WO2021028105A1 - Procédé de fonctionnement d'un système de dragage de mines et système de dragage de mines pour la détonation de mines marines - Google Patents

Procédé de fonctionnement d'un système de dragage de mines et système de dragage de mines pour la détonation de mines marines Download PDF

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Publication number
WO2021028105A1
WO2021028105A1 PCT/EP2020/067826 EP2020067826W WO2021028105A1 WO 2021028105 A1 WO2021028105 A1 WO 2021028105A1 EP 2020067826 W EP2020067826 W EP 2020067826W WO 2021028105 A1 WO2021028105 A1 WO 2021028105A1
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WO
WIPO (PCT)
Prior art keywords
drone
magnetic
mine
freedom
rotation
Prior art date
Application number
PCT/EP2020/067826
Other languages
German (de)
English (en)
Inventor
Michael Frank
Jörn GRUNDMANN
Peter Van Hasselt
Original Assignee
Siemens Energy Global GmbH & Co. KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens Energy Global GmbH & Co. KG filed Critical Siemens Energy Global GmbH & Co. KG
Priority to US17/633,078 priority Critical patent/US20220332397A1/en
Priority to AU2020331545A priority patent/AU2020331545A1/en
Publication of WO2021028105A1 publication Critical patent/WO2021028105A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • B63G7/06—Mine-sweeping means, Means for destroying mines of electromagnetic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • 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
    • 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
    • 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
    • F41H13/00—Means of attack or defence not otherwise provided for
    • F41H13/0093—Devices generating an electromagnetic pulse, e.g. for disrupting or destroying electronic devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D5/00—Safety arrangements
    • F42D5/04—Rendering explosive charges harmless, e.g. destroying ammunition; Rendering detonation of explosive charges harmless
    • 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
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • B63G7/06—Mine-sweeping means, Means for destroying mines of electromagnetic type
    • B63G2007/065—Mine-sweeping means, Means for destroying mines of electromagnetic type by making use of superconductivity
    • 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 present invention relates to a method for operating a mine clearing system, the mine clearing system comprising at least one drone for triggering sea mines.
  • the drone includes at least one magnetic element for magnetic release of the sea mines.
  • the invention also relates to a corresponding mine clearance system.
  • unmanned drones In known systems for the remote clearance of sea mines unmanned drones are used, which are permitted to trigger magnetic mines with magnetic coils or with permanent magnets. These magnetic elements generate strong magnetic fields that can detonate the sea mines.
  • the drones are designed in such a way that they are not damaged by the detonation at the distance typical for triggering.
  • Such drones can have their own drive system, for example the German Navy has remote-controlled boats of the "Seehund" type, which are equipped with a diesel engine.
  • the magnetic element is designed as a magnetic coil and is used to trigger the mines in the hull of the remote-controlled Boats built in.
  • the solenoid itself is typically formed from a multitude of turns of copper cable.
  • underwater drones for mine clearance are also known, which either have their own drive or can be pulled by other (sub) watercraft.
  • the self-propelled drones can for example be powered by an electric motor.
  • the magnetic elements of such self-propelled drones can in principle Eil can either be designed as additional magnetic elements or they can fulfill a double function in which, in addition to their function for triggering mines, they also serve to generate a magnetic excitation field in the electric motor.
  • mine clearance systems with a magnetic double function are described, for example, in DE102016203341A1 and in the as yet unpublished German application with the Ak ten Schweizer 102018 217 211.0.
  • a certain time profile of a magnetic variable for example the magnetic flux density measured by the sea mine, is necessary in order to cause a detonation.
  • This time profile must correspond as closely as possible to the predefined magnetic signature of a certain type of ship expected by the sea mine in order to be able to cause the sea mine to detonate.
  • mine clearance systems are mostly used, the length of which is in the range of the length of the "simulated" type of ship Mine clearing system is often of the order of 100 m or more.
  • Chained drones can, for example, be in the range between 3 and 7, with a higher number of drones typically being able to achieve better accuracy in the replication of a specific predetermined magnetic signature.
  • the disadvantage of the mine clearance system according to the state of the art is that the large number of drones used or the length of the chains of drones used results in a comparatively high level of equipment expenditure.
  • the object of the invention is therefore to provide a method for operating a mine clearance system which overcomes the mentioned after part.
