EP2607226B1 - Appareil de stockage de moyens de combat pour stocker des moyens de combat, comme des mines sous-marines, sous l'eau, combinaison de stockage de moyens de combat avec un véhicule sous-marin non habité et un tel appareil de stockage de moyens de combat, et procédé associé - Google Patents

Appareil de stockage de moyens de combat pour stocker des moyens de combat, comme des mines sous-marines, sous l'eau, combinaison de stockage de moyens de combat avec un véhicule sous-marin non habité et un tel appareil de stockage de moyens de combat, et procédé associé Download PDF

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Publication number
EP2607226B1
EP2607226B1 EP12195733.6A EP12195733A EP2607226B1 EP 2607226 B1 EP2607226 B1 EP 2607226B1 EP 12195733 A EP12195733 A EP 12195733A EP 2607226 B1 EP2607226 B1 EP 2607226B1
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EP
European Patent Office
Prior art keywords
ordnance
underwater vehicle
clearance device
mass
clearance
Prior art date
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Application number
EP12195733.6A
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German (de)
English (en)
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EP2607226B2 (fr
EP2607226A1 (fr
Inventor
Thorsten Isserstedt
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Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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    • 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
    • B63G7/06—Mine-sweeping means, Means for destroying mines of electromagnetic type
    • 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
    • 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
    • B63G7/08—Mine-sweeping means, Means for destroying mines of acoustic type

Definitions

  • the invention relates to a ordnance clearing device according to the preamble of claim 1, a ordnance clearance combination consisting at least of such a ordnance clearing device and an unmanned underwater vehicle, and a method for clearing ordnance for detonating the ordnance.
  • mine destruction drones It is known to use unmanned underwater vehicles as mine destruction drones and thus as ordnance clearance equipment for clearing ordnance.
  • mine destruction drones are hollow charges with only a small amount of explosives, eg. With a mass of one to two kilograms installed.
  • the mine destruction drone is for mine destruction or generally for ordnance disposal essentially moved from one side directly to the object to be destroyed and fixed by means of a holding device on the object or in the area of the object or ordnance, then the shaped charge is ignited within the underwater vehicle, the underwater vehicle is blasted together with the object.
  • This process is highly efficient and, moreover, requires only a small amount on explosives.
  • the method is expensive because with each use an underwater vehicle is lost.
  • the invention has for its object to improve the ordnance clearance under water, in particular of ordnance on the seabed or in the water surface and to make cheaper.
  • the invention solves this object with a ordnance disposal apparatus according to claim 1, with a ordnance disposal combination according to claim 10 and with a method for clearing ordnance according to claim 12.
  • the weapon is designed to clear ordnance under water by blowing up the weapon.
  • means of combat are, for example, marine mines, in particular ground mines or drift mines, or ammunition submerged in waters.
  • the ordnance clearing device has a holding device for fixing the ordnance on the weapon or in the field of ordnance.
  • the explosive device fixed to the ordnance has a fixed position and orientation relative to the weapon.
  • the fixation fixture ensures that the ordnance disposal apparatus remains in the correct position and orientation for the weapon, even when the warfare agent is exposed to a flow.
  • the exact alignment of the ordnance brooder with respect to the ordnance advantageously allows the use of only small amounts of explosive, which is advantageous in terms of the safety requirements in the storage and transport of explosives.
  • the ordnance clearing device is a non-powered attachment for an unmanned underwater vehicle or as such unpowered attachment, in particular for attachment to the bow of the underwater vehicle is formed.
  • the ordnance brooder does not have its own propulsion to maneuver the ordnance brooder to the ordnance.
  • the ordnance clearance device is not an integral part of an underwater vehicle, but merely intended as an attachment for an unmanned underwater vehicle.
  • the underwater vehicle serves as a transport vehicle for the ordnance clearing device, which is fixed in the area of the weapon or on the ordnance and released from the underwater vehicle.
  • the ordnance clearing device has means for detachable connection to the underwater vehicle for detachable connection with the unmanned underwater vehicle.
  • the release is not effected by the underwater vehicle, but by the ordnance clearing device by means of the releasable connection.
  • the ordnance clearing device is thus separated from the underwater vehicle in the area of the weapon, so that the underwater vehicle can move away from the danger zone before the explosive device is blown up.
  • the underwater vehicle can thus be used again after its use and thus transport further ordnance clearance equipment to other ordnance, so that costs are saved.
  • the warfare agent has a significant non-zero positive or negative buoyancy.
  • the buoyancy of a body under water essentially results from the difference between the buoyancy of the body and its weight.
  • the weight force is determined by the mass of the body and attacks in the center of mass.
  • the buoyancy force is determined by the volume of the body and attacks the volume center.
  • a body is buoyancy-neutral or has neither a positive nor a negative buoyancy, if the mass of this body corresponds to the mass of water that is displaced by this body or of its volume under water.
  • the ordnance is constantly not buoyancy neutral or the mass of the ordnance is stable, in particular at least 1%, less than or greater than the mass of displaced under the ordnance from the ordnance is water.
  • the warfare agent thus does not need to have any means to change the buoyancy.
  • the buoyancy of the ordnance is namely largely meaningless.
  • the warfare agent beneficially affects the orientation of the underwater vehicle in the water, thereby allowing approaching the weapon from a direction having a significant vertical component, which preferably exceeds a horizontal component of that direction.
  • the positive or negative buoyancy of the ordnance brooder ensures that such an advantageous approach from above or below to the ordnance is possible. It can be assumed that in the event that the ordnance clearing device has a positive buoyancy, the unmanned underwater vehicle has at least a lower positive buoyancy or buoyancy is neutral or even has a negative buoyancy, so that both the unmanned underwater vehicle and the ordnance clearing device having Combat agent combination as well as the unmanned underwater vehicle after the separation of the ordnance clearing device stably controllable lie in the water.
