EP3007966B1 - Dispositif et procédé servant à neutraliser des moyens de combat - Google Patents

Dispositif et procédé servant à neutraliser des moyens de combat Download PDF

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Publication number
EP3007966B1
EP3007966B1 EP14734725.6A EP14734725A EP3007966B1 EP 3007966 B1 EP3007966 B1 EP 3007966B1 EP 14734725 A EP14734725 A EP 14734725A EP 3007966 B1 EP3007966 B1 EP 3007966B1
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EP
European Patent Office
Prior art keywords
bottom frame
water
underwater vehicle
holder
radio buoy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14734725.6A
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German (de)
English (en)
Other versions
EP3007966A1 (fr
Inventor
Sven-Christian Hesse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Publication date
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Publication of EP3007966A1 publication Critical patent/EP3007966A1/fr
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Publication of EP3007966B1 publication Critical patent/EP3007966B1/fr
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00Mine-sweeping; Vessels characterised thereby
    • B63G7/02Mine-sweeping means, Means for destroying mines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00Mine-sweeping; Vessels characterised thereby
    • B63G2007/005Unmanned autonomously operating mine sweeping vessels
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41HARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00Defence installations; Defence devices
    • F41H11/12Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42AMMUNITION; BLASTING
    • F42DBLASTING
    • F42D5/00Safety arrangements
    • F42D5/04Rendering explosive charges harmless, e.g. destroying ammunition; Rendering detonation of explosive charges harmless

