WO2022248495A1 - Système de leurrage massique à commande de trajectoire - Google Patents
Système de leurrage massique à commande de trajectoire Download PDFInfo
- Publication number
- WO2022248495A1 WO2022248495A1 PCT/EP2022/064099 EP2022064099W WO2022248495A1 WO 2022248495 A1 WO2022248495 A1 WO 2022248495A1 EP 2022064099 W EP2022064099 W EP 2022064099W WO 2022248495 A1 WO2022248495 A1 WO 2022248495A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- decoy system
- vehicle
- mass
- follower vehicle
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract description 16
- 239000002360 explosive Substances 0.000 description 12
- 230000009471 action Effects 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 5
- 238000004880 explosion Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- F41H11/30—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with rollers creating a surface load on the ground, e.g. steadily increasing surface load, for triggering purposes
-
- 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
Definitions
- the invention relates to the field of defense devices intended to protect a vehicle against dangers present in the ground, in particular explosive devices.
- the invention relates more particularly to a mass decoy system, that is to say a system intended to be coupled to a vehicle to be protected and adapted to exert pressure on the ground, in front of the vehicle, in order to trigger any explosive devices present in the path of the vehicle to be protected.
- Mass decoy systems generally comprise a frame coupled to the front of a vehicle to be protected and fitted with a set of wheels to exert pressure on the ground.
- IEDs improvised explosive devices
- any type of explosive device triggered by the passage of a vehicle constitute a threat to vehicles traveling on routes where these explosive devices could be located.
- Mass decoy systems are ways to guard against this threat. Mass decoy systems are generally placed at the front of a follower vehicle to be protected, and are most often equipped with wheels whose passage over the sensors causes the explosive device to be triggered.
- the wheels of the mass decoy system are responsible for activating the explosive devices and must be placed as far forward as possible to remove the following vehicle as much as possible from the place where the explosion of the decoy device occurs.
- the patent application EP2327951 proposes another mode of controlling the steering of the mass decoy system. It uses the deflection angle (yaw) of the rollers of the system relative to its structure to control the deflection of the structure of the mass decoy system relative to the following vehicle. This solution may have advantages in certain situations, but does not change the disadvantage described above.
- the object of the invention is to improve the mass decoy means of the prior art.
- the invention relates to a method for piloting a convoy comprising a follower vehicle to be protected and a mass decoy system, this method comprising the following steps:
- the mass decoy system defining a path secured by the passage of at least one undercarriage adapted to exert pressure on the ground;
- the invention relates to a mass decoy system intended for the protection of a following vehicle, this mass decoy system comprising at least one running gear adapted to exert pressure on the ground so as to define a safe lane , this mass decoy system comprising:
- the yaw direction control means of the mass decoy system are adapted to direct the mass decoy system according to a route to be followed.
- the invention relates to a convoy comprising a follower vehicle to be protected and a mass decoy system as described above.
- the yaw steering control means of the mass decoy system comprise a steering computer adapted to control the yaw steering control of the mass decoy system as a function of a route to be followed.
- wheel is to be considered here in its broadest sense and includes wheels, tracked wheels, mechanical devices allowing rolling, etc.
- the invention firstly guarantees an exact correspondence between the path followed by the mass decoy system, which defines a secure path, and the trajectory of the following vehicle to be protected.
- the following vehicle is thus guaranteed to travel exclusively in the lane secured by the mass decoy system, regardless of the complexity of the trajectory and independently of the bends and their sequences.
- the trajectory of the convoy is given by the direction of the mass decoy system, and the vehicle is piloted to fit into the secure lane, so that there are no unsecured areas where the presence of an explosive device was not deceived.
- the distance between the mass decoy system and the following vehicle can therefore be maximized to increase safety, without degrading decoy performance.
- the width of the undercarriages of the mass decoy system can also be reduced, to be more adjusted to the width of the wheels of the following vehicle, because the trajectory of the wheels of the following vehicle is part of the safe lane.