  • a tilting moment or aligning torque is effected about the transverse axis in the ordnance clearance combination, which can be counteracted while driving by control and allows an approach to the ordnance even at slower speed with erected or lowered bow of the ordnance clearance combination.
  • the alignment moment is created by means of the weight force and the buoyancy force. when the volume center of mass and the center of gravity of a body are not identical.
  • This aligning moment endeavors to align the body in such a way that the volume center of gravity is arranged above the center of mass.
  • This realization uses the invention to be trimmed by the non-buoyancy training of ordnance clearance device when mounted on an unmanned underwater vehicle that has a different buoyancy than the ordnance disposal device and preferably buoyancy neutral, a tilting moment of ordnance clearance combination to cause the transverse axis, which is changed from a possible tilting moment in the unmanned underwater vehicle without the ordnance clearing device.
  • the explosive ordnance according to the invention for example, from above a sunken into the sea bottom ordnance, especially a base mine, approach and be fixed to this weapon if the ordnance has a negative buoyancy or if the mass of the ordnance is greater than the mass of Weapons displaced by the ordnance clearer.
  • the ordnance combination can advantageously from below to a floating on the water surface or in the vicinity of the water surface ordnance, in particular to amaschinemine, approximate and the ordnance clearing device can be advantageously fixed to this weapon.
  • an unmanned underwater vehicle with the ordnance clearing device according to the invention approaching a weapon, wherein the unmanned underwater vehicle, in the case that the mass of the ordnance is less than that of the displaced by ordnance from underwater water, from below and in the other case that the mass of the explosive device is greater than the mass of the water displaced by the ordnance agent under water, approaches the ordnance from above.
  • the unmanned underwater vehicle in the case that the mass of the ordnance is less than that of the displaced by ordnance from underwater water, from below and in the other case that the mass of the explosive device is greater than the mass of the water displaced by the ordnance agent under water, approaches the ordnance from above.
  • Under the approach from below is in particular an approximation with, in particular to understand at least 45 ° to the horizontal, raised nose of the ordnance clearing device, wherein the unmanned underwater vehicle reduces its depth in the water during the approach.
  • the approach from above is to be understood in particular as an approach with the bow of the underwater vehicle lowered, in particular by at least 45 ° relative to the horizontal, whereby the unmanned underwater vehicle increases its depth in the water during this approach. Due to the approach from below or from above, the advantageous placement of the ordnance clearing device on the weapon is possible. If the propulsion of the underwater vehicle fails or threatens to fail due to exhausted batteries, for example, the mine will be demolished so that the underwater vehicle is finally retrieved without any prior fixation of the explosive ordnance from the weapon or in the area of the weapon.
  • the underwater vehicle successfully reaches the weapon with the weapon, the weapon will be fixed to the weapon or the weapon.
  • the approach controlled by means of the underwater vehicle makes it possible to precisely and accurately position and fix the weaponry.
  • the ordnance clearing device is released from the unmanned underwater vehicle.
  • a simultaneous or as soon as possible release of ordnance from the unmanned underwater vehicle has the advantage that the unmanned underwater vehicle is not fixed by the ordnance or only for a short time relative to the ordnance and thus remains controllable or quickly after fixing again actively controllable.
  • the unmanned underwater vehicle In response to the release of the ordnance from the unmanned underwater vehicle, the unmanned underwater vehicle automatically moves up or down from the weapon and / or changes its orientation in the water with respect to its transverse axis.
  • the automatic removal to the top can be effected by a positive buoyancy and alternatively or additionally by an underwater vehicle, for example, in the horizontal mandatory alignment torque on the unmanned underwater vehicle.
  • the automatic removal downwards from the ordnance can be effected accordingly by a negative buoyancy and alternatively or additionally by an alignment moment, which lowers the bow of the unmanned underwater vehicle or aligns the underwater vehicle horizontally.
  • the separation of the unmanned underwater vehicle from the ordnance brooder due to the positive or negative buoyancy of the ordnance brooder and / or due to the lateral axis acting aligning causes quickly sets a minimum distance between the ordnance and the underwater vehicle or the bow of the underwater vehicle, the optimal Starting position is to bring the unmanned underwater vehicle subsequently, in particular on its own initiative, at a distance to the weapon. This distance is a distance greater than or equal to a predetermined safety distance. Only subsequently a clearing charge and / or a deceiving device of the ordnance clearing device is activated in order to blow up the weapon. The explosive device is destroyed.
  • the unmanned underwater vehicle can be reused.
  • the explosive ordnance disposal device has one or more clearing charges with directivity, in particular one or more hollow charges, and an igniter for igniting the clearing charge or clearing charges.
  • the use of sweeping charges with directivity increases the efficiency of the explosive used.
  • the amount of explosives positioned on the ordnance clearing device can therefore be comparatively small, so that the ordnance clearing device as well as the unmanned underwater vehicle can be dimensioned correspondingly small. Furthermore, only low safety requirements are required for the transport and storage of the explosive ordnance disposal device on board a mothership.
  • the weaponry removal device alternatively or additionally on a spoofing device for pretending properties of a ship or submarine.
  • these deceptive devices acoustically or magnetically simulate the presence of a ship or submarine to detonate a mine which detects the presence of a ship or submarine by means of acoustic or magnetic sensors.
  • the deception device therefore preferably has means for generating ship noises and / or submarine noises and / or means for generating a magnetic field.
  • a magnetic field sensor in the ignition mechanism of a sea mine can be deceived such that it causes the sea mine to detonate.
  • the weaponry removal device has means for activating the fuze and / or the deception device.
  • a simple activation of the ordnance disposal device is possible to cause a blasting of the weapon.