Definitions

  • the invention relates firstly to a device for neutralizing ordnance, in particular mines or ammunition, by controlled detonation in the region of a body of water, with at least one neutralization charge received in a cap-shaped holder.
  • the invention relates to a method for neutralizing ordnance, in particular mines and ammunition, by controlled detonation in the area of a river bed, by means of a device having at least one neutralizing charge, which is accommodated in a cap-shaped holder, wherein the holder with a bottom frame is detachably connectable and the floor frame or the bracket is assigned a radio buoy, wherein a buoyancy force of the device is always smaller than a weight of the device.
  • a ordnance clearance device for clearing munitions, such as mines or submerged ammunition.
  • the clearing is done by deliberately blasting the ordnance.
  • the cap-shaped ordnance clearance device with an unmanned, remote-controlled underwater vehicle in the area of the bug temporarily connectable or placed on the bow.
  • the ordnance disposal device is maneuvered as close as possible to an underwater mine.
  • the ordnance disposal device has at least one hollow charge whose plasma jet is able to reliably detonate even explosive devices with thick walls.
  • the explosive ordnance disposal equipment will be frictionally connected to the mine using bolt guns or otherwise, and at the same time the temporary connection with the underwater vehicle will be released so that it can move out of the hazard zone.
  • a radio buoy is activated, which floats automatically up to the water surface and drives there.
  • the radio buoy is connected by means of at least one ignition line with the at least one shaped charge, so that a controlled remote controlled release of the two shaped charges from a safe distance and thus a controlled detonation to neutralize the ordnance is possible without jeopardizing the generally very costly underwater vehicle.
  • the ordnance disposal device is preferably positively connected with at least one bolt gun with the ordnance, use in the case of ordnance, which are largely sunk in the water surface, problematic.
  • the surface geometry of the ordnance clearing device must be adapted to the shape of the bow of each unmanned underwater vehicle used, so that a universal application of the ordnance clearance device with a variety of different carrier vehicles is not possible without additional measures. It is therefore an object of the invention to provide a universal and easy to use device for neutralizing at least partially in the waterbody declare sinking ordnance, which also allows a reliable and cost-effective clearance of the ordnance.
  • the invention solves this problem firstly with a device for neutralizing ordnance, in particular mines or ammunition, by controlled detonation in the area of a body of water, with at least one neutralization charge received in a cap-shaped holder.
  • a device for neutralizing ordnance in particular mines or ammunition, by controlled detonation in the area of a body of water, with at least one neutralization charge received in a cap-shaped holder.
  • the holder with a bottom frame is detachably connectable and the bottom frame or the holder is assigned a detachable radio buoy, wherein the buoyancy force of the device is always smaller than the weight of the device to ensure sufficient stability of the device on the water bottom,
  • the holder with the at least one neutralizing charge can be easily connected to the bottom frame and, if necessary, also be separated from it again.
  • the bottom frame is preferably formed with a lightweight aluminum alloy. If necessary, the holder can also be used otherwise - eg with a specially adapted unmanned underwater vehicle
  • the floor frame on at least one coupling member for connection to an unmanned underwater vehicle, in particular for non-positive coupling to a gripper arm of the unmanned underwater vehicle, on.
  • the at least one neutralization charge is formed with a hollow charge, which by means of at least one ignition line can be triggered, wherein the at least one ignition line is connected to the radio buoy.
  • the at least one, not electrically acting ignition cable also allows a controlled and safe remote triggering.
  • at least two, each formed as a shaped charge neutralization charges are provided.
  • the at least one neutralizing charge can be triggered remotely by means of the radio buoy, which has floated up to the water surface.
  • the radio buoy which has floated up to the water surface.
  • the bottom frame has a base body with at least one cavity and a flat base surface, wherein on both sides of the base body and each spaced parallel to this a Lekskufe is arranged to increase the stability.
  • a Lekskufe is arranged to increase the stability.
  • the substantially flat base of the body also prevents too deep sinking into the water bottom.