- the invention also makes it possible to release part of the vigilance of the driver, compared to the vigilance required by most systems of the prior art in which the driver may have to manage multiple positioning commands relating to the following vehicle that it leads, but also to the mass decoy system itself, as well as to the means of articulation between the follower vehicle and the mass decoy system.
- the invention allows the driver to concentrate solely on piloting an element.
- the invention is also easily adaptable to existing vehicles, at least in some of its configurations, and thus makes it possible to produce mass decoy systems that can be adapted to existing vehicles. Updating existing fleets of vehicles, at a lower cost and with simplified logistics in the field, is essential in military applications.
- the invention also lends itself to partial or total automation, easily and at low cost.
- mass decoy systems are generally controlled in their yaw trajectory using means such as:
- the method according to the invention may comprise the following additional characteristics, alone or in combination:
- the step of piloting a yaw steering command of the mass decoy system is carried out by a steering computer determining said route to be followed;
- the yaw steering control of the mass decoy system is performed by a steering actuator connected to the steering computer;
- the steering computer determines the route to follow from an element of the environment
- said element of the environment is the configuration of a path
- said element of the environment is a line drawn on the ground
- the step of driving the following vehicle is carried out by a driver of the following vehicle;
- the step of controlling the follower vehicle includes a step of yaw direction control of the follower vehicle carried out by a steering actuator of the follower vehicle, this steering actuator being controlled by a steering computer adapted to control the trajectory of the follower vehicle so that the wheels of the following vehicle fall within the secure path defined by the mass decoy system;
- the steering computer is connected to at least one environment sensor of the following vehicle;
- the step of controlling a yaw direction control of the mass decoy system is carried out from the following vehicle by a driver of the following vehicle;
- the step of steering the following vehicle includes a step of controlling the yaw steering of the following vehicle carried out by a steering actuator of the following vehicle, controlled by a steering computer adapted to drive the trajectory of the following vehicle so that the wheels of the following vehicle fall within the safe lane defined by the mass decoy system.
- the convoy according to the invention may comprise the following additional characteristics, alone or in combination:
- the direction computer is adapted to determine the route to follow from an element of the environment
- the mass decoy system includes at least one environment sensor connected to the steering computer;
- the environment sensor is adapted to determine the configuration of a path
- the environment sensor is adapted to identify a line drawn on the ground
- the follower vehicle comprises manual steering control means adapted to control a yaw direction of the follower vehicle by a driver of the follower vehicle;
- the follower vehicle comprises a steering actuator controlled by a steering computer adapted to control the trajectory of the follower vehicle so that the wheels of the follower vehicle fall within the secure lane defined by the mass decoy system;
- the follower vehicle comprises at least one environment sensor connected to the steering computer;
- the yaw steering control means of the mass decoy system comprise a steering actuator adapted to control from the follower vehicle the yaw direction of the mass decoy system;
- the follower vehicle comprises manual control means of said steering actuator of the mass decoy system;
- the following vehicle comprises a steering actuator controlled by a steering computer adapted to control the trajectory of the following vehicle so that the wheels of the following vehicle fall within the secure lane defined by the mass decoy system;
- the follower vehicle comprises: a first steering wheel constituting the manual control means of said steering actuator of the mass decoy system; a second steering wheel adapted to take control of the following vehicle's steering actuator.
- FIG. 1 is a schematic top view of a mass decoy convoy
- - Figure 2 is a view of the convoy of Figure 1 according to a first variant
- FIG. 3 is a view of the convoy of Figure 1 according to a second variant
- FIG. 4 illustrates a convoy according to a first embodiment of the invention
- FIG. 5 illustrates a variant of the convoy of Figure 4;
- FIG. 6 illustrates a convoy according to a second embodiment of the invention
- FIG. 7 illustrates a convoy according to a third embodiment of the invention
- Figure 1 illustrates an example of the general structure of a convoy 1 with mass decoy.
- This convoy 1 consists of a follower vehicle 2 comprising four wheels in this example, the two front wheels 3 being steering wheels.