  • the means for activating the detonator and / or the deceptive device comprise, according to a particular embodiment, a radio buoy detachable by the weaponry device for receiving an activation signal over a radio link.
  • the radio buoy rises after the fixation of the ordnance on the ordnance or in the field of ordnance to the water surface, but remains connected via a cable to the ordnance, and thus allows communication to the mothership or to a control platform via a radio link between the radio buoy and the mothership, via the radio buoy and via the cable to the ordnance disposal facility.
  • the activation signal can be sent to the ordnance clearing device easily over a long distance, with large safety distances can be easily met.
  • the means for activating the igniter and / or the deception means alternatively or additionally comprise an electroacoustic transducer for receiving an activation signal via an acoustic channel.
  • the activation signal can be transmitted cost-effectively via the acoustic channel or by means of water sound and can be received by the ordnance agent.
  • the means for activating the igniter and / or the deception device alternatively or additionally comprise an ignition cable for receiving an activation signal via the ignition cable, wherein by means of the ignition cable a robust or little error prone possibility of transmitting the activation signal, in particular over small distances , given is.
  • the means for activating the fuze and / or the deception means alternatively or additionally comprise a time-firing mechanism, which is preferably already activated before the warfare agent is set down by the unmanned underwater vehicle, or at landing or / and or when fixing on the fighting agent or in response to it is activated and represents a very cost-effective variant for activating the igniter or the deception device.
  • the time-ignition mechanism is used in particular when it is ensured that at the time of ignition no danger to people and equipment in the detonation area is to be expected.
  • the holding device has a nail-shooting device.
  • we fix the explosive device by means of a nail on the mine or on an object in the area of the mine.
  • the nail is driven by means of a cartridge ignition device in the weapon or in the article in the field of ordnance, so that the ordnance is subsequently firmly fixed.
  • the holding device alternatively or additionally comprises an electromagnet and / or a vacuum device and / or a clamping device for clasping the weapon or its parts and / or objects in the area of the weapon.
  • the electromagnet allows an electromagnetic fixation on the ordnance clearing device.
  • the vacuum device allows fixation by maintaining a negative pressure in an area applied to the weapon.
  • the stapling device ensures a mechanical connection or fixation of the ordnance clearing device on the weaponry.
  • a provision of the electromagnet and / or the vacuum device and / or the stapling device in addition to the nail gun is advantageous to allow a fixation of the ordnance clearing device, if a fixation has failed by means of the nail gun.
  • Such a holding device is preferably carried out by touching the ordnance with the ordnance. Additionally or alternatively, such activation takes place by means of metal sensors, which signal that the weaponry is in the area of the weapon.
  • the activation of the holding device is thus preferably carried out directly by means of the ordnance clearing device, in particular without intervention from the outside or without intervention by the unmanned underwater vehicle.
  • the warfare agent can be inexpensively used as an attachment for an unmanned underwater vehicle of conventional type.
  • the means for releasably connecting the ordnance clearing device with an unmanned underwater vehicle and the holding device are designed such that upon activation of the holding device for fixing the ordnance on the ordnance or in the field of ordnance simultaneously the means for releasably connecting are operated, so that a mechanical connection of the ordnance clearer to the unmanned underwater vehicle is solved.
  • Such a simultaneous attachment of the ordnance brooder to the ordnance or in the area of the ordnance and separation of the ordnance from the unmanned underwater vehicle allows the use of conventional unmanned underwater vehicles, in particular of mine destruction drones conventional design without having to change their construction. Rather, the ordnance is simply attached to the underwater vehicle. Preferably, the ordnance is thereby attached to the bow of the underwater vehicle.
  • the means for releasably connecting the ordnance clearing device and the holding device are additionally designed such that they can also be actuated independently of an activation of the holding device in order to detach the weaponry from the unmanned underwater vehicle.
  • Such an independent separation of the ordnance from the underwater vehicle has the advantage that the ordnance can be repelled if the current use was canceled or if the triggering of the holding means has not led to the fixation of the ordnance on the ordnance.
  • the ordnance device floats in the event that it has a positive buoyancy, and can be cleared or sinks in the event of a negative buoyancy on the seabed, so that at least a risk to shipping is minimized.
  • the weaponry removal device is designed such that the center of mass of the weaponry removal device is displaced in the effective direction of the holding device with respect to the volume center of the warfare agent, in particular a corresponding displacement vector has at least one component in the effective direction with a positive contribution different from zero.
  • the holding device comprises the nail gun
  • the effective direction of the holding device is in particular the weft direction of the nail gun.
  • the holding device in particular the nail gun, is activated, which can lead to a fixation of the ordnance on the bottom of the sea. Possibly. is activated together with the activation of the holding device of the possibly existing Zeitzündmechanismus so that destroys the ordnance on the bottom of the sea after a predetermined period of time.
  • the center of mass of the weaponry is shifted from the volume center of the weapon to the side of the warfare agent, which faces away from the center of gravity and / or the center of gravity of the underwater vehicle in the event that the weaponry is mounted on the unmanned underwater vehicle.
  • the ordnance brooder is mounted on the bow of the unmanned underwater vehicle, the side of the warfare broker into which the center of mass of the ordnance brooder is shifted from its center of gravity, is a prow of the ordnance brooder, and faces away from the prow of the unmanned underwater vehicle.
  • This design of the ordnance-spreading device has the advantage, in particular when the ordnance-removing device has a positive or greater buoyancy than the unmanned underwater vehicle, that a tilting moment which raises the bow of the combatant-space combination is less pronounced than if the center of mass and the center of gravity of the ordnance-spreading device identical.
  • a displacement of the volume center of gravity and of the center of gravity caused by the positive buoyancy of the weaponry-removing device in the combatant-space combination is comparatively less pronounced.