  • the main body and the longitudinal runners preferably each have a U-shaped cross-sectional geometry.
  • At least one transverse rib is formed on each underside of the longitudinal skids.
  • the bottom frame is provided with at least one ballast weight.
  • the weight of the device is increased, so that the risk of tilting and / or slipping is further reduced.
  • the weight or the mass of the device is increased by the ballast weight only immediately before their use, so that the handling of the device is not unnecessarily difficult.
  • the ballast weight is at least partially introduced into the cavity of the base body of the bottom frame. This can be done, for example, by pouring the hollow base body and open at the top with a preferably fast-curing mineral binder with the addition of fillers, such as sand or the like.
  • a binder for example, conventional cement can be used.
  • the box-shaped base body can be closed or covered on the top side, so that, for example, a liquid and / or a bulk material of suitable density can be introduced into the cavity thus formed through a filler neck.
  • the ballast weight can also be formed with at least one weight module that can be suitably joined or connected to the floor frame, at least one inserted and suitably fastened sandbag or in another manner. It is essential that the mass of the components to be stored and handled, in particular the weight of the bottom frame, is as small as possible before using the device.
  • the device is picked up with the aid of an unmanned, but preferably remote-controlled underwater vehicle and brought in process step b) with this up in the immediate vicinity of the weapon and deposited there on the bottom of the water.
  • the device After placement of the device in step c) the release of the radio buoy up to the water surface, so that in the final process step d) the remote controlled triggering of at least one neutralization using the radio buoy for safe and controlled demolition of the ordnance to be removed can be done.
  • the device is non-positively connected by means of at least one coupling member with the unmanned underwater vehicle, in particular with a gripping arm of the unmanned underwater vehicle.
  • the unmanned underwater vehicle is designed remotely controllable.
  • the bottom frame is provided with at least one ballast weight and the bottom frame is connected to the bracket.
  • the stability of the device on the bottom of the water can be further optimized without the mass of the device and thus the handling to disproportionately increase it prior to actual use.
  • increased by the ballast weight the insensitivity of the device against strong underwater currents in bringing the device to the ordnance to be eliminated.
  • the bottom frame can optionally be provided with the ballast weight before or after being coupled together with the holder.
  • FIG. 1 shows a perspective view of a bottom frame of the device with a radio buoy, however, without support for shaped charges.
  • a floor frame 10 which is preferably formed with an aluminum alloy, includes, inter alia, a trough-shaped basic body 12 with a planar, rectangular base surface 14 which is open on the upper side.
  • the base 14 prevents inter alia the too deep sinking of the floor frame 10 into a body of water not shown here.
  • a transverse wall 18 extends between two longitudinal walls 20,22 of the base body 12.
  • This transverse wall 18 separates a cavity 24 of the body 12 in a front and a rear cavity 26th , 28, each having approximately the same void volume.
  • the transverse wall 18 is preferably with the Longitudinal walls 20,22 and the base 14 of the body 12 welded.
  • a longitudinal skid 30.32 Parallel to the longitudinal walls 20,22 of the base body 12 extends in each case a longitudinal skid 30.32.
  • the longitudinal skids 30,32 serve to increase the stability of the bottom frame 10 on the body of water.
  • Rectangular undersides 34,36 of the longitudinal skids 30,32 close to the bottom side approximately flush with the base 14 of the body 12 from or form with this a footprint.
  • transverse to the longitudinal axis 16 extending transverse ribs 38 are formed in order to achieve a driftwisted state of the bottom frame 10 on a body of water.
  • the block-shaped longitudinal skids 30,32 are hollow and open on the top side, wherein between each two not designated side walls of the longitudinal skids 30,32 a holding plate 40,42 is attached. At the - better graphic overview half not designated - upper edges of the holding plates 40,42 a hollow cylindrical sleeve 44,46 is attached in each case.
  • two transverse pins 48, 50 are fastened, in particular welded, onto the transverse wall 18, onto which the hollow cylindrical sleeves 44, 46 are pushed and, for example, are secured against rotation by two quick release and plug-in spring plug 52,54 and also secured in position in the axial direction.