- This follower vehicle 2 is intended to be protected from dangers concealed on the ground, within the framework of the application of the invention.
- convoy 1 comprises a mass decoy system 4 coupled to the front of follower vehicle 2.
- the mass decoy system 4 comprises rolling means for exerting pressure on the ground in front of the following vehicle 2 so as to trigger any explosive devices encountered, thus preserving the following vehicle 2 from the explosion.
- the distance between the rolling means exerting pressure on the ground and the front of the following vehicle 2 must therefore be large enough for the following vehicle 2 to be sufficiently far away at the time of the explosion. According to the invention, this distance does not penalize the decoy performance and can therefore be maximized.
- the rolling means for exerting pressure on the ground consist of two running gears 5 each comprising two wheels 6.
- the mass decoy system 4 further comprises a frame 7 on which are articulated running gear 5 each by a pivot 8 of vertical axis, allowing pivoting of the wheels of the running gear 5 in yaw.
- the chassis 7 is connected to the follower vehicle 2 by a pivot 9 with a vertical axis, allowing the chassis 7 to pivot yaw.
- the wheels 6 of the undercarriages 5 have sufficient weight for their pressure on the ground to be compatible with the desired function of triggering an explosive device, and are mounted on suspensions possibly comprising known pressure equalizers.
- Figures 2 and 3 illustrate the general architecture of convoy 1 of figure 1 according to two variants relating to the yaw steering control of the mass decoy system 4.
- FIG. 2 illustrates a first variant in which the yaw steering control of the mass decoy system 4 is made by controlling the pivoting of the frame 7 with respect to the following vehicle 2, thanks to one or more steering actuators 10.
- the steering actuators direction 10 make it possible to pivot the frame 7 around the pivot 9.
- the direction actuators 10 can be, for example, hydraulic or electric cylinders.
- the pivot 8 is a free pivot, that is to say it gives the running gear 5 a behavior of idler wheels in yaw.
- the undercarriages 5 can pivot freely in yaw (within the limit of their permitted angular amplitude) and thus naturally follow the pivoting movements of the frame 7.
- the turn maneuvers of the convoy 1 are executed by pivoting the frame 7 around the pivot 9 thanks to the steering actuators 10, the running gear 5 orienting itself, then the wheels 3 of the follower vehicle 2 are controlled in rotation in yaw to enter the lane secured by running gear 5.
- FIG. 3 is a view similar to FIG. 2 in which the convoy 1 also negotiates a bend, for a second yaw direction control variant of the mass decoy system.
- the yaw direction of the mass decoy system 4 is controlled by one or more actuators of direction 11 (such as hydraulic or electric cylinders) adapted to control the angular position in yaw of the running gear 5 relative to the frame 7.
- the pivot 9 is free, that is to say that the frame 7 can freely rotate with respect to the follower vehicle 2, within the angular amplitude which is allowed to it.
- the yaw direction of the following vehicle 2 is controlled in the same way as for the variant of Figure 2, while the direction of the mass decoy system 4 is previously controlled by controlling the steering actuators 11 which rotate the undercarriages 5 in yaw and thus take the frame 7 in a steering direction.
- the invention applies to the two variants of direction control of the mass decoy system 4 of FIGS. 2 and 3, given here as an example, as well as to any other means of controlling the mass decoy system 4 in yaw, in particular a combination of the two variants shown.
- convoy 1 and mass decoy system 4 are described in detail with reference to Figures 4 to 8.
- the mass decoy system 4 behaves like an autonomous vehicle and, as regards its steering in yaw, it follows its own route in total or partial autonomy.
- the driver of the follower vehicle 2 only drives his vehicle by ensuring that the follower vehicle 2 follows the path secured by the mass decoy system 4. More precisely, the driver ensures that the wheels of the follower vehicle 2 fall within the lane secured by the mass decoy system 4.
