US20080087186A1 - Method For The Destruction Of A Localized Mine - Google Patents

Method For The Destruction Of A Localized Mine Download PDF

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Publication number
US20080087186A1
US20080087186A1 US11/662,334 US66233405A US2008087186A1 US 20080087186 A1 US20080087186 A1 US 20080087186A1 US 66233405 A US66233405 A US 66233405A US 2008087186 A1 US2008087186 A1 US 2008087186A1
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US
United States
Prior art keywords
mine
vehicle
primary
primary vehicle
localized
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.)
Abandoned
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US11/662,334
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English (en)
Inventor
Christian Blohm
Martin Pfitzner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
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Atlas Elektronik GmbH
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Filing date
Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Assigned to ATLAS ELEKTRONIK GMBH reassignment ATLAS ELEKTRONIK GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BLOHM, CHRISTIAN, PFITZNER, MARTIN
Publication of US20080087186A1 publication Critical patent/US20080087186A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G2007/005—Unmanned autonomously operating mine sweeping vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the invention relates to a method for the destruction of a localized mine, of the generic type defined in the precharacterizing clause of claim 1 .
  • an unmanned, remotely controlled underwater vehicle a so-called ROV, as well as a remotely controlled search and mine destruction unit, which is equipped with an explosive charge for mine destruction, are used and are connected to one another via a glass fiber cable.
  • the ROV is connected via a further glass fiber cable to a surface vessel which has a sonar system for detection and location of mines.
  • the mine and search unit is also equipped with a transponder, acoustic sensors such as a short-wave sonar, with optical sensors, such as a TV camera with an illumination unit, and with sensors for measurement of actual data for navigation, such as the direction of travel, the angle with respect to the horizontal plane, the distance from the seabed and the dive depth.
  • the transponder corresponds with an acoustic position system (APS), whose hydrophones are arranged on the ROV.
  • APS acoustic position system
  • the ROV has a launching unit, a so-called launcher, which is used to deploy the search and mine destruction unit.
  • the search and mine destruction unit is steered by means of the APS by an operator, who is positioned in the surface vessel, with respect to the sonar beam of the mine hunting sonar, which is directed at the mine.
  • the search and mine destruction unit whose transponder signals are displayed in the same way as the mine echo signals on the display of the mine hunting sonar, is then controlled by the operator towards the mine, in the sonar beam of the mine hunting sonar.
  • the mine is examined by means of the TV camera, and the search and mine destruction unit is moved by the operator to a position with respect to the mine which is suitable for its destruction, and is then remotely detonated by the operator.
  • the explosion of the explosive charge of the search and mine destruction unit which, for example, may be a shaped charge, initiates detonation of the mine, with the search and mine destruction unit also being destroyed.
  • the search and mine destruction unit With its acoustic, optical and navigation sensors, the search and mine destruction unit is a relatively costly clearance appliance but, for certain application, the time saving in mine destruction justifies the costs incurred.
  • the search and mine destruction unit is not designed as a disposable vehicle with a weapon characteristic but as a reusable underwater vehicle which simply places an explosive charge adjacent to the mine and is recovered again by a surface vessel before detonation of the explosive charge and mine (Buschhorn and Schutz “Minenjagd—eine perennial tinct de Seeminenabwehr” [Mine hunting—a modern variant of defense against sea mines] Jahrbuch der Wehrtechnik [Defense technology annual] 1976/77, pages 142-151).
  • the explosive charge is detonated remotely from the surface vessel, for example by throwing a hand grenade into the water. The detonation of the explosive charge which this results in initiated via an acoustic fuze destroys the mine by sympathetic detonation of the mine as a result of the detonation of the explosive charge.
  • the invention is based on the object of specifying a method for mine destruction which minimizes the costs for the clearance appliance and results in the clearance times being shortened considerably in comparison to methods which use a reusable search and mine destruction unit.
  • the object is achieved by the features in claim 1 .