  • an operating method is to be made available which, in comparison to the prior art, enables a predefined magnetic profile to be reproduced as precisely as possible with a reduced number of drones or with a reduced chain length.
  • Another task is to specify a suitable mine clearance system.
  • the method according to the invention is used to operate a mine clearance system, the mine clearance system comprising at least one drone for triggering sea mines.
  • the drone includes at least one magnetic element for magnetically triggering the sea mines.
  • the method comprises the following steps: a) a translational movement of the at least one drone in the water and b) the implementation of a first rotational movement of the drone with regard to a first degree of freedom of rotation.
  • the at least one drone can in principle either be self-propelled or it can be operated by another water ser vehicle to be towed.
  • the drone is the element of the mine clearing system which can lead to a magnetically induced detonation of the sea mines by means of the at least one magnetic element.
  • the at least one magnetic element should therefore be designed so that the generated magnetic flux density is sufficient to detonate a sea mine in the vicinity of the drone.
  • the drone can either swim on the water surface or be moved under the water surface while diving. In principle, a combination of these two modes “swimming” and “diving” is also possible.
  • the drone should move in a translatory manner.
  • This translational movement can in particular be a movement parallel to the water surface.
  • the floating embodiment can in particular be a movement along the surface of the water.
  • it can be a corresponding movement along a lower level, which is parallel to the water surface. In other words, it can preferably be a horizontal translatory movement.
  • the translational movement also contains a vertical component, so that a diving depth of the drone is varied at the same time during the horizontal movement.
  • the drone can also sink or climb in the water during the translational movement.
  • the translational movement in step a) has at least one horizontal component, that is to say in other words a directional component parallel to the water surface.
  • step b) in addition to this translational movement, a rotary movement of the drone in the water is carried out.
  • the order of these two steps a) and b) is basically arbitrary: they can, for example, ent either simultaneously or one after the other, in particular in be carried out multiple successive changes.
  • the drone as a body that can move freely in the water basically has three independent degrees of freedom of rotation.
  • the rotation of the drone should be a rotary movement with respect to at least a first of these three degrees of freedom of rotation.
  • the rotary movement generally has the advantage that, for example, the magnetic flux density at a target location that is in the vicinity of the drone is also varied.
  • the described "target location” can in particular be a location in the vicinity of the mine clearance system at which a sea mine can be triggered.
  • This target location does not have to be limited to a point-like area, but can in particular also be a spatially extended triggering Acting area, which can in particular have the shape of a cone-shaped target area.
  • the described interaction of the translational movement and the rotational movement of the drone can advantageously be achieved that a predefined magnetic profile can be formed at the target location, which largely corresponds to the magnetic signature of a given This destination is particularly advantageously in front of the drone in terms of translational locomotion (that is, “viewed in the direction of travel”).
  • the magnetic signature required to trigger the sea mines is simulated at the target location before the drone (or the mine clearing system as a whole) reaches the target location. In this way, a greater distance between the mine clearance system and the detonating sea mines can be maintained. This reduces the risk of damage to the demining system if the sea mines detonate.
  • a desired magnetic profile can be projected ahead of the drone at a target location in front of the drone in the direction of travel through the described combination of translational forward movement and targeted rotary movement. It is particularly advantageous if, for example, the amount of magnetic flux density at this forward target location is higher than in the other areas in the vicinity of the drone.
  • the magnetic profile reproduced in this way can in particular be a predefined time profile of the magnitude of the magnetic flux density, one or more directional components of the magnetic flux density, or a combination of these variables.
  • This described "advance projection" of a predetermined magnetic profile can advantageously ensure that the mine clearing system causes a reliable detonation of a sea mine, at the same time reducing the number of drones required and / or the length of the chain of drones used compared to the prior art
  • This reduction in equipment expenditure can be achieved by the fact that the drone's rotational movement provides an additional degree of freedom to simulate a complex magnetic profile at a given target location.
  • This in particular reduces the extent of the mine clearance system that the passing of an extensive drone train past the sea mine is at least partially replaced by a "projecting ahead" of the desired magnetic signature at the potential location of the sea mine.
  • This has the further advantage that the detonation can, under certain circumstances, also take place with a larger and therefore safer distance to the mine clearance system.
