine is executed, which triggers a predetermined safety distance corresponding Absetzbewegung the primary vehicle (11) of the mine (33).
4. Verfahren nach einem der Ansprüche 1 - 3, dadurch gekennzeichnet, dass die Positionsdaten der lokalisierten Mine (33) vor Beginn der Mission zur Minenvernichtung m das Primarfahrzeug (11) eingespeichert werden.4. The method according to any one of claims 1-3, characterized in that the position data of the localized mine (33) before the start of the mission for mine destruction m the primary vehicle (11) are stored.
5. Verfahren nach einem der Ansprüche 1 - 3, dadurch gekennzeichnet, dass die Positionsdaten der lokalisierten Mine (33) wahrend der Durchfuhrung der Mission zur Minenvernichtung zu dem Primarfahrzeug (11) übertragen werden.5. The method according to any one of claims 1-3, characterized in that the position data of the localized mine (33) during the execution of the mission for mine destruction to the primary vehicle (11) are transmitted.
6. Verfahren nach einem der Ansprüche 1 - 5, dadurch gekennzeichnet, dass im Primarfahrzeug (11) mittels einer künstlichen Intelligenz (26) aus den Positionsdaten der lokalisierten Mine (33) und bordgestutzten Navigationsdaten Lenksignale für das Primär- und das Sekundarfahrzeug (11, 12) berechnet werden.6. The method according to any one of claims 1-5, characterized in that in the primary vehicle (11) by means of an artificial intelligence (26) from the position data of the localized mine (33) and on-board navigation data steering signals for the primary and the secondary vehicle (11, 12).
7. Verfahren nach einem der Ansprüche 1 - 6, dadurch gekennzeichnet, dass Primär- und Sekundarfahrzeug (11, 12) durch ein Verbmdungskabel (24) miteinander verbunden und die Lenksignale über das Verbindungskabel (24) vom Primär- zum Sekundärfahrzeug (11, 12) übertragen werden.7. The method according to any one of claims 1-6, characterized in that primary and secondary vehicle (11, 12) by a Verbmdungskabel (24) with each other connected and the steering signals via the connecting cable (24) from the primary to the secondary vehicle (11, 12) are transmitted.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass vom Sekundärfahrzeug (12) benötigte Antriebsenergie vom Primärfahrzeug (11) aus über das Verbindungskabel (24) übertragen wird.8. The method according to claim 7, characterized in that from the secondary vehicle (12) required drive energy from the primary vehicle (11) via the connection cable (24) is transmitted.
9. Verfahren nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass über das Verbindungskabel (24) ein Zündsignal zur Fernauslösung der Sprengladung (28) im Sekundärfahrzeug (12) übertragen wird.9. The method according to claim 7 or 8, characterized in that via the connecting cable (24) an ignition signal for remote release of the explosive charge (28) in the secondary vehicle (12) is transmitted.
10. Verfahren nach einem der Ansprüche 7 - 9, dadurch- gekennzeichnet, dass während der Tandemfahrt zur lokalisierten Mine (33) die zwischen dem Primär- und Sekundärfahrzeug (11, 12) ausgespannte Kabellänge des Verbindungskabels (24) so gesteuert wird, dass sie fortlaufend dem zwischen den beiden Fahrzeugen (11, 12) momentan vorhandenen Abstand angepasst wird.10. The method according to any one of claims 7 - 9, characterized in that during the tandem drive to the localized mine (33) between the primary and secondary vehicle (11, 12) stretched cable length of the connecting cable (24) is controlled so that they continuously adjusted to the distance between the two vehicles (11, 12).
11. Verfahren nach einem der Ansprüche 1 - 10, dadurch gekennzeichnet, dass Primär- und Sekundärfahrzeug (11, 12) auf einer Plattform (10) mitgeführt und nach Aussetzen von der Plattform (10) als Tandem konfiguriert werden.11. The method according to any one of claims 1-10, characterized in that primary and secondary vehicle (11, 12) carried on a platform (10) and are configured in tandem after exposure from the platform (10).
12. Verfahren nach einem der Ansprüche 1 - 11, dadurch gekennzeichnet, dass die Lokalisierung der Mine (33) und die Bestimmung der Positionsdaten der lokalisierten Mine12. The method according to any one of claims 1-11, characterized in that the location of the mine (33) and the determination of the position data of the localized mine
(33) mittels einer an der Plattform (10) angeordneten, aktiv ortenden Sonareinrichtung durchgeführt wird. (33) by means of an on the platform (10) arranged, actively locating sonar device is performed.
