EP2930099B1 - Weapon clearing device for clearing weapons, such as mines, underwater, unmanned submarine with weapon clearing device and method for same - Google Patents

Description

The invention relates to a ordnance clearing device for clearing ordnance, such as mines or submerged in waters ammunition, under water by blowing up the ordnance. Furthermore, the invention relates to an unmanned underwater vehicle with such a warfare agent. Finally, the invention relates to a corresponding method for clearing ordnance using such a warfare agent.

EP 0 211 149 A1 discloses a weapon space device according to the preamble of claim 1.

Weapons in the water, such as mines or sunken ammunition, pose a potential threat to shipping and the environment. Such weapons are often found decades after a war in waters. There is therefore a need for efficient, inexpensive and safe clearance of such ordnance.
Traditionally, various methods of evacuating such ordnance are used: a technically inexpensive but dangerous process involves divers dipping the respective ordnance object (s) and a scooping load
Manually attach objects to objects for blasting. However, this method is on the one hand dangerous for the diver as he gets in direct contact with the weapon. On the other hand, the use of divers is limited to the maximum depth of a diver. Lower-lying weaponry can not be cleared in this way.

Another method provides that by unmanned underwater vehicles, a sweeping load is stored by means of a mounted on the underwater vehicle manipulator in the field of ordnance. However, this approach requires clearing loads of large quantities of explosives to effectively remove the munitions. Often, a single clearing load already 30 to 100 kg of explosives, which has to transport the underwater vehicle to the ordnance and drop it there. However, such a large mass of explosive has the following disadvantages in particular:
On the one hand, such a high mass requires elaborate trim devices on the underwater vehicle, since after placing the clearing charge, the trim of the underwater vehicle is sustainably influenced. This means that the underwater vehicle is correspondingly large and expensive to carry out. This not only increases the cost of the underwater vehicle, but various additional facilities, such as cranes and storage areas provided on board a mothership, ie accommodation on board the mothership must also be large enough.

On the other hand, such large quantities of explosives are highly dangerous because even with a small number of clearing loads, tons of explosives have to be loaded aboard the mothership. This requires particularly high safety precautions, which significantly increase the cost of ordnance clearance operations.

According to another method, unmanned underwater vehicles are used as mine destruction drones, such as the unmanned underwater vehicles marketed by the applicant under the trademarks "Seefuchs" and "Seafox". In such mine destruction drones are shaped charges with only a small amount of explosives, eg. One to two kilograms installed. The mine destruction drone is brought to mine destruction or general ordnance disposal directly to the object to be destroyed. Then, the shaped charge is ignited within the underwater vehicle, wherein the underwater vehicle is blasted together with the object. This process is highly efficient and, moreover, requires only a small amount Amount of explosives. However, the method is expensive because with each use an underwater vehicle is lost.

After all, the invention is based on the problem of making the ordnance clearance cheaper under water, but without significantly increasing the required amount of explosives.

The invention solves this problem with a ordnance disposal apparatus according to claim 1, an unmanned underwater vehicle having such a warfare agent, and a method for clearing ordnance using such a warfare agent.

The invention is based on the finding that the use of small explosive charges requires exact positioning of the explosive charge on or in the area of the weapon. Only when the explosive charge is accurately positioned, a small amount of explosives is sufficient to destroy the weapon.

Small amounts of explosive also allow the use of small submersibles, which can reduce the cost of ordnance clearance operations are low.

The invention is based on the further finding that due to the use of small underwater vehicles, the self-trimming of the underwater vehicle can be sustainably adversely affected if the clearing charge is separated from the underwater vehicle. However, insufficient self-trimming either results in the loss of the underwater vehicle as it is no longer controllable, or in a time-consuming re-trim, which significantly extends mission durations.

According to the invention it is therefore provided that the ordnance is not provided an integral part of an underwater vehicle, but only as an attachment for an unmanned underwater vehicle. The underwater vehicle thus serves only as a transport vehicle for the actual ordnance clearing device, which is released from the underwater vehicle in the area of the weapon or on the weapon. The warfare agent has for this purpose means for releasably connecting to the underwater vehicle. 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. Preferably, the volume of the ordnance brooder is further selected such that the buoyant force acting on the ordnance brooder under water compensates for the force of gravity acting on the warfare brooder. The ordnance clearance device thus behaves buoyant. Therefore, loosening the weaponry from the underwater vehicle will not result in a changing (positive or negative) buoyancy of the underwater vehicle. The underwater vehicle is therefore easily controllable even after loosening the ordnance from the underwater vehicle.

The invention thus advantageously makes it possible to use small unmanned underwater vehicles, which in particular do not require expensive equipment for buoyancy neutralization or trimming. The invention thus provides a possibility for using less costly underwater vehicles, which can be reused after their use, since the actual ordnance clearing device is separated from the underwater vehicle and arranged separable.

According to the method of the invention, it is therefore provided first to place an explosive-comprising clearing charge and / or a spoofing device for simulating properties of ships or submarines with a weaponry mounted on an unmanned underwater vehicle according to the invention at the ordnance or in the area of the ordnance, i. especially to install or store. Such a deception device serves to deceive the detonator of a mine, which thus activates its own ignition mechanism and thus blows itself up and thus clears.

After placing the ordnance clearing device with the clearing or deceiving device, the ordnance clearing device is released from the unmanned underwater vehicle. Then the unmanned underwater vehicle is brought into a distance to the weapon, which is greater than or equal to a predetermined safety distance. Subsequently, the explosive charge and / or deception device is activated, so that a blasting of the weapon takes place.