  • the mass distribution at the ordnance clearing device thus causes a tilting moment, which is opposite to a tilting moment on the unmanned underwater vehicle.
  • the combat agent combination is more stable in the water and can maneuver with less energy in the water.
  • the direction of action of the holding device facing away from the center of mass of the underwater vehicle so that the holding device acts in the direction of the Bugugsumzeum réelles and at the same time the benefits of a lowered effective direction when the ordnance clearing device drives without the underwater vehicle in the water, and the stabilizing influence on the ride Combat ordnance combination result.
  • the unmanned underwater vehicle can in this case head down on the ordnance to be cleared, wherein the holding device, in particular the nail gun, is triggered by contact of the ordnance with the ordnance.
  • the mass of the ordnance is also greater than the mass of water displaced underwater by the ordnance.
  • the mass of the underwater vehicle is less than the mass of displaced underwater from the underwater vehicle water.
  • the ordnance clearance device has a negative buoyancy, the underwater vehicle a positive buoyancy and the ordnance clearance combination with the underwater vehicle and the ordnance clearing device on a negative buoyancy.
  • the combat agent combination automatically or automatically sinks to the seabed, where the holding device is triggered by contact with the seabed and the warfare agent clears the underwater vehicle that the ordnance cleaner remains on the seabed and there may be blown up or blow itself up and the underwater vehicle floats back to the surface of the water and can be salvaged there.
  • a termination of the method for clearing ordnance can be triggered by the fact that a battery of the underwater vehicle threatens to exhaust or is exhausted and the underwater vehicle is therefore no longer or only limited maneuverability.
  • a termination of the process can also be triggered by the fact that the fixation has failed on a weapon, in particular the nail gun was triggered, without thereby the ordnance is fixed on ordnance.
  • the unmanned underwater vehicle with the attached ordnance remover automatically from, since the mass of the underwater vehicle together with the mass of Combustion equipment is greater than the mass of water displaced underwater by the underwater vehicle together with the debris removal equipment.
  • the ordnance clearance device at the bottom of the water in particular automatically in response to a ground contact of the ordnance clearing device, detached from the unmanned underwater vehicle.
  • the unmanned underwater vehicle automatically rises to the water surface, since the mass of the unmanned underwater vehicle is less than the mass of displaced under water from the unmanned underwater vehicle water.
  • the center of mass of the unmanned underwater vehicle is preferably arranged below its center of gravity in such a way that the underwater vehicle does not rotate about its longitudinal axis, but in this respect is stable in the water.
  • the weapon mounted on the underwater vehicle is removed from the unmanned underwater vehicle, wherein subsequently both the ordnance clearing device and the unmanned underwater vehicle drift separately from each other on the surface of the watercourse, since both have a positive buoyancy.
  • the weaponry preferably drives in an orientation with lowered effective direction of the holding device on the surface of the water, so that the risk of fixing the ordnance is at a driving or moving on the surface of the body object or on a ship is minimized.
  • the explosive device can be cleared and the underwater vehicle salvaged.
  • Fig. 1 shows a ordnance clearance combination 8 with a ordnance clearing device 10 and an unmanned underwater vehicle 12.
  • the ordnance clearing device 10 is designed as an attachment for the unmanned underwater vehicle 12 and releasably secured to this underwater vehicle 12.
  • the ordnance clearing device 10 is designed in the manner of a cap, which is slipped over the bow of the unmanned underwater vehicle 12.
  • the ordnance clearing device 10 is therefore arranged releasably secured to the bow of the unmanned underwater vehicle 12 and thereby fixed by means of a fastening means 14 which is formed as an elastic band 14 on the unmanned underwater vehicle 12.
  • Both ends of the elastic band 14 each engage an integral unit 16, 18 for providing means for releasably connecting the ordnance broach 10 to the underwater vehicle 12.
  • a central portion of the elastic band 14 engages behind a projection 20 on the unmanned underwater vehicle 12, so that the ordnance clearing device 10 is held by means of the elastic band 14 at the bow of the underwater vehicle 12.
  • the ordnance clearing device 10 Due to the elasticity of the belt 14, the ordnance clearing device 10 is pulled like a cap on the bow of the unmanned underwater vehicle 12 or pressed and thus fixed to this bow. However, this attachment of the explosive device 10 on the underwater vehicle 12 is solvable. To release this mechanical connection from the ordnance clearing device 10 and unmanned underwater vehicle 12, the elastic band 14 is released from the integral units 16, 18. In this case, the connection between the ordnance clearing device 10 and the underwater vehicle 12 is released and the underwater vehicle 10 can move away from the ordnance clearing device 12.
  • the integral units 16, 18 also each have a holding device 22, 24 for fixing the ordnance-removing device 10 to a weapon, for example a mine 26, which is shown here as a sunken in the riverbed base mine.
  • a weapon for example a mine 26, which is shown here as a sunken in the riverbed base mine.
  • the mine can also be different, for example.
  • anchor tusks be formed.
  • the invention is not limited to the clearance of mines, but also refers to the clearance of ammunition.
  • the holding devices 22, 24 are designed as nail guns, which, in particular in response to contact with the mine 26, drive nails into this mine 26 and fix the ordnance clearing device 10 to the mine 26 by means of these nails.
  • one or more shaped charges 28 are further provided, which each form a clearing charge with directivity.
  • the direction of action of the clearing charge 28 preferably points in the same direction as the longitudinal axis of the holding devices 22, 24, which in turn preferably runs parallel to the longitudinal axis of the underwater vehicle 12 when the ordnance clearing device 10 is fixed to the underwater vehicle 12.
  • the ordnance space combination 8 can be controlled head-on with the ordnance clearing device 10 at the bow of the underwater vehicle 12 ahead of a mine 26.