  • the mine clearance system has at least one drone for triggering sea mines.
  • the drone includes at least one magnetic element for magnetic triggering of the sea mines.
  • the drone includes at least one control Relement for causing a first rotational movement of the drone with respect to a first degree of freedom of rotation.
  • this control element is designed to effect the rotary movement while the drone is swimming a surface of water or dipping below the surface of the water. So it is supposed to be a control element for causing the drone to rotate in the water. In principle, it can either be an active or a passive control element.
  • An active control element should be understood to mean such a control element which has its own drive element in order to actively effect the corresponding rotary movement.
  • a passive control element is to be understood as such a control element which does not have its own drive, but can interact with another drive (for example the translational drive of the drone or an external tow drive by a mother ship or a guide drone) in order to use the What flow caused a turning movement of the drone.
  • another drive for example the translational drive of the drone or an external tow drive by a mother ship or a guide drone
  • the drone has a longitudinal axis A, and the first degree of freedom of rotation corresponds to a rotary movement about this longitudinal axis.
  • the rotational movement can involve rolling or heeling of the drone.
  • the elongated shape of the drone is particularly preferred in order to enable low-resistance movement in the water.
  • the rotary movement around the longitudinal axis is accordingly the rotary movement that is possible in the water with the least resistance. This applies in particular to a generally advantageous, largely rotationally symmetrical see the design of the drone with the longitudinal axis A as the axis of symmetry.
  • the first degree of freedom of rotation corresponds to a rotary movement about an axis which is perpendicular to the longitudinal axis.
  • a rotation axis can be perpendicular to the longitudinal axis and (when the drone is oriented horizontally in the water) essentially parallel to the water surface.
  • the rotary movement can then involve stamping or trimming the drone.
  • the axis of rotation can be perpendicular to the longitudinal axis and (if the drone is oriented horizontally in the water) essentially perpendicular to the water surface.
  • the turning movement can then be a yaw or a classic turning.
  • rotations are also conceivable and under certain circumstances advantageous in which these described classic maritime degrees of freedom of rotation are combined with one another, so that a rotation is carried out with respect to a rotation axis which is inclined in relation to the longitudinal axis of the drone.
  • a magnetic flux density caused at the target location can preferably be varied particularly well if the at least one magnetic element is designed to form a magnetic field in which at least one pole axis has an angle ⁇ other than zero with that for the first degree of freedom of rotation relevant axis of rotation forms.
  • This axis of rotation can particularly preferably be the longitudinal axis of the drone.
  • a polar axis is generally to be understood as such an axis of symmetry of the Magnetfel on which two magnetic poles are angeord net (a north pole and a south pole). Such a polar axis is also referred to as a magnetic axis in the specialist field.
  • the angle ⁇ can preferably be in the range between 10 ° and 90 ° and particularly preferably in the range between 45 ° and 90 °. Then a rotation around the respective rotation axis causes a particularly significant change in the magnetic field generated by the drone in the vicinity.
  • This clear change can in particular be a change in an amount of the magnetic flux density generated at the target location or else a change in the value and / or the sign of one or more individual directional components of the flux density.
  • the method can include the following additional step: c) performing a rotational movement of the drone with respect to an additional second degree of freedom of rotation.
  • Such a combination of at least two degrees of freedom of rotation thus corresponds to a more complex rotary movement, by means of which a predetermined magnetic profile can be simulated even more precisely at a predetermined target location.
  • the two degrees of freedom of rotation to be combined can generally be selected as desired from the three classic maritime degrees of freedom of rotation described above (i.e. two of the degrees of freedom Rol len / heeling and / or stamping / trimming and / or yawing / turning). All three of the stated degrees of freedom of rotation can also be combined with one another in a particularly advantageous manner in order to enable an even more precise reproduction of a given magnetic profile at a given destination.
  • this additional step c) similar to the already described step b), can be carried out simultaneously or alternately with the translation in step a). Steps b) and c) can in principle either be carried out simultaneously with one another or one after the other.
  • the method can include the following additional step: d) changing a diving depth (T) of the drone.
  • the diving depth is to be understood here generally as the vertical distance from the lowest point of the drone to the water surface. With a floating and If the drone is not completely submerged in the water, this diving depth can also be less than the vertical height of the drone. It can then in particular be an immersion depth of a drone floating on the surface.