According to a particular embodiment, the mass distribution within the ordnance clearing device is selected such that regardless of the orientation of the ordnance clearing device in the water no Ausrichtmoment acts on the ordnance clearing device. The warfare agent is thus designed so that it is not only buoyancy neutral, but that in any position or orientation in the water remains without a torque acting on the ordnance disposal device. The mass distribution is therefore advantageously chosen such that the resulting buoyancy force for the entire ordnance broaching device acts at the same point as the resulting gravity acting on the entire ordnance brooder. In this way, a loosening of the ordnance from the unmanned underwater vehicle causes no torque on the underwater vehicle, which would have to be compensated by a trim change.

According to a particular embodiment, the ordnance-removing device has one or more direct-loading sweeps, in particular one or more shaped charges, and an igniter for igniting the clearing charge (s). The use of sweeping charges with directivity increases the efficiency of the explosive used. This measure helps to minimize the amount of explosives to be transported aboard the mothership. This leads to low safety requirements during transport and storage of ordnance disposal equipment aboard the respective mothership.

In a further particular embodiment, it is provided that the ordnance clearing device has, as an alternative or in addition to one or more clearing loads, a spoofing device for pretending properties of a ship or a submarine. Such deceptor devices are advantageously of the acoustic or magnetic type. Such a deceit device preferably has means for generating ship noises or submarine noises and thus simulates the presence of a ship or submarine in the vicinity of a mine. Depending on the design of the mine, the ignition mechanism provided in a mine reacts to such noises and causes the mine to detonate. In this way, by means of a deceiving device a weapon can be cleared without the use of additional explosives.

Additionally or alternatively, such a deceptive device has means for generating a magnetic field. Often, sea mine igniters respond to changes in the Earth's magnetic field due to metal ship hulls or submarine hulls. By generating an artificial 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.

• eine vom Kampfmittelräumgerät lösbare Funkboje zum Empfangen eines Aktivierungssignals über eine Funkstrecke und/oder
• einen elektroaktustischen Wandler zum Erzeugen eines Aktivierungssignals über einen akustischen Kanal und/oder
• ein Zündkabel zum Empfangen eines Aktivierungssignals über das Zündkabel und/oder
• einen Zeitzünder.

According to a particular embodiment, the weaponry device comprises the following means for activating the fuze and / or the deception device:

• a radio buoy detachable from the ordnance clearing device for receiving an activation signal via a radio link and / or
• an electro-acoustic transducer for generating an activation signal via an acoustic channel and / or
• an ignition cable for receiving an activation signal via the ignition cable and / or
• a time fuse.

Such means allow easy activation of the ordnance brooder to cause the explosive device to detonate. A radio buoy connected to the ordnance brooder via a pipe, which has ascended to the water surface at or in the area of the ordnance after placement of the ordnance brooder, enables communication to the mothership or to the control platform via a radio link. This is advantageous because it can be easily sent over a long distance an activation signal to the ordnance clearing device. Thus, even large safety distances can be easily complied with.

The use of an electro-acoustic transducer for receiving an activation signal on an acoustic signal, in contrast, has cost advantages, since it can be dispensed with a complex radio buoy. However, due to temperature stratification or salinity stratification in the water, such an acoustic channel may be compromised.

An ignition cable for receiving an activation signal is also a robust alternative, which is particularly suitable for short distances.

Finally, a Zeitzündmechanismus is a very cost-effective variant, which is particularly used when it is ensured that there is no danger to humans and equipment in the detonation radius at the time of ignition.

According to a further particular embodiment, the weaponry removal device has a holding device for fixing the weaponry on or in the area of the weapon. Such a fixing device for fixing ensures that the ordnance disposal device remains in the correct position and orientation for the weapon, even if the unmanned underwater vehicle from the ordnance away has and the ordnance is, for example, exposed to a flow. The exact orientation of the ordnance brooder in relation to the weapon advantageously allows the use of only small amounts of explosives, which is advantageous for the reasons already mentioned above regarding the safety requirement in the storage and transport of explosives.

Preferably, such a holding device for fixing the ordnance brooder at or in the area of the weapon comprises a nail gun, an electromagnet, a vacuum device and / or a stapler for clasping the weapon or its parts and / or objects in the field of ordnance.

Advantageously, the activation of such holding devices takes place by touching the ordnance clearing device with the weapon. Additionally or alternatively, such a holding device can be activated by metal sensors, which signal that the weaponry is directly in the area of a mine or ammunition parts.

The activation of the holding device in such a way does not require a change in the construction of existing underwater vehicles. Thus, the warfare agent can be inexpensively used as an attachment for an unmanned underwater vehicle of conventional type.

According to a further particular embodiment of the ordnance clearing device, the means for detachably connecting the ordnance clearing device with an unmanned underwater vehicle and the holding device are designed such that the means for detachable connection are simultaneously made when releasing the holding device for fixing the weaponry on or in the area of the weapon. so that a mechanical connection of the ordnance clearing device to the unmanned underwater vehicle is solved.

Such simultaneous attachment of the ordnance brooder to or in the area of the ordnance and separation of the ordnance brooder from the unmanned vessel allows the use of conventional unmanned underwater vehicles, in particular of mine destruction drones of conventional type, without having to change their construction. Rather, the ordnance is simply attached to the underwater vehicle. Upon activation of the holding device for fixing At the same time the ordnance clearing device of the underwater vehicle is released, so that the underwater vehicle can be brought to a safe distance to the weapon.