  • the ordnance-clearing device 10 also has a radio buoy 30, which can be set off to receive an activation signal via a radio link to the surface of the water.
  • the ordnance clearing device 10 also has a negative buoyancy and the unmanned underwater vehicle 12, however, has a positive buoyancy.
  • a body whose mass corresponds essentially to the mass of the water displaced by this body under water is referred to in this case as buoyancy-neutral.
  • a body whose mass is at most one percent of the mass of that body differs under water displaced water referred to as buoyancy neutral.
  • bodies which have a lower mass have a positive buoyancy
  • bodies which on the other hand have a greater mass have a negative buoyancy.
  • a weight force vector GK8 of the ordnance clearance combination 8 points downwards in the vertical direction and is correspondingly longer than an upwardly pointing lift vector AK8 of the combatant clearance combination 8.
  • the weight force vector GK8 is a resulting vector which acts on the center of gravity MS8 of the combatant space combination 8.
  • the buoyancy vector AK8 is a resulting vector which acts in the volume center of gravity VS8 of the combatant space combination 8.
  • Fig. 1 In the illustration according to Fig. 1 are the center of gravity MS8 and the volume of gravity VS8 relative to the longitudinal axis of the ordnance space combination 8 arranged offset from one another such that a strong reduction of the Bugugsumhoffmkombination 8 is effected. Due to the lowered bow and the negative buoyancy of the ordnance clearance combination 8, the ordnance clearance combination 8 would sink in the event of failure of its propulsion with the nose or the ordnance clearing device 10 to the body of water, ramming the body of the ground, thereby triggering the retainer 22, 24 and thereby disengaging of the ordnance clearing device 10 from the unmanned underwater vehicle 12 cause. The unmanned underwater vehicle 12 would subsequently rise due to its positive buoyancy to the surface of the water.
  • Fig. 1 In the illustration according to Fig. 1 is the inclination of the ordnance clearance combination 8 against the inclination, which would set without the drive of the unmanned underwater vehicle 12, slightly increased to be able to steer at an even steeper angle to the mine 26 can.
  • This exaggerated Inclination is effected by means of the drive or the drives of the unmanned underwater vehicle 12 and by means of control devices of the unmanned underwater vehicle 12 against an aligning torque at the ordnance clearance 8.
  • Fig. 2 shows the ordnance clearing device 10 Fig. 1 after activation of the holding devices 22, 24 at the mine 26.
  • the holding devices 22, 24 are activated either on contact of the ordnance clearing device 10 with the mine 26 or already at a significant approach of the ordnance clearing device 10 to the mine 26. This significant approximation is detected, for example, by means of a metal sensor.
  • the holding devices 22, 24, in particular by means of the nails of the nail guns the ordnance clearing device 10 is firmly fixed to the mine 26.
  • the radio buoy 30 is released from the ordnance clearing device and activates a buoyant body on the radio buoy 30, which provides buoyancy on the radio buoy 30.
  • the radio buoy 30 already provides itself buoyancy, which is partially compensated or overcompensated by the remainder of the ordnance brooder 10. Even if the radio buoy 30 is detached from the ordnance clearing device 10 or from the other devices of the ordnance clearing device 10, the radio buoy 30 remains signal-transmitting via a line 32 to an igniter and / or a deceit device of the ordnance clearing device 10.
  • the ordnance clearing device 10 is released from the underwater vehicle 12 and the underwater vehicle 12 brought into a distance to the mine 26, which is greater than or equal to a predetermined safety distance. Then the ordnance clearing device 10 causes the mine 26 to explode by activating a clearing charge, for example in the form of the shaped charge 28 or the deception device, by means of which the mine simulates the presence of a ship or submarine. Due to such deception, the own firing mechanism is activated so that the mine 26 detonates.
  • a clearing charge for example in the form of the shaped charge 28 or the deception device
  • the ordnance clearing device 10 After loosening the ordnance clearing device 10 from the unmanned underwater vehicle 12, the ordnance clearing device 10 no longer pulls the unmanned underwater vehicle, in particular its bow, so that on the one hand the greater buoyancy force according to the weight force vector GK12 according to the buoyancy force vector AK12 on the unmanned underwater vehicle 12 Unmanned underwater vehicle 12 can rise altogether to the surface of the water and removes it from the ordnance clearing device 10.
  • the center of mass MS12 and the volume center of gravity VS12 of the unmanned underwater vehicle 12 are arranged offsetless or only slightly offset with respect to the longitudinal axis of the underwater vehicle 12, so that a strong alignment moment acts on the underwater vehicle 12, which lowered the nose of the underwater vehicle 12 from it Ascend position until the longitudinal axis of the underwater vehicle 12 is arranged approximately horizontally or until the lift vector AK12 and the weight force vector GK12 are arranged on a common vertical.
  • the unmanned underwater vehicle 12 can thus be particularly quickly removed from this ordnance clearing device 10 due to the special design of the ordnance clearing device 10 after its separation from the ordnance clearing device 10.
  • the integral units 16, 18 comprise the means for detachably connecting the ordnance broach 10 to the underwater vehicle 12 and the retainers 22, 24 for securing the ordnance broach 10 to a weapon.
  • the means for releasably connecting comprise holding members which hold the elastic band 14 to loops of the elastic band 14.
  • the holding devices 22, 24 or the nail guns comprise cartridges for driving bolts and cartridge ignition devices for igniting the cartridges.
  • the cartridge ignition devices ignite, for example, upon contact of the ordnance clearing device 10 with a weapon or with another object or are triggered by means of a metal detector.
  • the ignited cartridges not only drive nails into the ordnance 26 and thereby secure the ordnance brooder 10 at the ordnance 26.