  • Such a change in the (immersion) depth can also be used to adapt the time course of the magnetic flux density generated at a given target location even more precisely to a predetermined magnetic profile.
  • the at least one degree of freedom of rotation can advantageously be combined with a variation of the immersion depth.
  • this additional step d) can be carried out similarly to the already described step c) simultaneously or alternately with the translation in step a).
  • Steps b), c) and / or d) can in principle be carried out either all simultaneously with one another or at least partially sequentially.
  • the speed and / or the direction of the horizontal movement or the horizontal movement component of the drone can also be changed (either within step d) or in a further optional step. This, too, can advantageously enable an even more precise simulation of a predetermined magnetic profile at a specific location.
  • the at least one magnetic element of the drone can be a permanent magnet.
  • a permanent magnetic drone has a comparatively low expenditure on equipment, so that it is easy to manufacture and simple to operate. It is also comparatively robust.
  • the at least one magnetic element of the drone can be an electrical coil element.
  • the electrical coil element can be, for example, either a normally conductive or a superconducting coil element. When using a superconducting coil element, particularly high magnetic flux densities can be generated with a comparatively small overall size.
  • first embodiment with at least one permanent magnet and the second embodiment with at least one electrical coil element so that several different magnetic elements are present next to one another.
  • these can be designed to form a magnetic field whose number of poles is advantageously between 2 and 16.
  • the method can generally advantageously include the following additional step: e) a temporal change in an operating current of the electrical coil element.
  • the magnetic flux density at a given target location can also be influenced in a particularly simple manner.
  • this additional step e), similar to steps b), c) and d) described above, can be performed simultaneously or alternately the translation in step a).
  • Steps b), c), d) and / or e) can - if available - in principle either all be carried out simultaneously with one another or at least partially sequentially.
  • the at least one drone can be a self-propelled drone in a particularly advantageous manner.
  • a general advantage of a self-propelled drone is that no additional separate mother ship is required, which would be endangered if a sea mine were to detonate. In this way, the risks for the mother ship and its crew are advantageously avoided.
  • the drone can have an electric drive.
  • the drone can include an electric motor which, for example, can drive a drive screw of the drone.
  • the at least one magnetic element used to trigger mines can advantageously simultaneously be a magnetic element of an excitation device of the electric motor, similar to that described in DE102016203341A1 and in the as yet unpublished German application with the file number 102018 217 211.0. It is generally particularly advantageous here if the electric motor has a correspondingly low magnetic shield.
  • the order of the steps described can be designed differently.
  • the two steps a) and b) can take place simultaneously. This is to be understood as meaning that the two steps mentioned at least partially overlap in time. So they do not necessarily have to have exactly the same duration.
  • step a) lasts over a longer period of time t a and step b) is carried out within the period of time t a in one or more individual and comparatively shorter time intervals t b .
  • the individual time intervals t b can in principle either be of the same length or of different lengths.
  • step b) takes place while step a) continues, that is, while the drone is being moved.
  • Step b) is preferably carried out several times in succession during this movement.
  • a controlled simulation of the desired magnetic signature can take place while the drone is moving and thus while it is changing position.
  • An advantage of this first variant is that the time for the drone to move can also be used for the targeted variation of the magnetic field generated in the environment. Thus, a given extensive spatial area can be traveled by the mine clearing system in a comparatively short total time and nevertheless be freed from active sea mines in a particularly reliable manner.
  • the two steps a) and b) can also take place one after the other.
  • both steps can each be carried out several times in repeated alternation of the sequence.
  • the drone can alternately be moved a little translationally in order to then effect a targeted reproduction of the predetermined magnetic profile at the position reached by means of the at least one rotary movement.
  • These two steps a) and b) can each be carried out alternately a large number of times in succession in order to reliably raster over a spatially extensive area and to free it from sea mines.
  • An advantage of this second embodiment variant can be that by decoupling horizontal movement and targeted modulation of the magnetic field generated in the environment, a particularly accurate simulation of a given magnetic profile can be carried out at a given fixed target location.
  • step b) is carried out several times in succession, the drone being in a different position during each execution of step b) when projected onto the surface of the water.
  • Step b) can in particular be repeated in a periodically recurring sequence.