Advantageously, in this case, the means for detachable connection and the holding device comprise at least one common integral unit, which the o.g. Having nail gun. In this case, the integral unit on a sleeve, a nail, a bolt, a cartridge, a cartridge ignition device and a holding member for a fastening means for securing the ordnance clearing device on the unmanned underwater vehicle. The holding member is connected via a driver with the bolt. Further, the nail, the bolt and the cartridge are axially aligned with each other within the sleeve. Upon activation of the cartridge ignition device, which takes place, for example, by contact of the weaponry with the weapon or a metal sensor, the cartridge drives the bolt against the nail, so that the nail is driven to an end position in the sleeve, in which he is the ordnance clearer attached to the ordnance, and at the same time the holding member is brought from an initial position in which the holding member locks the fastening means in an end position in which the fastening means is released. That By activating the cartridge ignition device, a nail is driven into the weapon and at the same time the weaponry clearing device is released from the unmanned underwater vehicle.

According to a further particular embodiment, the means for detachable connection are designed to hold the ordnance-removing device on a support frame of the unmanned underwater vehicle. According to this embodiment, it is provided that the ordnance clearing device is set down by the unmanned underwater vehicle in the area of the weapon. Such an embodiment is advantageous if an immediate attachment of the ordnance clearing device to the ordnance, for example. Due to strong mussel growth is not possible. In such a case, the ordnance is placed in the field of ordnance on the bottom of the water or seabed and then ignited the clearing or activated the deception device.

Fig. 1

ein unbemanntes Unterwasserfahrzeug mit daran angebrachtem Kampfmittelräumgerät gemäß einem ersten Ausführungsbeispiel der Erfindung bei Annäherung an eine Seemine;

Fig. 2

das Kampfmittelräumgerät gemäß Fig. 1 nach seiner Fixierung an der Seemine sowie nach Trennung vom unbemannten Unterwasserfahrzeug;

Fig. 3

eine vereinfachte Darstellung eines Kampfmittelräumgeräts gemäß Fig. 1 bzw. 2 mit vereinfachter Darstellung jeweils einer integralen Einheit zur Unterbringung von Mitteln zum lösbaren Verbinden des Kampfmittelräumgeräts mit dem Unterwasserfahrzeug und Haltevorrichtungen zum Fixieren des Kampfmittelräumgeräts an einem Kampfmittel;

Fig. 4

das Kampfmittelräumgerät gemäß Fig. 3 nach Fixierung an der Seemine und

Fig. 5

ein Kampfmittelräumgerät gemäß einem alternativen Ausführungsbeispiel der Erfindung.

Further particular embodiments will become apparent from the dependent claims and from the exemplary embodiments explained with reference to the drawing. In the drawing shows:

Fig. 1

an unmanned underwater vehicle attached thereto ordnance according to a first embodiment of the invention when approaching a sea mine;

Fig. 2

the ordnance clearing device according to Fig. 1 after its fixation at the sea mine as well as after separation from the unmanned underwater vehicle;

Fig. 3

a simplified representation of a weaponry according to Fig. 1 and FIG. 2, respectively, with a simplified illustration of an integral unit for accommodating means for detachably connecting the weaponry with the underwater vehicle and holding devices for fixing the weapon to a weapon;

Fig. 4

the ordnance clearing device according to Fig. 3 after fixation at the sea mine and

Fig. 5

a warfare agent according to an alternative embodiment of the invention.

Fig. 1 shows a ordnance-clearing device 10, which is designed as an attachment for an unmanned underwater vehicle 12 and releasably secured to this underwater vehicle 12.

The ordnance clearing device 10 is arranged releasably secured to the bow of the unmanned underwater vehicle 12, wherein the ordnance clearing device 10 is fixed to the unmanned underwater vehicle with a fastener 14 formed as an elastic band. Both ends of the elastic band 14 respectively engage an integral unit 16, 18 for providing both a fixture for securing the ordnance brooder 10 to the ordnance and means for releasably connecting the ordnance brooder 10 to the underwater vehicle 12. A middle portion of the elastic band 14 engages a projection 20 on the unmanned underwater vehicle 12. Due to the elasticity of the belt 14 thus the ordnance clearing device 10 is like a cap pulled or pushed onto the bow of the unmanned underwater vehicle 12 and thus fixed to this. However, this attachment of the explosive device 10 on the underwater vehicle 12 is solvable. To solve this mechanical connection of ordnance clearing equipment and unmanned underwater vehicle 12, the elastic band 14 of the integral units 16, 18th solved. The connection between ordnance clearing device 10 and underwater vehicle 12 is lifted and the underwater vehicle can move away from the ordnance clearance device.

The integral units 16, 18 each comprise a holding device 22, 24, with which the weaponry can be fixed to a weapon, for example a mine 26. In Fig. 1 the mine is depicted as anchor treetop. However, the mine can also be designed as a conventional base mine. In addition, the invention is not limited to the clearance of mines, but also refers to the clearance of ammunition.

Fig. 2 shows the ordnance clearing device 10 Fig. 1 after activation of the holding devices 22, 24 at the mine 26.

Preferably, the holding devices are designed as nail guns, which drive nails into the mine 26 by means of cartridges and fasten the ordnance clearing device 10 to the mine 26 by means of these nails.

At the ordnance clearing device 10, one or more shaped charges 28 are further provided, which each form a clearing charge with directivity.