  • the method according to the invention has the advantage that the use of a primary vehicle and of a secondary vehicle which are both unmanned and have their own propulsion system, as an autonomous tandem, that is to say a tandem which is independent of a platform, allows the system components to be split in a cost-saving manner between the reusable primary vehicle and the secondary vehicle, which is designed as a disposable vehicle and represents a weapon similar to a torpedo. This allows the costs which result from destruction of the secondary vehicle to be kept quite low.
  • the tandem moves autonomously to the mine, while the primary vehicle moves the secondary vehicle directly adjacent to the mine by remote control, and initiates the fuze for the explosive charge by means of an appropriate detonation signal. Because it has its own propulsion system and its own steering apparatus, the secondary vehicle can be moved by the primary vehicle to an optimum position for detonation of the mine, and can also be held in this position until the primary vehicle has reached a safe separation distance from the mine.
  • the setting of an optimum position of the secondary vehicle in turn allows a small explosive charge to be used to reliably detonate the mine, so that the physical space which is required in the secondary vehicle for accommodation of the explosive charge, as well as the total weight of the secondary vehicle, are reduced.
  • This is of considerable importance for mine clearance since a greater number of secondary vehicles can then be kept available for one primary vehicle, and can also be carried on the platform.
  • the secondary vehicle which represents a “mini-effector”, can be placed very much more accurately and can cause reliable destruction of the mine with a considerably smaller amount of explosive.
  • the primary vehicle and secondary vehicle are connected to one another by means of a cable via which steering signals as well as propulsion power for the secondary vehicle are transmitted from the primary vehicle to the secondary vehicle, and an electrical detonation signal for remote initiation of the explosive charge is also transmitted.
  • the tandem is traveling submerged to the mine, the cable length deployed between the primary vehicle and the secondary vehicle is controlled such that it is continuously matched to the instantaneous distance between the vehicles. This prevents the possibility of the cable (in contrast to a cable which is being unwound and is hanging loosely) from being able to snag and tear on objects or bodies, or on external elements on the secondary vehicle traveling in front of it, while approaching the mine.
  • the localization of the mine and the determination of the position data relating to the localized mine, which is stored in the primary vehicle for the mine destruction mission are carried out from the platform deploying the tandem, to be precise with the aid of a mine hunting sonar which is known per se.
  • a mine destruction system which is used with the method according to the invention is specified in claim 13 , and further refinements and improvements of the mine destruction system are specified in claims 14 to 17 .
  • FIGS. 1 to 6 show successive instantaneous sections of the method for destruction of a localized mine
  • FIG. 7 shows a block diagram of a primary vehicle used for the method as shown in FIGS. 1 to 6 .
  • FIG. 8 shows a block diagram of a secondary vehicle used for the method as shown in FIGS. 1 to 6 .
  • a primary vehicle 11 and a secondary vehicle 12 are used, as can be seen in FIGS. 2 to 5 .
  • the vehicles 11 , 12 are carried by a platform 10 which, for example, is a surface vessel, as illustrated in FIG. 1 .
  • platform 10 may also be a submarine, an inflatable boat or a helicopter.
  • Each of the two vehicles 11 , 12 which is illustrated in the form of a block diagram in FIGS. 7 and 8 itself has at least one propulsion motor 13 or 14 , respectively, which is preferably an electric motor, and a respective steering apparatus 15 or 16 for actuation of control surfaces 17 and 18 , respectively.
  • the primary vehicle 11 also has an energy source 19 in the form of a fuel cell, a battery or a rechargeable battery, and a navigation device 20 , and is equipped with acoustic sensors 21 and optical sensors 22 for underwater use.
  • a short-range sonar which is known per se is preferably used as the acoustic sensor, and a TV camera with an illumination device is preferably used as the optical sensor.
  • a cable drum 23 is also installed in the primary vehicle 11 , and a connection cable 24 which can be connected to the secondary vehicle 12 is wound up on this cable drum. All of the components are controlled by a control unit 25 , which has artificial intelligence 26 for processing of position data relating to a localized mine, and navigation data from the navigation device 20 .
  • a memory 27 which is accessed by the control unit 25 , is provided for storage of the position data relating to a mine which is intended to be destroyed once it has been localized.
  • the secondary vehicle 12 which is designed as a disposable vehicle, represents a so-called mini-effector, which is essentially equipped only with an explosive charge 28 for mine destruction and with an associated fuze 29 .