  • the longitudinal skids 30,32 can be quickly connected in case of need to the base body 12 and possibly also separated from it again.
  • tubular longitudinal receivers 56, 58 are fastened to a likewise cross-shaped cross-member 60 on the main body 12.
  • a circlip 62,64 is pushed in each case.
  • the circlips 62,64 are each secured in position by a securing means, such as a bolt 66 with nut 68 in the axial direction on the longitudinal receptacles 56,58.
  • a securing means such as a bolt 66 with nut 68 in the axial direction on the longitudinal receptacles 56,58.
  • other securing means such as cotter pins, spring pins or the like, can be used.
  • the longitudinal receivers 56, 58 are used to fasten a holder, not shown here, with, for example, two shaped charges as a neutralizing charge for a weapon to be cleared (cf. Fig. 2 . 3 ).
  • the cross-beam 60 also has two, perpendicular to the base 14 arranged feet 70,72, for example welded to the base 14 of the body 12 or otherwise can be attached to this.
  • the longitudinal receivers 56, 58 extend in each case parallel to the longitudinal walls 20, 22 of the main body 12 and slightly laterally overhang them laterally.
  • a coupling member 74 is further attached, in particular welded, wherein the coupling member 74 is formed with a relative to the base surface 14 inclined by about 45 ° cylindrical rod 76 at the end of a toggle cross bar 78 centrally fixed, in particular welded again is.
  • the coupling member 74 allows an unmanned and remotely controlled underwater vehicle - not shown in the drawings - the undercarriage 10, e.g. by means of a gripper arm or another robot arm and to spend in the immediate vicinity of a to be eliminated ordnance, which is located in the area of a body of water.
  • the transverse wall 18 has a U-shaped recess 80. Between not designated legs of the U-shaped recess 80, a cylindrical cross bar 82 is arranged. In the transverse web 82 at least one circumferential annular groove 84 is centrally introduced.
  • the at least one annular groove 84 is used for releasably connecting a radio buoy 86 to the floor frame 10, wherein a retaining element, not shown here on the radio buoy 86 in case of need releasably connected to the annular groove 84 is connectable.
  • the ignition of the neutralization charges or the shaped charges not yet shown here takes place by means of at least one non-electrically acting ignition line 88 ("flash tube"), which can be wound up within the radio buoy 86 by means of a suitable device, such as a coil.
  • the radio buoy 86 is replaced by a suitable control command from the cross bar 82 from the floor frame 10 and floats automatically up to the water surface 90 due to their buoyancy, wherein the ignition line 88 unwinds automatically.
  • the radio buoy 86 can easily receive a radio signal 92 to remotely trigger the controlled detonation of the neutralization charges over the at least one ignition line 88 at a sufficiently safe distance.
  • the radio buoy 86 may also be associated with the cap-shaped holder 102 with the shaped charges.
  • the cavity 24 is at least partially filled with a suitable ballast weight 94, so that the bottom frame 10 is fixed on the bottom of the water and in particular not strong Close-to-ground flow movements of the water can be added.
  • the ballast weight 94 can be produced, for example, by at least partially filling the cavity 24 with concrete and finally curing it.
  • base body 12 of the bottom frame 10 may be formed closed on the top, wherein a liquid and / or bulk material of suitable density as ballast weight 94 the then limited on all sides cavity 24 via a closable filler neck can be supplied.
  • a fastening means 96 such as a latchable clamping clip or the like, is provided for fixing the position of the ignition line 88.
  • FIG. 11 illustrates a front view of a complete device with the floor frame with the radio buoy of FIG Fig. 1 and a cap-shaped bracket with two neutralizing charges attached to the base frame.
  • the device 100 comprises the base frame 10, the radio buoy 86 and a cap-shaped holder 102, in which two shaped charges 104, 106 as neutralizing charges for clearing a weapon not shown here (cf. Fig. 3 ) are included.
  • the weapon may be, for example, a mine, ammunition or the like.
  • the floor frame 10 further includes the coupling member 74 for non-positive connection to a gripper arm of an unmanned underwater vehicle, the box-shaped body 12 with the ballast weight 94, the transverse wall 18 and the two laterally spaced from the base 12 arranged longitudinal skids 30,32 with their transverse ribs 38th
  • the cap-shaped holder 102 is preferably made in one piece with a lightweight and mechanically high-strength fiber-reinforced plastic material.
  • the hollow charges 104,106 are connected by means of the ignition line 88 with the radio buoy 86, which is connected by means of a, releasable on a control signal holding member 108 with the cross-beam 60 of the bottom frame 10.