The direction of the clearing charge 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 when the ordnance clearing device 10 is fixed to the underwater vehicle 12. In this way, the underwater vehicle 12 can be controlled head-on to a mine 26, wherein, as in Fig. 1 illustrated, the ordnance clearing device 10 is placed on the bow of the underwater vehicle 12.

Upon contact of the ordnance clearing device 10 with the mine 26, or at least at a significant approach of the ordnance clearing device 10 to the mine 26, which is detected, for example. By means of a metal sensor, the holding devices 22, 24 are activated so that the ordnance clearing device 10 at the mine 26th is attached. At the same time, the elastic band 14 is released from the ordnance clearing device 10, so that the unmanned underwater vehicle 12 can detach and remove from the ordnance clearing device 10.

In this way, a conventional unmanned underwater vehicle 12 may be used as a mounted ordnance clearing device 10 for a weapon, e.g. the mine 26, transport. By contact of the ordnance clearing device 10 with the mine 26 or by the o.g. significant approximation then the ordnance clearing device 10 is fixed to the mine 26. At the same time or, if appropriate, alternatively, the ordnance-removing device 10 is released from the underwater vehicle 12 and brought the underwater vehicle 12 at a distance to the weapon, which is greater than or equal to a predetermined safety distance. Then the ordnance clearing device 10 causes a blasting of the weapon 26 by a clearing charge, for example. In the form of o.g. Hollow charge 28 or a deception device is activated by means of which the mine is simulated the presence of a ship or submarine. Due to such deception, the mine's own firing mechanism is activated so that the mine detonates.

In particular, due to the particular structural design of the ordnance broach 10, the detachment of the ordnance brooder 10 from the underwater vehicle 12 does not cause any forces or torques on the underwater vehicle 12. This is achieved, in particular, by the volume of the explosive ordnance brooder 10 being chosen to be that displaced by that volume Water corresponds to the mass of the ordnance clearing device 10. Due to this configuration, the buoyant force acting on the ordnance clearing apparatus 10 underwater compensates for the force of gravity acting on the force sweeping apparatus 10. The ordnance clearing device 10 is thus buoyancy neutral. Therefore, disengaging the ordnance clearing device 10 from the underwater vehicle 12 does not change the (positive or negative) buoyancy characteristics of the underwater vehicle 12. This eliminates the need for a trim change of the underwater vehicle 12 after disengaging the ordnance clearing device 10.

Advantageously, the ordnance disposal apparatus 10 is further configured such that the buoyant force acting on the ordnance clearing apparatus 10 underwater acts at the same location as the gravity acting on the warfare agent clearing apparatus 10. Thus, the ordnance clearing device 10 "floats" in any position or orientation, so that regardless of the orientation of the ordnance clearing device 10 in the water no Ausrichtmomente occur that wanted to change the ordnance clearing device in its orientation. Such mass distribution within the ordnance broaching device not only ensures that the holding devices 22, 24 are stressed as little as possible. Rather, such a mass distribution also means that after loosening the ordnance clearing device 10 from the underwater vehicle 12, the underwater vehicle 12 is not respect. his trim must be changed, ie the underwater vehicle 12 does not need to be trimmed.

The ordnance disposal apparatus 10 further comprises a radio buoy 30, which is connected via a line 32 with an igniter and / or a deceiving device, which is / are housed in the ordnance clearing device 10.

The radio buoy is part of the ordnance clearing device 10. However, it is solved by the ordnance clearing device 10 when the ordnance is fixed on the weapon (mine 26). At the same time a buoyancy body is activated at the radio buoy, which provides buoyancy at the radio buoy. Alternatively, the radio buoy already provides self-buoyancy, which is compensated by the remainder of the ordnance broach 10.

The radio buoy serves to receive an activation signal over a radio link from a control platform, for example a mothership, which is e.g. a mine hunting boat can be.

Fig. 3 illustrates the ordnance clearing device 10 in a top view when fixed with the elastic band 14 on the projection 20 of the underwater vehicle 12. The basic construction of the integral units 16, 18 is shown in more detail.

These integral units contain, on the one hand, the o.g. Means for releasably connecting the ordnance clearing device 10 with the underwater vehicle 12. On the other hand, they accommodate the holding devices 22, 24 for fixing the ordnance clearing device 10 to a weaponry.

The means for detachable connection comprise in particular the elastic band 14 and a respective holding member 34, 36, which is arranged axially displaceably within a sleeve H1 or H2 of the integral unit 16 and 18, respectively. The elastic band 14 has at each of its ends in each case a loop 38, 40 which engages around a respective holding member 34, 36.

The holding members 34, 36 are initially in an in Fig. 3 illustrated starting position, which allow such encompassing of the loops 38, 40. In this initial position, in each case a section of each of the holding members 34, 36 projects out of the respective sleeve-like integral units 16, 18. Each holding member 34 and 36 is connected to a bolt 42 and 44 via a driver 46 and 48, respectively. The driver 46 and 48 ensures that the respective holding member 34 and 36 moves together with the respective pin 42 and 44, respectively.

The bolt 42 or 44 is driven by a cartridge 50 and 52, which is ignited by a cartridge ignition device 54 and 56, respectively. The cartridge ignition device 54 and 56 is shown only schematically. These cartridge ignition devices 54, 56 are, for example, a triggering mechanism which is triggered by a contact of the weaponry 10 on an object and / or a metal detector.

