JP4814241B2 - Method and system for destroying a positioned mine - Google Patents

Abstract

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

Description

  The present invention relates to a method for destroying a positioned mine, ie an unmanned underwater vehicle that serves as a primary vehicle, in the form of the superordinate concept of claim 1, with a located or positioned mine. The present invention relates to a method for destroying a positioned mine in cooperation with an unmanned remote-controlled underwater vehicle that acts as a secondary vehicle equipped with a charge to blast.

  In known methods for detecting and destroying mines (European Patent No. 0535044), unmanned remotely steered underwater vehicles, namely “ROVs”, as well as charges for mine destruction. A remotely steered exploration and mine destruction unit equipped with is used. The ROV and the exploration / mine destruction unit are connected to each other via a glass fiber cable. The ROV is connected to the surface ship (Oberflaechenschiff) via another glass fiber cable. This surface craft has sonar equipment to detect and locate mines. The mine exploration unit further includes transponders, acoustic sensors such as short-range sonar, optical sensors such as TV cameras with lighting units and actual data for navigation such as navigation direction, angle to horizontal plane, up to the seabed Equipped with sensors for measuring distance and depth. The transponder is compatible with an acoustic position system (APS). The APS hydrophone is located in the ROV. The ROV has a launch unit, that is, a “launcher”, and an exploration / mine destruction unit is ejected by this launcher. The exploration and mine destruction unit is steered to the sonar beam directed at the mine by the operator positioned in the surface ship using the APS. Next, within the sonar beam of the mine sweep sonar, the exploration and mine destruction unit is controlled by the operator towards the mine, in which case the exploration and mine destruction unit transponder signal and the mine echo signal are displayed on the mine sweep sonar display. The The mine is inspected by a TV camera and the exploration and mine destruction unit is brought to a convenient location for destruction by the operator and then remotely detonated by the operator. For example, explosive charges in exploration and mine destruction units, which can be molded glazes, release mine detonations. In this case, the exploration / mine destruction unit is destroyed together. The exploration and mine destruction unit is a relatively costly minesweeper due to its acoustic, optical and navigation sensors, but in certain use cases the time savings in mine destruction are worth the cost It becomes.

  In use cases where minesweeping time is not as important as the cost of the exploration and mine destruction unit, the exploration and mine destruction unit is conceived as a reusable underwater vehicle, not as a disposable vehicle with weapon properties. . Such reusable underwater vehicles only charge the mine and are recovered again by surface ships before the charge and mine detonation ("Minenjaegd-eine moderne Variante der Seeminenabwehr" by Buschhorn and Schuetz). ”Military Technology Yearbook, 1976/77, pages 142-151). After the exploration and mine destruction unit is contained by the surface ship, the charge is remotely detonated from the surface ship. In this case, a remote detonation is carried out, for example, by dropping a grenade into the water, so that a charge detonation released via an acoustic detonator is a mine induced by a charge detonation. Destroy a mine by an explosion.

  The problem underlying the present invention is for mine destruction that minimizes the cost of minesweeping equipment and leads to a significant reduction in mining time compared to methods that incorporate reusable exploration and mine destruction units. Is to provide a method.

  This object is according to the invention in accordance with the features of claim 1, i.e. both underwater vehicles are used as autonomously operating tandems, the secondary vehicle is remotely controlled from the primary vehicle, from the primary vehicle, The tandem is guided to the mine by memorized position data of the positioned mine and onboard assisted, ie, onboard navigation data, and the mine is repositioned by acoustic and / or optical sensors from the primary vehicle. However, after the repositioning of the mine, the secondary vehicle is remotely controlled from the primary vehicle, positioned to the mine, and the charge is remotely initiated from the primary vehicle.

  The method according to the invention has the following advantages. In other words, the primary and secondary vehicles that are unattended and have their own drive units are used as autonomous tandems, ie tandems independent of the platform, and reusable primary. This allows an inexpensive distribution of system components between the vehicle and a secondary vehicle that is designed as a disposable vehicle and forms a torpedo-like weapon. Thereby, the cost caused by the destruction of the secondary vehicle can be kept extremely low. Tandem uses autonomous navigation data from an on-board assisted navigation device, that is, a navigation device equipped with a primary vehicle, with knowledge of mine position data measured in advance and provided in the primary vehicle. Sail towards the mine. The primary vehicle then brings the secondary vehicle directly to the mine by remote control and releases the charge detonator with a corresponding detonation signal. Based on the unique drive and unique steering system, the secondary vehicle is brought to the optimal position for mine blasting by the primary vehicle and held in this position until the primary vehicle has a safe distance from the mine. Can be done. By adjusting the optimal position of the secondary vehicle, it is possible to use a small charge to reliably detonate the mine, so the configuration space in the secondary vehicle required to accommodate the charge As well as the total weight of the secondary vehicle. This is extremely important for minesweeping operations. This is because, in that case, a large number of secondary vehicles can be prepared for one primary vehicle and can be carried on the platform. Compared to minesweepers that place charges in mines, secondary vehicles that make up a “minieffektor” are positioned much more accurately and use a significantly reduced amount of explosives to ensure reliable mines. It can cause destruction.