  • the propulsion power is supplied to the secondary vehicle 12 from the energy source 19 in the primary vehicle 11 via the connection cable 24 .
  • the connection cable 24 is also used for the transmission of steering signals to the steering apparatus 16 in the secondary vehicle 12 , and for transmission of an initiation signal, which activates the fuze 29 .
  • Control electronics 30 ensure that the individual components are actuated as a function of the signals which are transmitted via the connection cable 24 .
  • the method is carried out as follows, using these two vehicles 11 , 12 , which are used as an autonomously operating tandem during a mine destruction mission.
  • the specified mine clearance area is searched by the platform 10 by means of an actively locating sonar, a so-called mine hunting sonar 31 .
  • a mine 33 which is lying on the seabed 32 , for example, is detected during this process, and is localized by determination of its position data in an earth-based coordinate system. If the localized mine 33 is intended to be destroyed, then the position data is stored in the memory 27 in the primary vehicle 11 , and the two vehicles 11 , 12 , which are connected to one another by means of a connection cable 24 , are placed in the water ( FIG. 2 ) by means of a launching apparatus 34 ( FIG. 1 ).
  • the tandem which is formed by the two underwater vehicles 11 , 12 operates autonomously in that steering signals both for the primary vehicle 11 and for the secondary vehicle 12 are generated in the primary vehicle 11 by means of the stored position data relating to the localized mine 33 , and the navigation data in the navigation device 20 , and these steering signals are passed to the steering apparatuses 15 and 16 in the two vehicles 11 , 12 .
  • the data is processed using algorithms with the artificial intelligence 26 .
  • the tandem first of all travels by the shortest possible route in the direction of the seabed 32 ( FIG. 2 ) in order then to approach the mine 33 along the seabed 32 , but at a distance from it ( FIG. 3 ).
  • the deployed cable length between the primary vehicle 11 and the secondary vehicle 12 is continuously matched ( FIGS. 2 and 3 ) to the instantaneous distance between the vehicles 11 , 12 by controlling the cable drum 23 in the primary vehicle 11 .
  • There is therefore only a minimum amount of slack in the deployed cable length of the connection cable 24 so that the connecting piece of the connection cable 24 which is sliding in the water cannot be snagged on objects in the water, or be caught on projecting elements on the primary vehicle or secondary vehicle.
  • the mine 33 is relocalized by the primary vehicle 11 by means of the acoustic sensor 21 ( FIG. 4 ), that is to say its position data is redetermined and is written to the memory 27 , so that the control unit 25 with the artificial intelligence 26 is now provided with improved position data relating to the mine 33 in order to produce the steering signals of the secondary vehicle 12 , and the primary vehicle 11 can now steer the secondary vehicle 12 precisely to the mine 33 .
  • a detonation signal is generated in the primary vehicle 11 and is passed via the connection cable 24 to the fuze 29 in the secondary vehicle 12 , where it fires the explosive charge 28 which, for example, may be in the form of a shaped charge, against the mine 33 .
  • the secondary vehicle 12 On detonation of the mine 33 , the secondary vehicle 12 is destroyed, and the connection cable 24 is torn apart ( FIG. 6 ).
  • a program routine is initiated in the control unit 25 in the primary vehicle 11 , causing the primary vehicle 11 to return to the platform 10 , whose position data is likewise stored in the memory 27 in the primary vehicle 11 , and the control unit 25 applies appropriate steering signals for this purpose to the steering apparatus 15 in the primary vehicle 11 .
  • the tandem approaches the mine 33 very closely so that all the details of the mine 33 can be seen from the primary vehicle 11 by means of the illumination and the TV camera ( FIG. 4 ).
  • the control unit 25 uses this optical data to generate appropriate steering signals for the secondary vehicle 12 , which are passed to the secondary vehicle 12 , in order to select an optimum position for detonation against the mine 33 .
  • the primary vehicle 11 then moves to a safe distance away from the mine 33 ( FIG. 5 ), and causes the explosive charge 28 to explode, by means of a detonation signal ( FIG. 6 ).
  • the position data relating to the localized mine need not be stored in the primary vehicle before the start of the mission movement of the tandem. It can also be transmitted from the platform to the primary vehicle by wire-free underwater communication while the tandem is traveling on its mission.
US11/662,334 2004-09-20 2005-06-10 Method For The Destruction Of A Localized Mine Abandoned US20080087186A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102004045532.5 2004-09-20
DE102004045532A DE102004045532B3 (de) 2004-09-20 2004-09-20 Verfahren zur Vernichtung einer lokalisierten Mine
PCT/EP2005/006237 WO2006032310A1 (fr) 2004-09-20 2005-06-10 Procede et systeme pour detruire une mine localisee