Ignition of the cartridge 50 or 52 causes the bolt 42 and 44 is driven. In the illustration according to Fig. 3 the movement of the bolt 42 or 44 to the left. Such movement of the bolt 42, 44 ensures that a nail 58 or 60 is driven into an end position against a bottom plate 62 or 64 of the sleeve H1 or H2. The nails 58, 60 have such strength to be able to penetrate into a steel shell of a mine or ammunition can.

If a mussel growth should have already formed at the mine or ammunition, it is destroyed due to the high energy of the cartridge 50 or 52 and the ordnance clearing device 10 is securely fastened to the weapon. In this case, it is advantageous that, simultaneously with the advancement of the nails 58, 60, the elastic band 14 is released from the holding members 34, 36. In this way, then only a small mass of the ordnance clearing device 10 must be accelerated, when the shell stock is penetrated. In contrast, the far greater mass of the unmanned underwater vehicle 12 does not have to be moved in addition to the weapon.

Fig. 4 shows the integral units 16, 18 after the firing of the cartridges 50, 52. The bolts 42 and 44, respectively, has driven the nail 58 and 60, respectively, into the body of the refill 26 after the firing of the cartridges 50 and 52, respectively. The tip of the nail 58 or 60 widens in this process and thus ensures that the nail 58 or 60 can not be pulled out of the mine 26 again.

Fig. 4 further illustrates that the support members 34, 36 have been drawn into the interior of the respective integral unit 16, 18 via the drivers 46, 48, respectively. Thus, the loops 38, 40 of the elastic band 14 have lost their respective hold and thus the connection of unmanned underwater vehicle 12 and ordnance clearing device 10 solved.

In the above description of the figures, two integral units 16, 18 with two holding devices 22, 24 and two holding members 34, 36, two bolts 42, 44, two drivers 46, 48, two cartridges 50, 52, two cartridge ignition devices 54, 56, two Nails 58, 60 and two bottom plates 62, 64 described. However, the invention is not limited to such a double training. Rather, the components mentioned can also be present only easily and even with a simple training the ordnance clearing device 10 secure the ordnance. In the case of a simple training, however, the two loops 38, 40 of the elastic band 14 are festzumachen on the same support member.

In addition, more than two integral units or holding devices can be provided with the associated components.

Fig. 5 shows a further embodiment of a ordnance clearing device 10 'and in dashed lines when attached to a support frame on an underwater vehicle 12. In solid line representation this ordnance clearing device 10' is placed in the area of a base mine 66. In this embodiment, the ordnance clearing device 10 'on several, especially three, legs 68, which give the ordnance clearing device 10' a secure fit.

In such an embodiment of the ordnance clearing device 10 'this ordnance clearing device 10' is placed only in the immediate area of the weapon, but not fixed to the weapon. Such a procedure is particularly advantageous when a base mine has already sunk in the sediment. In this case, it is more promising to arrange a clearing charge with directivity in the greatest possible proximity to the mine and ignite.

Thanks to the invention it is possible to supply conventional unmanned underwater vehicles, in particular mine hunting drones, for multiple use, since the actual ordnance clearing device is provided merely as an attachment to the underwater vehicle. Therefore, only the warfare agent is sacrificed at each mission while the unmanned underwater vehicle 12 is reusable. In this way, the costs of demining can be significantly reduced. As a result, the evacuation of ordnance, in particular from the two world wars still numerous on the seabed, significantly cheaper. The number of demining operations can thus be clearly controlled, which benefits the safety of the shipping industry and the environment.

All mentioned in the foregoing description and in the claims features are used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