  • the holding members release from the loops of the elastic band 14, so that the elastic band 14 released and thus the ordnance clearing device 10 from the unmanned underwater vehicle 12 is solved.
  • Fig. 3 shows a ordnance clearance combination 8 'with the unmanned underwater vehicle 12 according to FIG Fig. 1 and with a ordnance clearing device 10 ', which is particularly suitable for clearing a weapon or a mine 26', which is designed as amaschinemine or drives on the surface of a body of water.
  • the explosive device 10 ' has a positive buoyancy which is stronger than the likewise positive buoyancy of the unmanned underwater vehicle 12. Therefore, the ordnance clearance combination 8 'assumes an inclined position in the water with the bow of the explosive ordnance combination 8' raised, even if the unmanned underwater vehicle 12 is not driven.
  • the ordnance-clearance device 10 ' can therefore advantageously be approached from below by means of the unmanned underwater vehicle 12 to the mine 26'.
  • This has the advantage over sideways approach that sea state and waves can relatively less disturb the approach to the mine 26 '.
  • the likelihood that the ordnance clearer is accurately attached to the mine 26 ' is increased in this way.
  • the volume center of gravity VS8 'of the explosive ordnance combination 8' is shifted relative to the center of mass MS8 'of this explosive ordnance combination 8' relative to the longitudinal axis of this explosive ordnance combination 8 'to the bow of the explosive ordnance combination 8'.
  • an alignment torque sets in, which endeavors to place the center of mass 8 'directly below the volume center of gravity 8' or to arrange the buoyancy force vector AK8 'and the weight force vector GK8' on a common vertical.
  • Compared to the adjusting by means of Ausrichtmoments tilt of ordnance clearance combination 8 ' is the skew in the figure Fig. 3 against an alignment moment by means of drives and / or control devices of the Unmanned underwater vehicle 12 further increased to obtain an even steeper angle to the mine 26 '.
  • Fig. 4 shows the ordnance clearance combination 8 'with the ordnance clearing device 10' of the second embodiment according to Fig. 3 after activation of the holding devices 22, 24 at the mine 26 '.
  • An alignment moment on the unmanned underwater vehicle 12 causes the nose of the unmanned underwater vehicle 12 to descend and the stern of the unmanned underwater vehicle 12 to be raised, with the longitudinal axis of the unmanned underwater vehicle 12 substantially horizontal.
  • the drives of the unmanned underwater vehicle 12 cause a backward thrust that quickly removes the unmanned underwater vehicle from the ordnance brooder 10 ', thereby initially causing further descent of the unmanned underwater vehicle 12 against the positive buoyancy of the unmanned underwater vehicle 12 due to the initial inclination of the unmanned underwater vehicle 12.
  • Fig. 5 shows the explosive device 10 'floating on the surface of a body of water.
  • the ordnance clearing device 10 'could not be successfully fixed to the mine 26' but has disengaged from the unmanned underwater vehicle 12 and is therefore floating in the water, separated from the unmanned underwater vehicle 12.
  • the ordnance clearing device 10 ' is initially still attached to the unmanned underwater vehicle 12, but fixing the ordnance clearing device 10' at a mine is no longer possible because, for example, either triggering the means for fixing is no longer possible or the mine 26 'due to decreasing or already failed drive power on unmanned underwater vehicle 12 can not be achieved.
  • the ordnance cleaner becomes 10 'regardless of a fixation of the ordnance clearing device 10' solved in a weapon from the unmanned underwater vehicle 12.
  • the ordnance clearing device 10 ' for example.
  • the projection 20 of the underwater vehicle 12 could be designed for an active release of the tether 14.
  • the warfare brooder 10' drives due to its positive buoyancy on the surface of the body of water.
  • the mass distribution at the ordnance clearing device 10 ' is such that the center of gravity MS10' of the ordnance clearing device 10 in the direction of the Bugugsumhoffm réelles 10 or in the direction of the holding devices 22, 24 or in the firing direction of the nail guns against the volume of gravity VS10 'of the ordnance clearing device 10' moved is.
  • the ordnance-clearing device 10 ' can, for example, approach a ship and collide with the ship, without this being fixated of the ordnance broker 10 'on this ship.
  • the buoyancy force vector AK10 'of the ordnance clearing device 10' and the weight force vector GK10 'of the ordnance clearing device 10' are arranged on a common vertical, which is parallel to the firing direction of the nail gun and the effective direction of the shaped charge 28.
  • an antenna may be provided, can be sent by means of signals for locating the ordnance clearing device and / or control signals, in particular for triggering the holding device 22, 24 and / or the shaped charge 28, can be received.
  • the ordnance clearing device 10 'can thus be located and blasted, if a threat to objects in the environment is excluded.
  • Fig. 6 shows the unmanned underwater vehicle 12 according to the Fig. 1 to 4 after the separation of the ordnance clearing device 10, 10 'from the unmanned underwater vehicle 12 and in case of failure of the drives of the unmanned underwater vehicle 12.
  • the unmanned underwater vehicle 12 rises namely to the surface of the water and drives there with a substantially horizontal orientation of its longitudinal axis in the water.
  • the center of gravity MS12 is arranged below the volume center of gravity VS12 in such a way that not only pitching or tilting about the transverse axis of the underwater vehicle 12, but also rotation about the longitudinal axis of the underwater vehicle 12 is counteracted.
  • the underwater vehicle 12 is therefore stable in the water and can possibly be captured and reused after maintenance or after charging its batteries in combination with another ordnance.
  • the invention thus allows the cost-effective spaces, in particular hard to reach mines, which are partially buried in the bottom of the body of water or swim on the surface of the water.
  • the invention can even in such mines, where a lateral approach is not possible or at least problematic, pinpoint the unpowered ordnance clearing device 10 and 10 'attach and blow up the mine.