  • the duration of the individual time intervals t b for step b) can be partly in a range between 1 second and 3 minutes, particularly preferably between 10 seconds and 3 minutes. Such a time interval is sufficient to create a predetermined magnetic signature at at least one target location and in particular also at several target locations in a given position of the drone to emulate the surroundings of this position.
  • the mine clearance system can advantageously also include a plurality of drones for triggering sea mines. So it can also be provided within the scope of this invention that several such drones are linked together like a chain and travel together through the sea. Due to the advantages of the invention described above, however, the number of individual drones and / or the spatial expansion of the chain can be reduced compared to the prior art, although a predetermined magnetic profile can still be simulated with sufficient accuracy.
  • all these individual drones have the features described above. So all single drones can expediently have at least one magnetic element for the magnetic triggering of sea mines.
  • the translatory locomotion according to step a) is advantageously coupled for the individual drones in the chain. However, a certain translational relative movement of the individual drones is not excluded, since this also enables a particularly precise replication of a given magnetic profile to be achieved.
  • the rotary movement according to step b) must be implemented for at least one of the drones in the chain. However, it is particularly advantageous if all of the drones in the chain carry out such a rotary movement according to step b). This rotary movement can in principle either be synchronized for all drones in the chain or else take place independently of one another. If the individual drones perform different rotary movements separately, a Particularly accurate replication of a given complex magnetic profile can be achieved.
  • the at least one drone can be a self-propelled drone. Regardless of whether this drone is self-propelled or whether it is moved passively, the control element for effecting the first rotational movement can in principle be either an active or a passive control element. It is particularly advantageous if the at least one drone has its own drive element which can drive both the translational movement of the drone and the rotational movement of the drone.
  • an additional passive control element for example a rudder or a flap, can optionally be present.
  • there can also be an additional active control element for the rotary movement for example a separate motor.
  • the at least one control element can be, for example, a rudder, a flap or a motor.
  • the motor can particularly advantageously be a separate motor which is provided in addition to a translatory drive motor of the drone. In particular, this can be a separate electric motor. It can, for example, be arranged axially in the vicinity of the drone's center of gravity, where it can trigger a rolling movement particularly effectively.
  • the drone can be designed in such a way that in an area outside the drone (but close to its housing) a magnetic flux density of at least 5 mT, in particular at least 50 mT or even at least 500 mT can be achieved.
  • an outer wall of the drone can be made of non-magnetic material.
  • an amagnetic material should generally be understood to mean a material with a relative permeability m G of at most 300.
  • the at least one drone can generally advantageously also include a further trigger system for acoustic and / or electrical triggering of sea mines.
  • this can in turn comprise several drones for triggering the sea mines.
  • Figure 1 shows a schematic representation of a magnetic signature to be reproduced on a ship
  • Figure 2 shows a schematic sectional view of a mine clearing system according to a first embodiment of the invention
  • Figure 3 shows a rectangular coil
  • FIG. 4 shows a spatial profile for a magnetic flux density formed with the rectangular coil of FIG. 3,
  • FIG. 5 shows the dependence of the magnetic flux density on the distance to the coil center for different spatial directions
  • FIG. 6 shows the dependence of various components of the magnetic flux density on the angle of rotation for a magnetic quadrupole
  • FIG. 7 shows a schematic representation of a mine clearance system according to a second example of the invention.
  • FIG. 1 a schematic representation of a magnetic signature 1 of a ship is shown, which has a longitudinal extension in the range of about 200 m.
  • This magnetic signature should be reproduced as accurately as possible by a mine clearance system in order to simulate a modern complex sea mine that a corresponding ship is passing by and thus trigger the sea mine.
  • Figure 1 shows the dependence of the magnitude of the magnetic flux density B on the position of an observation point, e.g. below the ship.
  • the horizontal distance d of the observation point from the center of gravity of the ship is shown in meters on the abscissa.
  • FIG. 1 only shows the magnitude of the magnetic flux density.
  • a magnetic signature is generally understood to mean the dependence of the magnetic flux density on a location coordinate, as shown in FIG.
  • a sea mine if a sea mine is not spatially extended, it cannot measure the detected magnetic parameters as a function of location, but only as a function of time.