Publications (1)

Publication Number Publication Date
US20080087186A1 true US20080087186A1 (en) 2008-04-17

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US11/662,334 Abandoned US20080087186A1 (en) 2004-09-20 2005-06-10 Method For The Destruction Of A Localized Mine

Country Status (7)

Country Link
US (1) US20080087186A1 (fr)
EP (1) EP1791754B1 (fr)
JP (1) JP4814241B2 (fr)
AT (1) ATE383307T1 (fr)
DE (2) DE102004045532B3 (fr)
NO (1) NO337648B1 (fr)
WO (1) WO2006032310A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009053742A1 (de) 2009-11-18 2011-05-19 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Einrichtung zum Anschluss eines Lichtwellenleiterkabels an ein unbemanntes Unterwasserfahrzeug
US20120186422A1 (en) * 2010-01-19 2012-07-26 Lockheed Martin Corporation Neutralization of a target with an acoustic wave
US20130094330A1 (en) * 2011-10-13 2013-04-18 Raytheon Corporation Methods and apparatus for passive detection of objects in shallow waterways
US20130125741A1 (en) * 2010-08-06 2013-05-23 Atlas Elektronik Gmbh Weapon clearance appliance for clearing weapons, such as underwater mines, under water, unmanned underwater vehicle having a weapon clearance appliance of this kind, and method for this purpose
US20140083282A9 (en) * 2010-09-21 2014-03-27 Ecs Special Projects Limited Attachment/release device and assemblies and systems using same
WO2015049678A1 (fr) * 2013-10-01 2015-04-09 Elta Systems Ltd. Système et procédé sous-marins
US20160200408A1 (en) * 2013-08-13 2016-07-14 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
WO2019116307A1 (fr) * 2017-12-15 2019-06-20 Calzoni S.R.L. Procédé et système de neutralisation de dispositifs explosifs sous-marins
US11549787B1 (en) 2020-01-25 2023-01-10 Alexandra Catherine McDougall System for preemptively defeating passive-infrared sensors

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JP2008100591A (ja) * 2006-10-18 2008-05-01 Toshiba Corp 捜索範囲表示システム
JP5288467B2 (ja) * 2008-12-15 2013-09-11 株式会社Ｉｈｉエアロスペース 無人潜航体
JP5249974B2 (ja) * 2009-12-14 2013-07-31 三菱重工業株式会社 機雷処理装置
KR101277002B1 (ko) * 2010-07-20 2013-06-24 주식회사 마린이노텍 무인수상로봇
DE102012006566A1 (de) * 2012-03-30 2013-10-02 Atlas Elektronik Gmbh Verfahren zur Detektion von Seeminen und Seeminendetektionssystem
DE102012016052A1 (de) * 2012-08-14 2014-02-20 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Abbau von Feststoffen am Meeresgrund
DE102015101914A1 (de) * 2015-02-10 2016-08-11 Atlas Elektronik Gmbh Unterwassergleiter, Kontrollstation und Überwachungssystem, insbesondere Tsunami-Warnsystem
JP7020892B2 (ja) * 2017-12-12 2022-02-16 三菱重工業株式会社 機雷処理システム
DE102019212401A1 (de) * 2019-08-20 2021-02-25 Atlas Elektronik Gmbh Verfahren zum Räumen eingesunkener Munition

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Cited By (24)