  • the holding element 108 is preferably arranged in the region of the here concealed annular groove on the cross-beam 60. If the holding element 108 is activated, the radio buoy 86 detaches itself from the cross-beam 60 due to the buoyancy force acting in the water and floats in the direction of the white arrow 110 until the radio buoy 86 has reached the water surface, which is not shown here.
  • the holding element 108 may be formed, for example, with an electromagnet or an electromagnetically actuated, mechanically acting latch or the like. In order to achieve the highest possible buoyancy of the radio buoy 86, this has the lowest possible weight at the same time as large a volume, so that only a slight weight force on the radio buoy 86 acts.
  • the radio buoy 86 can also be connected to the cap-shaped holder 102 with the aid of the holding element 108.
  • the two mutually spaced parallel tubular longitudinal receptacles 56,58 of the bottom frame 10 are inserted into a respective tubular opening 112,114 in the cap-shaped holder 102 in order to reliably connect the bottom frame 10 with the holder 102.
  • the final securing position of the cap-shaped holder 102 on the bottom frame 10 is effected by the two likewise slid onto the longitudinal receptacles 56,58 hollow cylindrical locking rings 62,64 with the two bolts 66 and the screwed onto these nuts 68.
  • To carry out the screw 66 is in the longitudinal receptacles 56th , 58 each introduced a non-designated transverse bore.
  • the cap-shaped bracket 102 may, if necessary, be used with an unmanned underwater vehicle whose bow geometry is specially adapted to the surface geometry of the cap-shaped holder 102, so that if necessary. in conjunction with other support elements reliably on the bow of the underwater vehicle can be fastened.
  • the Fig. 3 illustrates a simplified side view of the device positioned on a body of water in the immediate vicinity of a weapon.
  • the device 100 consisting of the base frame 10 and the cap-shaped holder 102 connected to the two shaped charges 104,106, is placed in the immediate vicinity of a mine 120 to be disposed of by controlled detonation on a body of water 122 far below the water surface 90.
  • the two hollow charges 104,106 are directed directly to the mine 120 here.
  • the buoyant radio buoy 86 which can be detached from the floor frame 10 in response to a control signal, is connected via the ignition line 88 to the two shaped charges 104, 106.
  • tubular opening 114 of the holder 102 with the hollow cylindrical locking ring 64 and the bolt 66 and the nut 68 is visible, whereas the other opening in the holder 102 is covered with the associated security components.
  • the longitudinal skid 32 of the base body 12, as well as the hidden here behind, second longitudinal skid prevent tilting of the bottom frame 10 about the longitudinal axis 16, whereas the formed on the bottom 36 of the longitudinal skid 32, a total of four transverse ribs 38 prevent flow-induced drifting of the device 100.
  • the toggle-shaped coupling member 74 is further arranged, which can be gripped by a gripper arm of an unmanned, remote-controlled underwater vehicle, so that the device 100 are preferably placed in the immediate vicinity of the mine 120 using the underwater vehicle on the water body 122 can.
  • a plasma jet of the two symmetrical to the longitudinal axis 16 in the cap-shaped holder 102 arranged shaped charges 104,106 has such a high Penetr michsrial that an unspecified shell of the mine 120, even if this should have a high material thickness, penetrate safely and the mine 120 reliably controlled Detonation is brought.
  • the plasma jet also penetrates the cap-shaped posture 102, so that no special recesses for the passage of the plasma jets emitted by the two hollow charges 104, 106 are to be provided in the latter.
  • the device 100 is brought by means of an unmanned, remote-controlled underwater vehicle, not shown in the figures, to a weapon to be eliminated, such as a mine 120, and parked in the immediate vicinity of the latter in method step b).
  • a weapon to be eliminated such as a mine 120
  • the coupling member 74 of the device 100 be gripped by means of a gripper arm of an unmanned underwater vehicle and a non-positive connection between the device 100 and the gripper arm is established.
  • the radio buoy 86 is left on the water surface 90, so that it can reliably receive a radio signal 92 for the controlled detonation of the weapon to be neutralized even from a great distance.
  • the remote-controlled triggering of the at least two neutralization charges takes place by means of the radio buoy 86 from a safe distance.
  • the connection between the radio buoy 86 and the two shaped charges 104, 106 preferably takes place by means of the at least one non-electrically acting ignition line 88.
  • This at least one ignition line 88 is essentially formed with an elastic, thin tube of sufficient length, which is filled with a suitable explosive ,