13. Minenvernichtungssystem mit zwei jeweils mindestens einen Antriebsmotor (13, 14) und eine Lenkvorrichtung (15, 16) aufweisenden, unbemannten13. Mine destruction system with two each having at least one drive motor (13, 14) and a steering device (15, 16), unmanned
Unterwasserfahrzeugen, von denen eines ferngesteuert ist und eine fernzündbare Sprengladung zur Minenvernichtung trägt, und mit akustischen und/oder optischen SensorenUnderwater vehicles, one of which is remotely controlled and carries a detonable explosive charge for mine destruction, and with acoustic and / or optical sensors
(21, 22) für den Unterwassereinsatz, dadurch gekennzeichnet, dass die Unterwasserfahrzeuge ein aus einem Primärfahrzeug (11) und einem Sekundärfahrzeug(21, 22) for underwater use, characterized in that the underwater vehicles one of a primary vehicle (11) and a secondary vehicle
(12) zusammengesetztes autonom operierendes Tandem bilden, dass das Primärfahrzeug (11) einen Speicher (27) zum Abspeichern der Positionsdaten einer lokalisierten Mine (33), eine Navigationseinrichtung (20) und eine Steuerelektronik (25) aufweist, sowie mit den akustischen und/oder optischen Sensoren (21, 22) ausgestattet ist und dass das Sekundärfahrzeug (12) mit der Sprengladung (28) und einem Zünder (29) zum Fernzünden der Sprengladung (28) ausgerüstet ist.(12) form a composite autonomously operating tandem, that the primary vehicle (11) has a memory (27) for storing the position data of a localized mine (33), a navigation device (20) and control electronics (25), and with the acoustic and / or or optical sensors (21, 22) is equipped and that the secondary vehicle (12) with the explosive charge (28) and an igniter (29) for remote ignition of the explosive charge (28) is equipped.
14. Minenvernichtungssystem nach Anspruch 13, dadurch gekennzeichnet, dass Primär- und Sekundärfahrzeug (11, 12) über ein Verbindungskabel (24) miteinander verbunden sind und dass das Verbindungskabel (24) zur Übertragung von Lenksignalen an die Lenkvorrichtung (16) des Sekundärfahrzeug (12) und/oder zur Übertragung von elektrischer Energie von einer im Primärfahrzeug (11) angeordneten Energiequelle (19) zum Sekundärfahrzeug (12) ausgebildet ist.14. mine destruction system according to claim 13, characterized in that the primary and secondary vehicle (11, 12) via a connecting cable (24) are interconnected and that the connecting cable (24) for transmitting steering signals to the steering device (16) of the secondary vehicle (12 ) and / or for the transmission of electrical energy from a in the primary vehicle (11) arranged energy source (19) to the secondary vehicle (12) is formed.
15. Minenvernichtungssystem nach Anspruch 14, dadurch gekennzeichnet, dass das Verbindungskabel (24) auf eine im Primärfahrzeug (11) installierten Kabelwinde (23) auftrommelbar ist und dass die Kabelwinde (23) so steuerbar ist, dass die Abzugslänge des Verbindungskabels (24) von der Kabelwinde (23) fortlaufend an die momentanen Distanz zwischen Primär- und Sekundärfahrzeug (11, 12) angepasst ist.15. mine destruction system according to claim 14, characterized in that the connecting cable (24) on a in the primary vehicle (11) installed cable winch (23) can be reeled and that the cable winch (23) so it is controllable that the withdrawal length of the connecting cable (24) from the cable winch (23) is continuously adapted to the current distance between the primary and secondary vehicle (11, 12).
16. Minenvernichtungssystem nach einem der Ansprüche 13 -16. Mine destruction system according to one of claims 13 -
15, dadurch gekennzeichnet, dass das Primärfahrzeug (11| eine künstliche Intelligenz (26) zur Verarbeitung der Positionsdaten der Mine (33) und der Navigationsdaten der Navigationseinrichtung (20) aufweist.15, characterized in that the primary vehicle (11 | has an artificial intelligence (26) for processing the position data of the mine (33) and the navigation data of the navigation device (20).
17. Minenvernichtungssystem nach einem der Ansprüche 13 -17. Mine destruction system according to one of claims 13 -
16, dadurch gekennzeichnet, dass die akustischen Sensoren (21) ein Nahbereichssonar und die optischen Sensoren (22) eine TV-Kamera mit Beleuchtung aufweisen. 16, characterized in that the acoustic sensors (21) a Nahbereichsssonar and the optical sensors (22) have a TV camera with illumination.
EP05752273A 2004-09-20 2005-06-10 Method and system for the destruction of a localized mine Not-in-force EP1791754B1 (en)

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WO2006032310A1 (en) 2006-03-30
DE502005002529D1 (en) 2008-02-21
US20080087186A1 (en) 2008-04-17
EP1791754B1 (en) 2008-01-09
NO20072011L (en) 2007-04-19
DE102004045532B3 (en) 2006-02-02
ATE383307T1 (en) 2008-01-15
JP4814241B2 (en) 2011-11-16
JP2008513265A (en) 2008-05-01
NO337648B1 (en) 2016-05-23

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