  Advantageous embodiments of the method according to the invention are described in claim 2 and below.

  In an advantageous embodiment of the invention, the primary vehicle and the secondary vehicle are connected to each other by a cable. Through this cable, a steering signal and driving energy for the secondary vehicle are transmitted from the primary vehicle to the secondary vehicle, and an electrical initiation signal for remotely releasing the charge is also transmitted. During a tandem dive to the mine, the cable length stretched between the primary and secondary vehicles is controlled so that the cable length is always adapted to the current spacing between the two vehicles. . As a result, this cable, when approaching the mine, is caught by an underwater object and object, or the outer element of the preceding secondary vehicle, like a cable that has been pulled out and loosened loosely. The risk of being lost is avoided.

  In another advantageous embodiment of the invention, the positioning of the mine positioning and the determination of the positioning mine position data, which is input to the primary vehicle memory for the mine destruction mission, is carried out from the platform on which the tandem is deployed. This is performed using a known mine sweep sonar.

  A mine destruction system used in the method according to the invention is described in claim 13. In this case, in the configuration of the present invention, two unmanned underwater vehicles each having at least one drive motor and a steering device are provided, and one of the underwater vehicles is formed in a remote control type. In a mine destruction system of the type that supports remotely detonable charges for mine destruction and is provided with acoustic and / or optical sensors for underwater use, A tandem that operates autonomously and is composed of a primary vehicle and a secondary vehicle, the primary vehicle stores the position data of the mine that has been measured, and a navigation device And an electronic control unit and equipped with the acoustic and / or optical sensor, and a secondary vehicle has the charge and the charge It is equipped with a detonator for causing the interval detonation.

  An advantageous configuration of the mine destruction system according to the invention is described in claims 14-17.

  In the following, embodiments of the invention are described in detail with reference to the drawings.

1 to 6 are schematic diagrams showing a first step in a time-sequential course when performing a method for destroying a positioned mine,
FIG. 7 is a block circuit diagram of a primary vehicle used in the course of the method shown in FIGS.
FIG. 8 is a block circuit diagram of a secondary vehicle used in the course of the method shown in FIGS.

  In the method for mine blasting described below, a primary vehicle 11 and a secondary vehicle 12 as shown in FIGS. 2 to 5 are used. Both vehicles 11, 12 are carried by the platform 10. The platform 10 is, for example, a surface ship as illustrated in FIG. Alternatively, the platform 10 may be a submarine, an inflatable boat or a helicopter. The two vehicles 11, 12 shown in the form of block circuit diagrams in FIGS. 7 and 8 each control at least one dedicated drive motor 13; 14, preferably an electric motor and a rudder 17; 18. Steering device 15; 16. The primary vehicle 11 further comprises an energy source 19 in the form of a fuel cell, battery or accumulator and a navigation device 20, equipped with an acoustic sensor 21 and an optical sensor 22 for underwater use. Yes. As an acoustic sensor, a publicly known short range sonar or short-range sonar is advantageously used, and as an optical sensor, a TV camera equipped with a lighting device is advantageously used. The primary vehicle 11 is further provided with a cable winch 23. A connection cable 24 that can be connected to the secondary vehicle 12 is wound around the cable winch 23. All components are controlled by the control unit 25. The control unit 25 has an artificial intelligence 26 for processing the position data of the mine that has been positioned and the navigation data of the navigation device 20. In order to store the position data of the mine to be destroyed after positioning, a memory 27 is provided, and the control unit 25 accesses the memory 27.

  The secondary vehicle 12 designed as a disposable vehicle forms a so-called “mini-effector”. This mini-effector is mainly equipped with only a charge 28 for destroying a mine and a detonator 29 belonging thereto. The drive energy is supplied to the secondary vehicle 12 from the energy source 19 of the primary vehicle 11 via the connection cable 24. The connection cable 24 further serves to transmit a steering signal to the steering device 16 of the secondary vehicle 12 and to transmit a release signal for operating the detonator 29. The electronic control unit 30 controls individual components related to the signal transmitted via the connection cable 24.