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  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)

Claims (10)

  1. Dispositif (100) servant à neutraliser des moyens de combat, en particulier des mines (120) ou des munitions, par détonation contrôlée dans la zone du fond d'un cours d'eau (122), à l'aide d'au moins une charge de neutralisation logée dans un support (102) en forme de capot, le support (102) en forme de capot pouvant être relié d'une manière amovible à une plateforme (10), et une radiobalise détachable (86) étant associée à la plateforme (10) ou au support (102) en forme de capot, la force d'Archimède du dispositif (100) étant toujours inférieure au poids du dispositif (100), pour garantir une stabilité statique suffisante du dispositif (100) sur le fond du cours d'eau (122), et le support en forme de capot ou la plateforme pouvant être relié à un véhicule sous-marin sans équipage, pour permettre le dépôt du dispositif (100) sur le fond du cours d'eau.
  2. Dispositif (100) selon la revendication 1, caractérisé en ce que la plateforme (10) présente au moins un organe d'accouplement (74), destiné à une liaison au véhicule sous-marin sans équipage, en particulier au couplage par liaison dynamique à un bras de préhension du véhicule sous-marin sans équipage.
  3. Dispositif (100) selon l'une des revendications 1 ou 2, caractérisé en ce que l'au moins une charge de neutralisation est formée avec une charge creuse (104, 106), qui peut être déclenchée à l'aide d'au moins une ligne de mise à feu (88), l'au moins une ligne de mise à feu (88) étant reliée à la radiobalise (86).
  4. Dispositif (100) selon la revendication 3, caractérisé en ce que l'au moins une charge de neutralisation peut être amorcée par télécommande à l'aide de la radiobalise (86) remontée jusqu'à la surface de l'eau (90).
  5. Dispositif (100) selon l'une des revendications 1 à 4, caractérisé en ce que la plateforme (10) présente un corps de base (12) comportant au moins une cavité (24) et une surface de base plane (14), un patin longitudinal (30, 32) étant, pour augmenter la stabilité statique, disposé des deux côtés du corps de base (12), parallèlement à ce dernier et à distance de ce dernier.
  6. Dispositif (100) selon la revendication 5, caractérisé en ce qu'une nervure transversale (38) est configurée sur la face inférieure (34, 36) de chacun des patins longitudinaux (30, 32).
  7. Dispositif (100) selon l'une des revendications 1 à 6, caractérisé en ce que la plateforme (10) est pourvue d'au moins une charge de lestage (94).
  8. Procédé servant à neutraliser des moyens de combat, en particulier des mines (120) et des munitions, par détonation contrôlée dans la zone du fond d'un cours d'eau (122), à l'aide d'un dispositif (100) qui présente au moins une charge de neutralisation, qui est logée dans un support (102) en forme de capot, le support (102) étant relié d'une manière amovible à une plateforme (10), et une radiobalise (86) étant associée à la plateforme (10) ou au support (102), une force d'Archimède du dispositif (100) étant toujours inférieure à un poids du dispositif (100), comprenant les étapes suivantes :
    a) rapprochement du dispositif (100) du moyen de combat à éliminer, à l'aide d'un véhicule sous-marin sans équipage,
    b) dépôt du dispositif (100) dans la zone du fond du cours d'eau (122) au voisinage immédiat du moyen de combat,
    c) remontée de la radiobalise (86) jusqu'à la surface de l'eau (90), et
    d) déclenchement télécommandé de l'au moins une charge de neutralisation, à l'aide de la radiobalise (86).
  9. Procédé selon la revendication 8, caractérisé en ce que le dispositif (100) est relié par une liaison dynamique, à l'aide d'au moins un organe d'accouplement (74), au véhicule sous-marin sans équipage, en particulier à l'aide d'un bras de préhension du véhicule sous-marin sans équipage.
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce que la plateforme (10) est pourvue d'au moins une charge de lestage (94), et la plateforme (10) est reliée au support (102).
EP14734725.6A 2013-06-11 2014-05-21 Dispositif et procédé servant à neutraliser des moyens de combat Active EP3007966B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013106064.1A DE102013106064A1 (de) 2013-06-11 2013-06-11 Vorrichtung und Verfahren zum Neutralisieren von Kampfmitteln
PCT/DE2014/100173 WO2014198258A1 (fr) 2013-06-11 2014-05-21 Dispositif et procédé servant à neutraliser des moyens de combat

Publications (2)

Publication Number Publication Date
EP3007966A1 EP3007966A1 (fr) 2016-04-20
EP3007966B1 true EP3007966B1 (fr) 2018-05-02

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EP14734725.6A Active EP3007966B1 (fr) 2013-06-11 2014-05-21 Dispositif et procédé servant à neutraliser des moyens de combat

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EP (1) EP3007966B1 (fr)
DE (1) DE102013106064A1 (fr)
WO (1) WO2014198258A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102018103753B4 (de) * 2018-02-20 2022-06-30 Heinrich Hirdes Gmbh Vorrichtung und Verfahren zur Beseitigung eines nicht explo-dierten Kampfmittels unter Wasser

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Publication number Priority date Publication date Assignee Title
SE8702854D0 (sv) * 1986-07-03 1987-07-02 British Aerospace Explosiv anordning
JP5249974B2 (ja) * 2009-12-14 2013-07-31 三菱重工業株式会社 機雷処理装置
DE102010033638A1 (de) 2010-08-06 2012-02-09 Atlas Elektronik Gmbh Kampfmittelräumgerät zum Räumen von Kampfmitteln, wie Seeminen, unter Wasser, unbemanntes Unterwasserfahrzeug mit derartigem Kampfmittelräumgerät sowie Verfahren hierzu
GB2483861C (en) * 2010-09-21 2019-01-30 Ecs Special Projects Ltd Attachment device and assemblies and systems using same

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DE102013106064A1 (de) 2014-12-11
WO2014198258A1 (fr) 2014-12-18
EP3007966A1 (fr) 2016-04-20

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