• Ausführungsbeispiel 1: Kampfmittelräumgerät zum Räumen von Kampfmitteln (26), wie Seeminen oder in Gewässern versenkter Munition, unter Wasser durch Sprengung des Kampfmittels (26), wobei das Kampfmittelräumgerät (10, 10') Mittel (14, 34, 36) zum lösbaren Verbinden mit einem unbemannten Unterwasserfahrzeug (12) aufweist, wobei das Volumen des Kampfmittelräumgeräts (10, 10') derart gewählt ist, dass die unter Wasser auf das Kampfmittelräumgerät (10, 10') wirkende Auftriebskraft die auf das Kampfmittelräumgerät (10, 10') wirkende Schwerkraft kompensiert.
• Ausführungsbeispiel 2: Kampfmittelräumgerät mit den Merkmalen des Ausführungsbeispiels 1, wobei die Massenverteilung innerhalb des Kampfmittelräumgeräts (10, 10') derart gewählt ist, dass unabhängig von der Ausrichtung des Kampfmittelräumgeräts (10, 10') im Wasser kein Ausrichtmoment auftritt.
• Ausführungsbeispiel 3: Kampfmittelräumgerät mit den Merkmalen der Ausführungsbeispiele 1 und 2, wobei das Kampfmittelräumgerät (10, 10') eine oder mehrere Räumladungen (28) mit Richtwirkung, insbesondere eine oder mehrere Hohlladungen, und einen Zünder zum Zünden der Räumladung(en) (28) aufweist.
• Ausführungsbeispiel 4: Kampfmittelräumgerät mit den Merkmalen eines der Ausführungsbeispiele 1 bis 3, wobei das Kampfmittelräumgerät (10, 10') eine Täuscheinrichtung zum Vortäuschen von Eigenschaften eines Schiffes oder U-Bootes aufweist.
• Ausführungsbeispiel 5: Kampfmittelräumgerät mit den Merkmalen des Ausführungsbeispiels 4, wobei die Täuscheinrichtung Mittel zum Erzeugen von Schiffsgeräuschen oder U-Boot-Geräuschen und/oder Mittel zum Erzeugen eines Magnetfeldes aufweist. Ausführungsbeispiel 6: Kampfmittelräumgerät mit den Merkmalen eines der Ausführungsbeispiele 3 bis 5, mit Mitteln zum Aktivieren des Zünders und/oder der Täuscheinrichtung, wobei diese Mittel umfassen:
  • eine vom Kampfmittelräumgerät (10, 10') lösbare Funkboje (30) zum Empfangen eines Aktivierungssignals über eine Funkstrecke und/oder
  • einen elektroakustischen Wandler zum Empfangen eines Aktivierungssignals über einen akustischen Kanal und/oder
  • ein Zündkabel zum Empfangen eines Aktivierungssignals über das Zündkabel und/oder
  • einen Zeitzündemechanismus.
• Ausführungsbeispiel 7: Kampfmittelräumgerät mit den Merkmalen eines der Ausführungsbeispiele 1 bis 6, mit einer Haltevorrichtung (22, 24) zum Fixieren des Kampfmittelräumgeräts am bzw. im Bereich des Kampfmittels (26).
• Ausführungsbeispiel 8: Kampfmittelräumgerät mit den Merkmalen des Ausführungsbeispiels 7, wobei die Haltevorrichtung (22, 24) umfasst:
  • ein Nagelschussgerät und/oder
  • einen Elektromagneten und/oder
  • ein Unterdruckgerät und/oder
  • eine Klammereinrichtung zum Umklammern des Kampfmittels bzw. seiner Teile und/oder von Gegenständen im Bereich des Kampfmittels.
• Ausführungsbeispiel 9: Kampfmittelräumgerät mit den Merkmalen eines der Ausführungsbeispiele 1 bis 8, mit einer derartigen Ausbildung der Mittel (14, 34, 36) zum lösbaren Verbinden des Kampfmittelräumgeräts (10, 10') mit einem unbemannten Unterwasserfahrzeug (12) und der Haltevorrichtung (22, 24), dass bei Aktivierung der Haltevorrichtung (22, 24), um das Kampfmittelräumgerät (10, 10') am bzw. im Bereich des Kampfmittels (26) zu fixieren, gleichzeitig die Mittel (14, 34, 36) zum lösbaren Verbinden betätigt werden, so dass eine mechanische Verbindung des Kampfmittelräumgeräts (10, 10') zum unbemannten Unterwasserfahrzeug (12) gelöst wird.
• Ausführungsbeispiel 10: Kampfmittelräumgerät mit den Merkmalen des Ausführungsbeispiels 9, wobei die Mittel (14, 34, 36) zum lösbaren Verbinden und die Haltevorrichtung (22, 24) wenigstens eine gemeinsame integrale Einheit (16, 18) umfassen, welche das Nagelschussgerät aufweist, wobei die integrale Einheit (16, 18) eine Hülse (41, 42), einen Nagel (58, 60), einen Bolzen (42, 44), eine Patrone (50, 52), eine Patronenzündeinrichtung (54, 56) sowie ein Halteglied (34, 36) für ein Befestigungsmittel (14) zum Befestigen des Kampfmittelräumgeräts am unbemannten Unterwasserfahrzeug (12) aufweisen, wobei das Halteglied (34, 36) über einen Mitnehmer (46, 48) mit dem Bolzen (42, 44) verbunden ist, wobei Nagel (58, 60), Bolzen (42, 44) und Patrone (50, 52) axial zueinander innerhalb der Hülse (H1, H2) ausgerichtet sind, wobei bei Aktivierung der Patronenzündeinrichtung (54, 56) die Patrone (50, 52) den Bolzen (42, 44) gegen den Nagel (58, 60) treibt, so dass der Nagel (58, 60) in eine Endposition in der Hülse (H1, H2) getrieben wird und gleichzeitig das Halteglied (34, 36) von einer Ausgangsposition, in der es das Befestigungsmittel (14) arretiert, in eine Endposition gebracht wird, in der das Befestigungsmittel (14) freigegeben ist.
• Ausführungsbeispiel 11: Kampfmittelräumgerät mit den Merkmalen eines der Ausführungsbeispiele 1 bis 10, wobei die Mittel (14, 34, 36) zum lösbaren Verbinden derart ausgebildet sind, um das Kampfmittelräumgerät (10, 10') an einem Tragrahmen des unbemannten Unterwasserfahrzeugs (12) zu halten.
• Ausführungsbeispiel 12: Unbemanntes Unterwasserfahrzeug mit einem Kampfmittelräumgerät (10, 10'), das die Merkmale eines der Ausführungsbeispiele 1 bis 11 umfasst.
• Ausführungsbeispiel 13: Verfahren zum Räumen von Kampfmitteln (26), wie Seeminen oder in Gewässern versenkter Munition, unter Wasser durch Sprengung des Kampfmittels (26), wobei
  1. a) eine Räumladung (28) und/oder eine Täuscheinrichtung zum Vortäuschen von Eigenschaften von Schiffen oder U-Booten samt einem an einem unbemannten Unterwasserfahrzeug angebrachten Kampfmittelräumgerät (10, 10'), das die Merkmale eines der Ausführungsbeispiele 1 bis 11 umfasst, am Kampfmittel (26) oder im Bereich des Kampfmittels (26) platziert, insbesondere angebracht oder abgelegt, wird,
  2. b) gleichzeitig oder anschließend das Kampfmittelräumgerät (10, 10') vom unbemannten Unterwasserfahrzeug (12) gelöst wird,
  3. c) das unbemannte Unterwasserfahrzeug (12) in einen Abstand zum Kampfmittel (26) gebracht wird, der größer oder gleich einem vorgegebenen Sicherheitsabstand ist, und
  4. d) die Räumladung (28) und/oder Täuscheinrichtung aktiviert wird, um das Kampfmittel (26) zu sprengen.