  • the cost-effective because of its unpowered training as an attachment ordnance is destroyed in the clearance of the mine.
  • the unmanned underwater vehicle 12 serving as a transportation vehicle which is comparatively more expensive, can be salvaged and used for further operations.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Thermotherapy And Cooling Therapy Devices (AREA)
  • Farming Of Fish And Shellfish (AREA)
  • Processing Of Solid Wastes (AREA)
  • Catching Or Destruction (AREA)

Claims (14)

  1. Appareil d'élimination de moyens de combat (10, 10') destiné à éliminer, sous l'eau, des moyens de combat (26, 26') tels que des mines marines ou des munitions submergées dans les eaux, par explosion du moyen de combat (26, 26'), l'appareil d'élimination de moyens de combat (10, 10') présentant un dispositif de retenue (22, 24) permettant de fixer l'appareil d'élimination de moyens de combat (10, 10') sur le moyen de combat (26, 26') ou à proximité du moyen de combat (26, 26'), dans lequel
    l'appareil d'élimination de moyens de combat (10, 10') est un appareil rapporté non motorisé destiné à un véhicule sous-marin non habité (12) et comporte des moyens permettant une liaison amovible au véhicule sous-marin non habité (12), caractérisé en ce que
    la masse de l'appareil d'élimination de moyens de combat (10, 10') est invariablement inférieure ou supérieure à la masse de l'eau déplacée sous l'eau par l'appareil d'élimination de moyens de combat (10, 10'), et ce notamment aussi bien dans le cas où l'appareil d'élimination de moyens de combat (10, 10') est relié au véhicule sous-marin non habité (12), que dans le cas où l'appareil d'élimination de moyens de combat (10, 10') est fixé sur le moyen de combat (26, 26') ou à proximité du moyen de combat (26, 26').
  2. Appareil d'élimination de moyens de combat selon la revendication 1,
    caractérisé en ce que
    l'appareil d'élimination de moyens de combat (10, 10') présente une ou plusieurs charges d'élimination à effet directionnel, notamment une ou plusieurs charges creuses (28), et un détonateur destiné à la mise à feu de la charge d'élimination.
  3. Appareil d'élimination de moyens de combat selon la revendication 1 ou 2,
    caractérisé en ce que
    l'appareil d'élimination de moyens de combat (10) présente un dispositif de leurrage destiné à simuler des caractéristiques d'un navire ou d'un sous-marin, le dispositif de leurrage comprenant :
    - des moyens destinés à produire des bruits de navire et/ou des bruits de sous-marin et/ou
    - des moyens destinés à produire un champ magnétique.
  4. Appareil d'élimination de moyens de combat selon la revendication 2 ou 3,
    caractérisé par
    des moyens destinés à activer le détonateur et/ou le dispositif de leurrage.
  5. Appareil d'élimination de moyens de combat selon la revendication 4,
    caractérisé en ce que
    les moyens destinés à activer le détonateur et/ou le dispositif de leurrage comprennent :
    - une balise radio (30), détachable de l'appareil d'élimination de moyens de combat (10), destinée à recevoir un signal d'activation par voie radio et/ou
    - un transformateur électroacoustique destiné à recevoir un signal d'activation par le biais d'un canal acoustique et/ou
    - un câble d'allumage destiné à recevoir un signal d'activation par le biais du câble d'allumage et/ou
    - un mécanisme d'allumage à retardement.
  6. Appareil d'élimination de moyens de combat selon l'une des revendications précédentes,
    caractérisé en ce que
    le dispositif de retenue (22, 24) comprend :
    - un appareil de clouage et/ou
    - un électroaimant et/ou
    - un appareil à dépressurisation et/ou
    - un dispositif d'accrochage destiné à encercler le moyen de combat ou des parties de celui-ci et/ou des objets à proximité du moyen de combat.
  7. Appareil d'élimination de moyens de combat selon l'une des revendications précédentes,
    caractérisé par
    une conception des moyens permettant une liaison amovible de l'appareil d'élimination de moyens de combat (10, 10') au véhicule sous-marin non habité (12) et une conception du dispositif de retenue (22, 24) qui soient telles que les moyens permettant une liaison amovible puissent être actionnés aussi bien parallèlement à une activation du dispositif de retenue (22, 24) permettant de fixer l'appareil d'élimination de moyens de combat (10, 10') sur le moyen de combat (26, 26') ou à proximité du moyen de combat (26, 26') qu'indépendamment d'une activation du dispositif de retenue (22, 24) pour que l'appareil d'élimination de moyens de combat (10, 10') se détache du véhicule sous-marin non habité (12).
  8. Appareil d'élimination de moyens de combat selon l'une des revendications précédentes,
    caractérisé en ce que
    le centre de masse (MS10, MS10') de l'appareil d'élimination de moyens de combat (10, 10') est décalé, par rapport au centre de gravité du volume (VS10, VS10') de l'appareil d'élimination de moyens de combat (10, 10'), dans le sens de l'action du dispositif de retenue (22, 24), notamment dans le sens de projection de l'appareil de clouage.
  9. Appareil d'élimination de moyens de combat selon l'une des revendications précédentes,
    caractérisé en ce que
    le centre de masse (MS10, MS10') de l'appareil d'élimination de moyens de combat (10, 10') est décalé, par rapport au centre de gravité du volume (VS 10, VS10') de l'appareil d'élimination de moyens de combat (10'), d'un côté de l'appareil d'élimination de moyens de combat (10, 10'), lequel côté, dans le cas où l'appareil d'élimination de moyens de combat (10, 10') est rapporté sur le véhicule sous-marin non habité (12), est détourné du centre de masse (MS12) du véhicule sous-marin (12).