  • This time dependency is calculated from the location dependency of a magnetic parameter shown in FIG. 1 in combination with the speed of the passing ship and the (shortest) distance in which the ship passes the stationary sea mine.
  • a time-dependent magnetic profile which results as a function of the magnetic signature sketched in FIG. 1, is actually measured by the sea mine.
  • the task of a mine clearance system is therefore to simulate the corresponding time-dependent magnetic profile of such a passing ship as well as possible, ideally not only for the amount of magnetic flux density B shown in Figure 1, but also for one or more directional components at the same time. This can result in complex characteristic patterns for certain predetermined types of ship.
  • FIG. 2 shows a schematic partial perspective sectional illustration of a mine clearance system 21 according to a first example of the invention.
  • this mine clearing system 21 comprises only a single drone 22, which dives here in the water 20 and below the water surface 29 with a diving depth T.
  • a use floating on the water surface is also possible.
  • the drone 21 has a central longitudinal axis A and moves along a travel direction v, which here coincides with the longitudinal axis A.
  • the drone 22 is a self-propelled drone, which can move itself in the water by means of an electric motor 23 and a drive screw 24 mechanically coupled therewith and does not have to be towed by a mother ship. Alternatively, however, a version with only a passive towing drive is also conceivable.
  • the drone 22 is designed to generate a time-dependent magnetic profile at a target location 26 which corresponds exactly to the magnetic profile that a ship passing at a typical speed would generate with a predetermined magnetic signature. In other words, the magnetic signature of a known type of ship is to be simulated in order to detonate a sea mine positioned at the target location 26.
  • the drone 23 is equipped with at least one magnetic element.
  • This drone has, on the one hand, several coil elements 27a, which are used as excitation coils of the electric motor 23. These coil elements 27a, however, fulfill a double function and at the same time serve to contribute to the generation of the desired magnetic profile at the target location 26.
  • white direct coil elements 27b are shown, which also participate in generating the desired magnetic profile, but are not part of the electric motor.
  • One or more of the two coil types 27a and 27b can be present in such a drone.
  • the drone 22 also has a permanent magnet 28, which is here, for example, as a ring-shaped disc magnet is Darge.
  • a permanent magnet 28 can ever be present in the drone in any form and also in any number.
  • Such permanent magnets can also contribute to the generation of the desired magnetic profile.
  • the arrangement of the individual different types of magnetic elements 27a, 27b and 28 within a Droh ne is to be understood here only as an example. Although several such elements can be arranged within a drone, it is generally sufficient if the drone comprises at least one magnetic element in order to cause a magnetic triggering of a sea mine.
  • the current direction of travel v of the drone is coaxial with the longitudinal axis A.
  • the translational movement of the drone can also have other directional components.
  • the direction of travel device v is slightly inclined in the coordinate system shown (with the Cartesian direction coordinates x, y and z).
  • the direction of travel v has a relatively large horizontal directional component within the xy plane, which is parallel to the water surface. However, it also has a slight component in the z-direction, which here corresponds to a slight sinking of the drone.
  • the drone In addition to this translational movement, the drone also performs at least one rotary movement with respect to at least one degree of rotational freedom.
  • the three independent degrees of freedom of rotation of the drone are indicated in FIG. 2 by the arrows r1, r2 and r3.
  • the degree of freedom of rotation rl corresponds to rolling or heeling of the drone
  • the degree of freedom of rotation r2 corresponds to pitching or trimming
  • the degree of freedom of rotation r3 corresponds to yawing or turning.
  • a complex Drehbe movement can also take place, in which the drone is rotated by several of the stated degrees of freedom of rotation.
  • the described rotation of the drone modulates the density of the magnetic flux generated at a certain point in time at the target location 26.
  • the rotary movement can thus be used to simulate as precisely as possible the time-dependent magnetic profile at the target location 26, which is intended to correspond to the magnetic signature of a passing ship.
  • the described rotary movement can optionally vary with a variation of the immersion depth T and / or with a change in the operating current of a coil element 27a or 28a and / or with a variation in the direction of travel v and / or speed can be combined.
  • it is particularly effective if at least the described rotary movement is carried out several times in succession while the drone 22 is traveling through the water. It can thus be achieved that a desired magnetic profile is simulated one after the other at different target locations 26. This applies regardless of whether the executed Drehbe movement is carried out simultaneously with the translational forward movement or alternately with the translational forward movement of the drone.