Using both the vehicles 11 and 12 used as tandems that operate autonomously during a mine destruction mission, the method is implemented as follows:
A predetermined minesweeping area is searched from the platform 10 using an active exploration-type sonar, that is, a “mine sweeper sonar 31”. As shown in FIG. 1, in this case, for example, a mine 33 located on the seabed 32 is detected and measured by measuring its position data in an earth-assisted coordinate system. When it is desired to destroy the positioned mine 33, the position data is stored in the memory 27 of the primary vehicle 11, and both the vehicles 11, 12 connected to each other by the connection cable 24 are injected into the water by the injection device 34 (FIG. 1). (FIG. 2). The tandem formed by the both underwater vehicles 11 and 12 operates autonomously. In this case, the primary vehicle 11 uses the position data stored in the mine 33 and the navigation data of the navigation device 20 to determine the primary vehicle. 11 and the secondary vehicle 12 are generated and transmitted to the steering devices 15 and 16 of the two underwater vehicles 11 and 12. These data are processed through the artificial intelligence 26 algorithm. At this time, the tandem travels in the direction of the seabed 32 (FIG. 2) at the shortest possible distance, and then approaches the mine 33 along the seabed 32 at a distance from the seabed 32 (FIG. 3). At the time of the mission navigation, the cable length drawn between the primary vehicle 11 and the secondary vehicle 12 is the distance between the both underwater vehicles 11 and 12 due to the control of the cable winch 23 in the primary vehicle 11. (FIGS. 2 and 3). As a result, the length of the cable drawn from the connection cable 24 has a minimum slack, so that the connection portion of the connection cable 24 that moves underwater is caught by an object underwater, or the primary vehicle 11 or the secondary vehicle. There is no danger of entanglement with the projecting elements provided in 12.

  The mine 33 is repositioned from the primary vehicle 11 by the acoustic sensor 21 (FIG. 4). That is, since the position data of the mine 33 is newly determined and written in the memory 27, the control unit 25 having the artificial intelligence 26 has the mine 33 in order to generate a steering signal for the secondary vehicle 12. Improved position data is provided, and the primary vehicle 11 can precisely steer the secondary vehicle 12 toward the mine 33. When the secondary vehicle 12 reaches the mine 33 (FIG. 5), the primary vehicle 11 generates an initiation signal. This detonation signal reaches an detonator 29 provided in the secondary vehicle 12 via the connection cable 24 and launches a charge 28, which may be formed as a molded charge, for example, to the mine 33. During the detonation of the mine 33, the secondary vehicle 12 is destroyed and the connection cable 24 is torn (FIG. 6). After the secondary vehicle 12 is positioned at the mine 33, the program routine is released in the control unit 25 of the primary vehicle 11, whereby the primary vehicle 11 starts returning to the platform 10. In this case, the position data of the platform 10 is also stored in the memory 27 of the primary vehicle 11. In order to return the platform 10, the control unit 25 applies a corresponding steering signal to the steering device 15 of the primary vehicle 11.

  In some mines types, in order to optimally place the secondary vehicle 12 in the mines 33, it is necessary to inspect the mines optically or visually accurately. In this case, since the tandem approaches the mine 33 very closely, the details of the mine 33 can be seen from the primary vehicle 11 using illumination and a TV camera (FIG. 4). With this optical data, a corresponding steering signal for the secondary vehicle 12 is generated by the control unit 25 and transmitted to the secondary vehicle 12 for the purpose of adjusting the optimum position in the mine 33 for blasting. The In this case, it is advantageous to store the visual appearance data of various mine types in the primary vehicle 11 and compare the data photographed using the TV camera with the stored data. This allows the mine to be accurately identified and the best placement of the secondary vehicle 12 to be selected based on the known characteristics of the identified mine. The primary vehicle 11 moves away from the mine 33 until a safety distance is secured (FIG. 5), and explodes the charge 28 by an initiation signal (FIG. 6).

  The present invention is not limited to the above embodiment. In other words, it is not necessary to store the measured mine position data in the primary vehicle 11 before the start of tandem mission navigation. The position data can be transmitted from the platform to the primary vehicle by wireless underwater communication even during tandem mission navigation.

FIG. 3 is a schematic diagram illustrating a first step in a time-sequential progression when performing a method for destroying a positioned mine. It is the schematic which shows the 2nd step of the said progress. It is the schematic which shows the 3rd step of the said progress. It is the schematic which shows the 4th step of the said progress. It is the schematic which shows the 5th step of the said progress. It is the schematic which shows the 6th step of the said progress. FIG. 7 is a block circuit diagram of a primary vehicle used in the course of the method shown in FIGS. FIG. 7 is a block circuit diagram of a secondary vehicle used in the course of the method shown in FIGS.