  10. Ensemble d'élimination de moyens de combat comportant un véhicule sous-marin non habité (12) et comportant un appareil d'élimination de moyens de combat (10, 10'), rapportable ou rapporté sur celui-ci, selon l'une des revendications précédentes.
  11. Ensemble d'élimination de moyens de combat selon la revendication 10, dans lequel la masse de l'appareil d'élimination de moyens de combat (10) est supérieur à la masse de l'eau déplacée sous l'eau par l'appareil d'élimination de moyens de combat (10),
    caractérisé en ce que
    la masse de l'ensemble d'élimination de moyens de combat (8) est également supérieure à la masse de l'eau déplacée sous l'eau par l'ensemble d'élimination de moyens de combat (8), la masse du véhicule sous-marin (12) étant toutefois inférieure à la masse de l'eau déplacée sous l'eau par le véhicule sous-marin (12).
  12. Procédé d'élimination, sous l'eau, de moyens de combat (26, 26'), tels que des mines marines ou des munitions submergées dans les eaux, par explosion du moyen de combat (26, 26'), dans lequel
    a) un véhicule sous-marin non habité (12) comportant un appareil d'élimination de moyens de combat (10, 10') selon l'une des revendications 1 à 9 qui y est rapporté
    se rapproche du moyen de combat (26'), par le dessous, notamment avec l'avant relevé, dans le cas où la masse de l'appareil d'élimination de moyens de combat (10') est inférieure à la masse de l'eau déplacée sous l'eau par l'appareil d'élimination de moyens de combat (10'), ou
    se rapproche du moyen de combat (26), par le dessus, notamment avec l'avant descendant, dans le cas où la masse de l'appareil d'élimination de moyens de combat (10) est supérieure à la masse de l'eau déplacée sous l'eau par l'appareil d'élimination de moyens de combat (10),
    b) ensuite, l'appareil d'élimination de moyens de combat (10, 10') est fixé sur le moyen de combat (26, 26') ou à proximité du moyen de combat (26, 26'),
    c) simultanément ou par la suite, l'appareil d'élimination de moyens de combat (10, 10') est détaché du véhicule sous-marin non habité (12),
    d) en réponse, le véhicule sous-marin non habité (12) s'éloigne du moyen de combat (26, 26'), toujours automatiquement, par le dessus ou par le dessous, et/ou modifie son orientation dans l'eau,
    e) le véhicule sous-marin non habité (12) est conduit à une distance du moyen de combat supérieure ou égale à une distance de sécurité prédéfinie, et
    f) une charge d'élimination et/ou un dispositif de leurrage de l'appareil d'élimination de moyens de combat (10, 10') sont activés pour faire exploser le moyen de combat.
  13. Procédé selon la revendication 12,
    caractérisé en ce que
    dans le cas d'une annulation de l'élimination intervenant avant l'étape b) de la revendication 12, le véhicule sous-marin non habité (12) coule automatiquement avec l'appareil d'élimination de moyens de combat (10) qui y est rapporté du fait que la masse du véhicule sous-marin (12) conjointe à la masse de l'appareil d'élimination de moyens de combat (10) est supérieure à la masse de l'eau déplacée sous l'eau par le véhicule sous-marin (12) conjointement à l'appareil d'élimination de moyens de combat (10), après quoi l'appareil d'élimination de moyens de combat (10) se détache automatiquement du véhicule sous-marin non habité (12), sur le fond sous-marin, notamment en réaction à un contact au sol de l'appareil d'élimination de moyens de combat (10), à la suite de quoi le véhicule sous-marin non habité (12) remonte automatiquement à la surface de l'eau du fait que la masse du véhicule sous-marin non habité (12) est inférieure à la masse de l'eau déplacée sous l'eau par le véhicule sous-marin non habité (12).
  14. Procédé selon la revendication 12, dans lequel l'appareil d'élimination de moyens de combat est conçu selon la revendication 8,
    caractérisé en ce que
    dans le cas d'une annulation de l'élimination intervenant avant l'étape b) de la revendication 12, l'appareil d'élimination de moyens de combat (10') rapporté sur le véhicule sous-marin (12') est détaché du véhicule sous-marin non habité (12'), après quoi le véhicule sous-marin non habité (12') remonte automatiquement à la surface des eaux et, séparément de cela, l'appareil d'élimination de moyens de combat (10') remonte à la surface des eaux où il flotte ensuite selon une orientation dans laquelle le sens de l'action du dispositif de retenue est descendant.
EP12195733.6A 2011-12-21 2012-12-05 Appareil de'élimination de moyens de combat pour éliminer des moyens de combat, comme des mines sous-marines, sous l'eau, combinaison d'élimination de moyens de combat avec un véhicule sous-marin non habité et un tel appareil d'élimination de moyens de combat, et procédé associé Active EP2607226B2 (fr)

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DE102011121856A DE102011121856A1 (de) 2011-12-21 2011-12-21 Kampfmittelräumgerät zum Räumen von Kampfmitteln, wie Seeminen, unter Wasser, Kampfmittelräumkombination mit unbemanntem Unterwasserfahrzeug und derartigem Kampfmittelräumgerät sowie Verfahren hierzu.

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JP7068060B2 (ja) * 2018-06-15 2022-05-16 川崎重工業株式会社 水中給電システム
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CN113911290B (zh) * 2021-11-12 2023-05-02 中国科学院海洋研究所 用于坐底式海床基观测系统失浮后的打捞装置及方法
CN114233395B (zh) * 2021-12-10 2023-11-17 太原理工大学 一种矿井透水事故机器人救援探测系统
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US20130263725A1 (en) 2013-10-10
US8813628B2 (en) 2014-08-26
DE102011121856A1 (de) 2013-06-27
EP2607226B2 (fr) 2021-12-15
EP2607226A1 (fr) 2013-06-26

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