  • the rotational movement of the drone is at least one rotational movement with respect to the first degree of freedom of rotation rl, in other words if it includes rolling or heeling of the drone.
  • the drone 22 of FIG. 2 is provided with a control element 25.
  • This can either be an active control element (for example an electric motor) or a passive control element (for example a rudder or a flap).
  • Corresponding further control elements can also be provided for the rotary movement with respect to the other degrees of freedom of rotation r2 and / or r3.
  • the mine release by the mine clearance system 21 described is particularly effective if a comparatively high magnetic flux density compared to the rest of the environment of the drone is generated at the target location 26, this target location 26 still being in front of the drone as seen in the direction of travel v. It can particularly preferably lie in front of the drone, as shown in the direction of travel shown in FIG.
  • the desired magnetic profile can be projected in advance at this target location and sea mines located at the target location can be detonated at a certain distance from the drone passing by, which reduces the risk of damage to the drone during the detonation.
  • FIGS. 3 to 6 are intended to illustrate how the described rotary movement of the drone helps to vary the magnetic field generated at a target 26 by means of the at least one magnetic element.
  • FIG. 3 an approximately square rectangular coil 31 is shown, such as can be used, for example, as a coil element 27a or 27b in the drone of FIG.
  • the Cartesian coordinate directions x, y and z shown in FIG. 3 represent only a local coordinate system and should not necessarily correspond to the spatial directions shown in FIG.
  • the local coordinate system used is retained in FIGS. 4 and 5 below.
  • FIG. 4 shows the simulated spatial profile of the magnetic flux density B formed with the rectangular coil 31 of FIG. 3 for a given constant current flow. Shown are the curves for the magnitude of the magnetic flux density, which result from the center Z outwards for three different surface sections: a square section of the xy plane, a square section of the xz plane and a square section of the yz plane, each with an edge length which corresponds to a multiple of the coil diameter.
  • the corresponding area sections are subdivided into areas of similar magnetic flux density by hatching, the subdivision into the value areas being selected according to a logarithmic scale.
  • the end points of the value ranges are given in arbitrary units, with the numerical values only intended to make it clear that a logarithmic scale was used.
  • the amount of the magnetic flux density B formed depends strongly on the spatial orientation of the observation point.
  • a significant modulation of the output at an external target location can be achieved.
  • generated magnetic flux density can be achieved.
  • This modulation is particularly strong when the rotary movement takes place around an axis of rotation which includes an angle other than zero with the polar axis P.
  • the field distribution in the environment changes particularly strongly if the magnetic pole axis P itself is tilted during the rotation.
  • FIG. 5 the dependence of the magnetic flux density B formed by the rectangular coil 31 of FIG. 3 on the distance d from the coil center M is shown.
  • This dependency is shown for different spatial directions:
  • the curve Bx shows the distance dependency for different positions along the x-axis.
  • the curve Bw shows the distance dependency along the diagonal direction (within the xz plane), which is denoted by w in FIG.
  • the values for the magnitude of the magnetic flux density B are again given in arbitrary units on a logarithmic scale.
  • the values for the distance d are given in multiples of the coil diameter.
  • the conspicuous peaks of the two curves By and Bw mark the locations of the current-carrying conductors.
  • FIG. 6 shows the dependence of various components of the magnetic flux density on the rotation angle 63 for a magnetic quadrupole, which can be implemented, for example, by a symmetrical arrangement of four electrical coil elements.
  • FIG. 6 shows the dependence of various components of the magnetic flux density on the rotation angle 63 for a magnetic quadrupole, which can be implemented, for example, by a symmetrical arrangement of four electrical coil elements.
  • the directional components 62 of the magnetic flux density vary during a corresponding revolution.
  • the values for the directional components 62 are given in arbitrary units.
  • the curve Br denotes the course of the local radial directional component
  • the curve Bt shows the course of the local tangential directional component. Seen over half a rotation of 180 °, strong modulations with two zero crossings each result for both curves.
  • a strong modulation can be achieved both for the magnitude of the magnetic flux density and for the individual directional components.
  • a predefined complex profile of the individual whilskom components can be simulated.
  • FIG. 7 shows a schematic representation of a mine clearance system 21 according to a further example of the invention.