The following is a list of embodiments:

• Embodiment 1: Combustion agent for clearing ordnance (26), such as mines or submerged ammunition, under water by detonation of the ordnance (26), wherein the ordnance clearing device (10, 10 ') means (14, 34, 36) for releasably connecting with an unmanned underwater vehicle (12), wherein the volume of the ordnance clearing device (10, 10 ') is selected such that the buoyant force acting on the ordnance brooder (10, 10') under water acts on the ordnance brooder (10, 10 ') Gravity compensated.
• Embodiment 2: Combustion agent with the features of embodiment 1, wherein the mass distribution within the ordnance clearing device (10, 10 ') is selected such that regardless of the orientation of the ordnance clearing device (10, 10') in the water no aligning occurs.
• Exemplary embodiment 3: Weapon preparation device with the features of exemplary embodiments 1 and 2, wherein the weaponry removal device (10, 10 ') has one or more directing charges (28) with directivity, in particular one or more shaped charges, and an igniter for igniting the clearing charge (s) (28 ) having.
• Embodiment 4: Combustion agent with the features of one of the embodiments 1 to 3, wherein the ordnance clearing device (10, 10 ') has a spoofing device for pretending properties of a ship or submarine.
• Embodiment 5: Combustion agent with the features of embodiment 4, wherein the decoy means for generating ship sounds or U-boat noises and / or means for generating a magnetic field. Embodiment 6: Combustion agent with the features of one of the embodiments 3 to 5, with means for activating the igniter and / or the decoy device, these means comprising:
  • a radio buoy (30) detachable from the ordnance-clearing device (10, 10 ') for receiving an activation signal via a radio link and / or
  • an electroacoustic transducer for receiving an activation signal via an acoustic channel and / or
  • an ignition cable for receiving an activation signal via the ignition cable and / or
  • a time-firing mechanism.
• Embodiment 7: Combustion agent with the features of one of the embodiments 1 to 6, with a holding device (22, 24) for fixing the ordnance on or in the area of the weapon (26).
• Exemplary Embodiment 8: Weapon Remover with the Features of Embodiment 7, wherein the Holding Device (22, 24) comprises:
  • a nail gun and / or
  • an electromagnet and / or
  • a vacuum device and / or
  • a stapling device for clasping the weapon or its parts and / or objects in the area of the weapon.
• Exemplary embodiment 9: Combustion agent with the features of one of the exemplary embodiments 1 to 8, with such a design of the means (14, 34, 36) for detachably connecting the ordnance brooder (10, 10 ') to an unmanned underwater vehicle (12) and the holding device (22 , 24), that upon activation of the holding device (22, 24) to fix the ordnance clearing device (10, 10 ') at or in the area of the weapon (26), at the same time the means (14, 34, 36) for releasably connecting be actuated so that a mechanical connection of the ordnance clearing device (10, 10 ') to the unmanned underwater vehicle (12) is released.
• Exemplary Embodiment 10: A warfare agent with the features of embodiment 9, wherein the means (14, 34, 36) for detachably connecting and the holding device (22, 24) comprise at least one common integral unit (16, 18) comprising the nail gun the integral unit (16, 18) has a sleeve (41, 42), a Nail (58, 60), a bolt (42, 44), a cartridge (50, 52), a cartridge ignition device (54, 56) and a retaining member (34, 36) for a fastening means (14) for attaching the ordnance clearing device to the unmanned Underwater vehicle (12), wherein the holding member (34, 36) via a driver (46, 48) with the bolt (42, 44) is connected, wherein nail (58, 60), bolts (42, 44) and cartridge ( 50, 52) are axially aligned with each other within the sleeve (H1, H2), wherein upon activation of the cartridge ignition means (54, 56) the cartridge (50, 52) drives the pin (42, 44) against the nail (58, 60) so that the nail (58, 60) is driven into an end position in the sleeve (H1, H2) and at the same time brings the retaining member (34, 36) from an initial position in which it locks the fastening means (14) in an end position becomes, in which the fastening means (14) is released.
• Embodiment 11: Combustion agent with the features of one of the embodiments 1 to 10, wherein the means (14, 34, 36) for releasably connecting are adapted to the ordnance clearing device (10, 10 ') on a support frame of the unmanned underwater vehicle (12) hold.
• EMBODIMENT 12 Unmanned Underwater Vehicle with a Combustion Agent (10, 10 ') comprising the features of one of the embodiments 1 to 11.
• Embodiment 13: A method for clearing munitions (26), such as mines or submerged ammunition, under water by blasting the ordnance (26), wherein
  1. a) a clearing charge (28) and / or a deception device for simulating properties of ships or submarines, including an attached to an unmanned underwater vehicle ordnance clearing device (10, 10 ') comprising the features of one of the embodiments 1 to 11, the weaponry (26) or placed in the area of the weapon (26), in particular attached or stored,
  2. b) simultaneously or subsequently the weaponry removal device (10, 10 ') is released from the unmanned underwater vehicle (12),
  3. c) bringing the unmanned underwater vehicle (12) at a distance from the weapon (26) greater than or equal to a predetermined safety distance, and
  4. d) the clearing charge (28) and / or deception means is activated to blast the weapon (26).