- the secured lane extends along two bands 23, 24 corresponding to the trajectory of the two undercarriages 5, the right wheels of the follower vehicle 2 being part of the band 23, and the left wheels of the following vehicle being part of the other band 24.
- the driver of the follower vehicle 2 thus controls the advance (acceleration, speed, braking) of the follower vehicle 2, and therefore the advance of the entire convoy 1, and the mass decoy system 4 controls its yaw direction, and therefore the yaw direction of the entire convoy 1.
- the role of the driver of the following vehicle 2, as regards the yaw control, is reduced to following the strips 23, 24.
- the mass decoy system 4 comprises yaw control means corresponding to the variant of FIG. 2.
- the mass decoy system 4 comprises a steering computer 12 adapted to collect information on the environment of the mass decoy system 4 to determine the route to follow.
- This steering computer 12 controls the steering actuators 10 to act on the yaw direction taken by the mass decoy system 4.
- the steering computer 12 is also connected to environment sensors 13 fixed to the chassis 7 and making it possible to apprehend one or more parameters of the external environment, in order to allow the steering computer 12 to determine the route to be followed.
- any solution currently known in the field of autonomous vehicles can be implemented to thus allow the steering computer 12 to direct the mass decoy system 4 based on information from the environment sensors 13.
- the environment sensors 13 make it possible to discern the configuration of a path by detecting the edge 16 of a defined road (this edge 16 being able to be materialized by barriers, hedges, etc.).
- These environment sensors 13 can be optical sensors, infrared, ultrasonic, laser, radar, lidar, etc. sensors.
- the environment sensors 13 and the associated signal processing can consist of any means known from the state of the art in autonomous vehicles or robots.
- the environment sensors 13 can be adapted to follow a route previously drawn on the ground, for example by a line of paint deposited beforehand, or by visual or radio pickets.
- This arrangement can of course be supplemented by any other element known in the field of fall vehicles, such as positioning and navigation software, etc.
- the mass decoy system 4 for the autonomous piloting of its yaw direction. While the mass decoy system 4 is arranged as an autonomous vehicle (except that it is coupled to the follower vehicle 2), the follower vehicle 2 remains a conventional vehicle with yaw steering means available to the driver.
- the following vehicle comprises for example a conventional steering device 14, consisting for example of a steering rack controlled by a steering wheel 15, and acting on the steering angle of the steered wheels 3.
- This embodiment is particularly advantageous in the case of re-equipping a fleet of existing vehicles with a view to updating them.
- the follower vehicles 2 do not require any modification, simply the adaptation of a new mass decoy system 4 according to the invention.
- the follower vehicle 2 does not undergo any modification, its use is significantly different from the prior art. The driver actually drives the follower vehicle 2 while being relieved of the choice of the route to follow.
- the driver of the following vehicle 2 therefore acts on the steering wheel 15 only to steer his vehicle so that its wheels enter the secure lane 23, 24 defined by the mass decoy system 4.
- the driver of the follower vehicle 2 acts on the steering wheel 15 only to put the wheels of his vehicle 2 in the tracks of the running gears 5 of the mass decoy system 4.
- the driver of the following vehicle 2 is thus discharged both from the management of the mass decoy system 4, as well as from the management of the route to be followed.
- FIG. 5 illustrates the same embodiment as FIG. 4, but for the yaw steering control variant of the mass decoy system 4 corresponding to FIG. 3.
- the steering computer 12 still connected to the environment sensors 13, acts here on the steering actuators 11 which modify the steering angle of the running gear 5.
- the mass decoy system 4 also follows its route like an autonomous vehicle, in the same way as for the variant of FIG. 4, with the same possibilities. Only the manner of controlling the yaw direction of the mass decoy system 4 varies.
- the driver of the following vehicle 2 acts on the steering wheel 15 as described above, to put the wheels of the following vehicle 2 in the tracks of the running gear 5.