  • the mine clearance system shown here has a guidance drone 22 which, for example, can be constructed similarly to the drone 22 in FIG.
  • this guide drone 22 can be a self-propelled drone and can execute translational movements and rotary movements similar to those of the drone in FIG.
  • the mine clearing system 21 of FIG. 7 has two further drones 71, which are connected to the guide drone 22 by a tow rope 72.
  • This multi-part mine clearance system is also designed overall for the formation of a predefined magnetic profile at a target location 26.
  • each of the drones 22 and 72 has at least one magnetic element.
  • the two rear drones 71 are also designed to carry out rotary movements independently of one another with respect to at least one degree of rotational freedom. With this plurality of rotatable drones 22 and 72, the desired magnetic profile at the target location 26 can be modulated even more accurately.
  • the outlay on equipment in particular the number of drones and / or the spatial expansion of the chain) can advantageously be kept lower than in the prior art by utilizing the rotational movements.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

La présente invention concerne un procédé pour faire fonctionner un système de dragage de mines (21) : le système de dragage de mine (21) comprend au moins un drone (22) pour la détonation de mines marines ; le drone (22) comprend au moins un élément magnétique (27a, 27b, 28) pour la détonation magnétique des mines marines ; le procédé comprenant les étapes suivantes : a) déplacement en translation dudit au moins un drone (22) dans l'eau et b) réalisation d'un premier mouvement de rotation du drone (22) par rapport à un premier degré de liberté de rotation (r1). L'invention concerne également un système de dragage de mines marines (21) correspondant.
PCT/EP2020/067826 2019-08-13 2020-06-25 Procédé de fonctionnement d'un système de dragage de mines et système de dragage de mines pour la détonation de mines marines WO2021028105A1 (fr)

Priority Applications (2)

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US17/633,078 US20220332397A1 (en) 2019-08-13 2020-06-25 Operating method for a mine-sweeping system, and mine-sweeping system for detonating sea mines
AU2020331545A AU2020331545A1 (en) 2019-08-13 2020-06-25 Operating method for a mine-sweeping system, and mine-sweeping system for detonating sea mines

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DE102019212105.5 2019-08-13
DE102019212105.5A DE102019212105A1 (de) 2019-08-13 2019-08-13 Betriebsverfahren für ein Minenräumsystem und Minenräumsystem zur Auslösung von Seeminen

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AU (1) AU2020331545A1 (fr)
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DE102020208027A1 (de) 2020-06-29 2021-12-30 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen mit elektrischer Antriebseinrichtung

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EP0475834B1 (fr) 1990-09-11 1994-12-21 Thomson-Csf Système de dragage magnétique
DE102016203341A1 (de) 2016-03-01 2017-09-07 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen
WO2019020347A1 (fr) * 2017-07-27 2019-01-31 Siemens Aktiengesellschaft Dispositif de compensation magnétique pour drone
DE102018217211A1 (de) 2018-10-09 2020-04-09 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen mit elektrischem Antrieb

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IT1402411B1 (it) * 2010-10-22 2013-09-04 Eni Spa Veicolo subacqueo autonomo per l'acquisizione di dati geofisici.
DE102010051491A1 (de) * 2010-11-15 2012-05-16 Atlas Elektronik Gmbh Unterwasserfahrzeug und Unterwassersystem mit einem Unterwasserfahrzeug
IL228660B (en) * 2013-10-01 2020-08-31 Elta Systems Ltd Underwater system and method therefor
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DE3316005A1 (de) * 1983-05-03 1984-11-08 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Anordnung zur fernraeumung von auf magnetfelder empfindliche minen
EP0475834B1 (fr) 1990-09-11 1994-12-21 Thomson-Csf Système de dragage magnétique
DE102016203341A1 (de) 2016-03-01 2017-09-07 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen
WO2019020347A1 (fr) * 2017-07-27 2019-01-31 Siemens Aktiengesellschaft Dispositif de compensation magnétique pour drone
DE102018217211A1 (de) 2018-10-09 2020-04-09 Siemens Aktiengesellschaft Drohne zur Auslösung von Seeminen mit elektrischem Antrieb

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DE102019212105A1 (de) 2021-02-18
AU2020331545A1 (en) 2022-02-03

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