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US8831393B2 (en) 2009-11-18 2014-09-09 Atlas Elektronik Gmbh Unmanned underwater vehicle and device for connection of an optical waveguide cable to an unmanned underwater vehicle
US20110114006A1 (en) * 2009-11-18 2011-05-19 Atlas Elektronik Gmbh Unmanned underwater vehicle and device for connection of an optical waveguide cable to an unmanned underwater vehicle
EP2327622A1 (fr) 2009-11-18 2011-06-01 ATLAS Elektronik GmbH Sous-marin non habité et dispositif de connexion d'un câble conducteur d'ondes lumineuses sur un sous-marin non habité
DE102009053742B4 (de) * 2009-11-18 2012-01-26 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Einrichtung zum Anschluss eines Lichtwellenleiterkabels an ein unbemanntes Unterwasserfahrzeug
DE102009053742A1 (de) 2009-11-18 2011-05-19 Atlas Elektronik Gmbh Unbemanntes Unterwasserfahrzeug und Einrichtung zum Anschluss eines Lichtwellenleiterkabels an ein unbemanntes Unterwasserfahrzeug
US20120186422A1 (en) * 2010-01-19 2012-07-26 Lockheed Martin Corporation Neutralization of a target with an acoustic wave
US9753134B2 (en) 2010-01-19 2017-09-05 Lockheed Martin Corporation Neutralization of a target with an acoustic wave
US9242708B2 (en) * 2010-01-19 2016-01-26 Lockheed Martin Corporation Neutralization of a target with an acoustic wave
US20130125741A1 (en) * 2010-08-06 2013-05-23 Atlas Elektronik Gmbh Weapon clearance appliance for clearing weapons, such as underwater mines, under water, unmanned underwater vehicle having a weapon clearance appliance of this kind, and method for this purpose
US8807002B2 (en) * 2010-08-06 2014-08-19 Atlas Elektronik Gmbh Weapon clearance appliance for clearing weapons, such as underwater mines, under water, unmanned underwater vehicle having a weapon clearance appliance of this kind, and method for this purpose
TWI417221B (zh) * 2010-08-06 2013-12-01 Atlas Elektronik Gmbh 用以清除諸如水雷之武器的武器清除用具，具有諸如此武器清除用具之無人水下載具及用於此目的之方法
US9677866B2 (en) * 2010-09-21 2017-06-13 Ecs Special Projects Limited Attachment/release device and assemblies and systems using same
US20140083282A9 (en) * 2010-09-21 2014-03-27 Ecs Special Projects Limited Attachment/release device and assemblies and systems using same
US20130094330A1 (en) * 2011-10-13 2013-04-18 Raytheon Corporation Methods and apparatus for passive detection of objects in shallow waterways
US20160200408A1 (en) * 2013-08-13 2016-07-14 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
US10167066B2 (en) * 2013-08-13 2019-01-01 Saab Seaeye Limited Charge deployment system for ordnance neutralisation
WO2015049678A1 (fr) * 2013-10-01 2015-04-09 Elta Systems Ltd. Système et procédé sous-marins
AU2014330808B2 (en) * 2013-10-01 2018-04-19 Elta Systems Ltd. Underwater system and method
US10000263B2 (en) 2013-10-01 2018-06-19 Elta Systems Ltd. Underwater system and method
AU2018206756B2 (en) * 2013-10-01 2019-09-19 Elta Systems Ltd. Underwater system and method
US10457365B2 (en) 2013-10-01 2019-10-29 Elta Systems Ltd. Underwater system and method
WO2019116307A1 (fr) * 2017-12-15 2019-06-20 Calzoni S.R.L. Procédé et système de neutralisation de dispositifs explosifs sous-marins
US11673635B2 (en) * 2017-12-15 2023-06-13 Calzoni S.R.L. Method and system for neutralizing underwater explosive devices
US11549787B1 (en) 2020-01-25 2023-01-10 Alexandra Catherine McDougall System for preemptively defeating passive-infrared sensors

Also Published As

Publication number Publication date
NO337648B1 (no) 2016-05-23
JP2008513265A (ja) 2008-05-01
ATE383307T1 (de) 2008-01-15
DE102004045532B3 (de) 2006-02-02
EP1791754B1 (fr) 2008-01-09
JP4814241B2 (ja) 2011-11-16
DE502005002529D1 (de) 2008-02-21
EP1791754A1 (fr) 2007-06-06
NO20072011L (no) 2007-04-19
WO2006032310A1 (fr) 2006-03-30

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