- FIG. 6 illustrates a second embodiment in which the mass decoy system 4 behaves like an autonomous vehicle in the same way as for the first embodiment, thanks to its steering computer 12 connected to the environment sensors 13 and to the actuators 10 to control the direction of the mass decoy system 4 in yaw.
- the following vehicle 2 further comprises a steering computer 17 controlling a steering actuator 18 for the following vehicle 2.
- the steering computer 17 can thus control the yaw direction of the following vehicle 2.
- the piloting of the follower vehicle 2 is carried out so that its trajectory is contained in the path secured by the mass decoy system 4. This piloting is then carried out, as regards the yaw direction, without the intervention of the driver of the following vehicle 2.
- the steering computer 17 of the vehicle 2 can be connected to the steering computer 12 of the mass decoy system 4, for the transmission of trajectory information.
- the steering computer 17 can also benefit from any arrangement known in the field of autonomous vehicles to be able to follow to the follower vehicle 2 a trajectory falling within the lane secured by the mass decoy system 4, so that the steering angle of the steered wheels 3 cause the latter to fit into the bands 23, 24 of the secured lane .
- the steering computer 17 can also be connected to its own environmental sensors 19 mounted on the follower vehicle 2, and to any other element allowing its autonomy (as regards yaw steering).
- the driver of the following vehicle 2 only manages the advance of the vehicle (acceleration, speed, braking). His attention is freed even more for other observations relating to the current mission.
- the steering wheel 15 is however always available to the driver of the following vehicle 2, who can act at any time and take control of the steering computer 17 of the following vehicle 2, if necessary.
- the steering computer 17 is for example connected to a sensor detecting the action on the steering wheel, and triggers a stoppage of the automatic control of the steering of the vehicle, to leave yaw driving again to the driver of the following vehicle 2.
- This second embodiment can of course also be implemented with the control variant of the yaw direction of the mass decoy system 4 corresponding to FIG. 3, as for the first embodiment.
- Figure 7 illustrates a third embodiment of the invention in which the driver of the follower vehicle 2 directly controls the yaw direction of the mass decoy system 4.
- figure 7 relates to the steering variant of the mass decoy system 4 corresponding to figure 3.
- the mass decoy system 4 is simplified and its piloting is not automated.
- the following vehicle 2 comprises a steering wheel 20 acting directly on the steering actuators 11 of the mass decoy system 4.
- the steering wheel 20 can for example be connected by flexible hydraulic actuators 11 consist of cylinders and thus remotely control these cylinders. Any variant for the remote control of the steering actuators 11 from the follower vehicle 2 can be envisaged (cable transmission, electrical transmission, electromechanical, etc.).
- the follower vehicle 2 also includes a steering computer 17 adapted to control the yaw direction of the follower vehicle 2 by action on the steering actuator 18.
- the steering computer 17 is responsible for steering the direction of the following vehicle 2 so that the trajectory of the following vehicle 2 falls within the secure path opened by the mass decoy system 4.
- the steering computer 17 is thus connected by example to sensors relating to the handling of the steering wheel 20 or to the actuation of the actuators 11, or for example to sensors representative of the position of the chassis 7 relative to the following vehicle 2, or any other element allowing the steering computer 17 to know the trajectory of the mass decoy system 4 and in particular of its running gear 5.
- the steering computer 17 controls the direction of the following vehicle 2 so that its wheels follow a trajectory falling within the secure lane by the mass decoy system 4.
- the driver of the following vehicle 2 therefore controls the trajectory of the convoy 1 as a whole by acting on the yaw control of the mass decoy system 4, and manages the advance of the convoy 1 as a whole by acting on the advance (acceleration, speed, braking) of the following vehicle 2.
- This third embodiment can of course also be implemented with the control variant of the yaw direction of the mass decoy system 4 corresponding to FIG. 2.
- FIG. 8 illustrates an exemplary embodiment of the driving means of the follower vehicle 2 for the third embodiment of FIG. 7.
- the driver of the follower vehicle 2 has, according to this example, two steering wheels 15, 20 mounted concentrically but independent of one another in his driving position.