Claims (15)

1. Weapon clearance appliance for clearance of weapons (26), such as underwater mines or munitions which have been sunk in waterways, under water by blasting the weapon (26), wherein

   - a holding apparatus (22, 24) for affixing the weapon clearance appliance to the weapon (26) is provided and

   - the weapon clearance appliance is configured to be connected to means for detachable connection to an unmanned underwater vehicle, wherein

   - the means (14, 34, 36) for detachable connection and the holding apparatus (22, 24) are embodied in such a way that, in order to affix the weapon clearance appliance (10, 10') to the weapon (26) when the holding apparatus (22, 24) is activated, the means (14, 34, 36) for detachable connection are actuated at the same time such that a mechanical connection of the weapon clearance appliance (10, 10') to the unmanned underwater vehicle (12) is released.
2. Weapon clearance appliance according to Claim 1, wherein the means (14, 34, 36) for detachable connection and the holding apparatus (22, 24) comprise at least one common integral unit (16, 18).
3. Weapon clearance appliance according to Claim 2, wherein the integral unit (16, 18) comprises a nail-firing appliance, a sleeve (H1, H2), a nail (58, 60), a bolt (42, 44), a cartridge (50, 52), a cartridge-firing device (54, 56) and a holding element (34, 36) for an attachment means (14) for attachment of the weapon clearance appliance to the unmanned underwater vehicle (12) .
4. Weapon clearance appliance according to Claim 3, wherein the cartridge (50, 52) drives the bolt (42, 44) against the nail (58, 60) when the cartridge-firing device (54, 56) is activated such that the nail (58, 60) is driven to a final position into the sleeve (H1, H2) and, at the same time, the holding element (34, 36) is moved from an initial position, in which it locks the attachment means (14), to a final position, in which the attachment means (14) is released.
5. Weapon clearance appliance according to any one of the preceding claims,
   the buoyancy force acting on the weapon clearance appliance (10, 10') under water compensating the force of gravity acting on the weapon clearance appliance (10, 10').
6. Weapon clearance appliance according to any one of the preceding claims,
   wherein the mass distribution within the weapon clearance appliance (10, 10') is chosen such that no alignment moment occurs independently of the alignment of the weapon clearance appliance (10, 10') in the water,
   wherein, to this end, the mass distribution is chosen such that the resultant buoyancy force for the entire weapon clearance appliance acts at the same point as the resultant force of gravity acting on the entire weapon clearance appliance.
7. Weapon clearance appliance according to any one of the preceding claims,
   wherein the weapon clearance appliance (10, 10') comprises one or more clearance charges (28) with a directional effect, in particular one or more hollow charges, and a fuze for igniting the clearance charge or charges (28).
8. Weapon clearance appliance according to any one of the preceding claims,
   wherein the weapon clearance appliance (10, 10') comprises a spoof device for simulating the characteristics of a marine vessel or submarine.
9. Weapon clearance appliance according to Claim 8, wherein the spoof device comprises means for producing marine-vessel noise or submarine noise, and/or means for producing a magnetic field.
10. Weapon clearance appliance according to any one of Claims 7 to 9,
    wherein the means for activating the fuze and/or the spoof device comprise:

    - a radio buoy (30) that can be released from the weapon clearance appliance (10, 10') for receiving an activation signal via a radio link and/or

    - an electroacoustic transducer for receiving an activation signal via an acoustic channel and/or

    - an igniting cable for receiving an activation signal via the igniting cable, and/or

    - a time fuze mechanism.
11. Weapon clearance appliance according to any one of the preceding claims,
    wherein the holding apparatus (22, 24) comprises:

    - a nail-firing appliance and/or

    - an electromagnet and/or

    - a vacuum appliance and/or

    - a clamping device for clamping the weapon or its parts and/or objects in the area of the weapon.
12. Weapon clearance appliance according to any one of the preceding claims,
    wherein the holding element (34, 36) is connected to the bolt (42, 44) via a driver (46, 48), wherein the nail (58, 60), the bolt (42, 44) and the cartridge (50, 52) are aligned axially with respect to one another within the sleeve (H1, H2).
13. Weapon clearance appliance according to any one of the preceding claims,
    wherein the means (14, 34, 36) for detachable connection are designed so as to hold the weapon clearance appliance (10, 10') on a supporting frame of the unmanned underwater vehicle (12).
14. Unmanned underwater vehicle having a weapon clearance appliance (10, 10') according to any one of Claims 1 to 13.
15. Method for clearance of weapons (26) such as underwater mines or munitions which have been sunk in waterways, under water by detonation of the weapon (26), wherein

    a) a clearance charge (28) and/or a spoof device for simulating characteristics of marine vessels or submarines is placed together with a weapon clearance appliance (10, 10'), fitted to an unmanned underwater vehicle, according to any one of Claims 1 to 10 on the weapon (26) by means of a holding apparatus (22, 24),

    b) the weapon clearance appliance (10, 10') is released from the unmanned underwater vehicle (12) at the same time,

    c) the unmanned underwater vehicle (12) is moved to a distance from the weapon (26) that is greater than or equal to a predetermined safe distance, and

    d) the clearance charge (28) is activated to blast the weapon (26).

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