Claims (15)

Unmanned underwater vehicle working as a primary vehicle (11), acting as a secondary vehicle (12) equipped with a charge (28) for blasting a positioned mine (33) In a method for destroying a positioned mine (33) in cooperation with the two submersible vehicles (11, 12) as autonomously operating tandems, primary vehicle (11) and secondary vehicle Are connected to each other by a connection cable (24), and the secondary vehicle (12) is connected from the primary vehicle (11) to the secondary vehicle (12) via the connection cable (24). ) remotely controlled by a steering signal to be transmitted to, from the primary vehicle (11), the stored position data of the positioning has been mine (33), which is on-board assisted navigate The tandem is guided to the mine (33) according to the operation data, the mine (33) is re-positioned from the primary vehicle (11) by the acoustic and / or optical sensor (21, 22), and the mine (33) After positioning, the secondary vehicle (12) is remotely controlled from the primary vehicle (11) and positioned in the mine (33), and the secondary vehicle (12) is controlled by the initiation signal transmitted from the primary vehicle (11) via the connection cable (24). A method for destroying a positioned mine, characterized in that the charge (28 ) in the next vehicle (12) is remotely detonated.   Additional optical or visual identification of the repositioned mine (33) from the primary vehicle (11) is performed to locate the secondary vehicle (12) in the mine (33) with respect to the stored mine data. The method of claim 1, wherein:   Prior to the remote detonation of the charge (28) in the primary vehicle (11), a program routine is implemented that releases the retracting movement of the primary vehicle (11) from the mine (33) corresponding to the specified safety distance. The method according to claim 1 or 2.   The method according to any one of claims 1 to 3, wherein the position data of the positioned mine (33) is stored in the primary vehicle (11) before the start of a mission for mine destruction.   The method according to any one of claims 1 to 3, wherein the position data of the positioned mine (33) is transmitted to the primary vehicle (11) during the execution of a mission for mine destruction.   Using the artificial intelligence (26) in the primary vehicle (11), the position data of the mine (33) measured and the navigation data assisted by the onboard are used to determine the primary vehicle (11) and the secondary vehicle (12). The method according to claim 1, wherein a steering signal for calculating the steering signal is calculated. 7. The method as claimed in claim 1 , wherein the drive energy required by the secondary vehicle (12) is transmitted from the primary vehicle (11) via a connecting cable (24). During the tandem navigation to the positioned mine (33), the cable length of the connection cable (24) stretched between the primary vehicle (11) and the secondary vehicle (12) is determined as the cable length. but now controlled so as to be continuously adapted to the distance that exists, any one process as claimed in claims 1 to 7 between two underwater vehicles (11, 12). Transported and mounted to the primary vehicle (11) and the secondary vehicle (12) platform (10), configured as a tandem after the injection from the platform (10), any one of claims 1 to 8 the method of. And positioning the mine (33), and a determination of the position data of the positioning has been mine (33), arranged on the platform (10), carried by the active exploration type sonar device, any of claims 1 to 9 The method according to claim 1. A mine destruction system is provided with two unmanned underwater vehicles each having at least one drive motor (13, 14) and steering device (15, 16), one of the underwater vehicles. Are remotely controlled, support remote detonable charges for mine destruction, and provide acoustic and / or optical sensors (21, 22) for underwater use. The underwater vehicle forms an autonomously operating tandem composed of a primary vehicle (11) and a secondary vehicle (12), the primary vehicle (11) and The secondary vehicle (12) is connected to each other via a connection cable (24), and the connection cable (24) sends a steering signal to the steering device (16) of the secondary vehicle (12). It is formed to feed the primary vehicle (11), a memory (27) for keeping stores the position data of the positioning has been mine (33), a navigation device (20), the electronic control unit ( 25) and equipped with the acoustic and / or optical sensors (21, 22), a secondary vehicle (12) comprising the charge (28) and the charge A mine destruction system comprising a detonator (29) for remotely detonating (28). The mine according to claim 11 , wherein the connecting cable (24) is configured to transmit electrical energy from an energy source (19) located in the primary vehicle (11) to the secondary vehicle (12). Destruction system. The connection cable (24) can be wound up on a cable winch (23) installed in the primary vehicle (11), and the length of the connection cable (24) drawn from the cable winch (23) is determined by the primary vehicle (11). 13. The mine destruction system according to claim 11 or 12 , wherein the cable winch (23) is controllable to be continuously adapted to the current distance between the secondary vehicle (12) and the secondary vehicle (12). Primary vehicle (11), the position data of the mine (33), and has an artificial intelligence (26) for processing the navigation data of the navigation device (20), one of claims 11 to 13 The mine destruction system according to item 1. Acoustic sensor (21) has a short-range sonar, optical sensor (22) has a TV camera equipped with an illumination device, one of claims 11 to 14 1 Mine destruction system described in the section.

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