- the driver of the following vehicle 2 drives the vehicle in a conventional manner with the steering wheel 15 (the steering actuator 18 18 and the steering computer 17 being deactivated).
- the mass decoy system is activated and the driver of the follower vehicle 2 controls the yaw direction of the mass decoy system 4 by acting on the steering wheel 20, while the steering computer 17 takes charge to drive the steering actuator 18 (which here is a rotary actuator) meshed on the steering column 21, and therefore acting the steering rack 22.
- the steering actuator 18 which here is a rotary actuator
- the driver of the following vehicle 2 acts only on the steering wheel 20 but can at any time regain control of the steering of the following vehicle 2, if necessary, temporarily or permanently, by acting directly on the steering wheel 15.
- the driver of the following vehicle 2 can manually deactivate the automatic actuation of the steering of the vehicle, or the steering wheel 15 can be equipped with a sensor detecting the action of the driver on the steering wheel 15 and deactivating in response the automatic actuation.
- the trajectory of the convoy 1 is defined by the mass decoy system 4, whether automatically (first and second embodiments ) or manually by the action of the driver of the following vehicle (third embodiment).
- the steering of the yaw direction of the following vehicle 2 is carried out only in response to the trajectory taken by the mass decoy system 4. Not only the trajectory of the following vehicle 2 is carried out in reaction to the trajectory of the decoy system mass 4, but moreover each yaw command of the follower vehicle 2 chronologically follows the yaw command of the mass decoy system 4.
- the follower vehicle 2 inevitably has the possibility of following the tracks of the mass decoy system 4 without uncertainty on the lane secured by the mass decoy system 4.
- the following vehicle 2 inscribes its trajectory in a lane security which has already been produced when the yaw commands relating to it are to be determined.
- the invention also applies to a convoy whose following vehicle is not physically coupled to the mass decoy system, and simply follows it remotely.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22730277.5A EP4348159A1 (fr) | 2021-05-25 | 2022-05-24 | Système de leurrage massique à commande de trajectoire |
IL308543A IL308543A (en) | 2021-05-25 | 2022-05-24 | Weight-based bait system with trajectory controller |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FRFR2105187 | 2021-05-25 | ||
FR2105187A FR3123425A1 (fr) | 2021-05-25 | 2021-05-25 | Système de leurrage massique à commande de trajectoire |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022248495A1 true WO2022248495A1 (fr) | 2022-12-01 |
Family
ID=78649331
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2022/064099 WO2022248495A1 (fr) | 2021-05-25 | 2022-05-24 | Système de leurrage massique à commande de trajectoire |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4348159A1 (fr) |
FR (1) | FR3123425A1 (fr) |
IL (1) | IL308543A (fr) |
WO (1) | WO2022248495A1 (fr) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002003007A1 (fr) * | 2000-07-03 | 2002-01-10 | Pearson Engineering Limited | Detonateur de mines et vehicule equipe d'un tel appareil |
EP2133652A2 (fr) | 2008-06-11 | 2009-12-16 | Charles Basil Firth | Appareil de déminage |
EP2299233A1 (fr) * | 2009-09-16 | 2011-03-23 | MBDA France | Ensemble motorise articulé autodirectionnel |
EP2327951A1 (fr) | 2009-09-09 | 2011-06-01 | Pearson Engineering Limited | Appareil pour la détonation des mines |
WO2012080719A1 (fr) * | 2010-12-15 | 2012-06-21 | Pearson Engineering Limited | Appareil de détonation de mine et procédé de pilotage associé |
EP2672218A1 (fr) * | 2012-06-08 | 2013-12-11 | Pearson Engineering Limited | Ensemble entrant en contact avec le sol permettant d'appliquer une force au sol et un véhicule de terrassement comportant un tel ensemble |
US20140157975A1 (en) * | 2008-06-11 | 2014-06-12 | Charles Basil Firth | Mine detonating apparatus |
CN111981911A (zh) * | 2020-08-31 | 2020-11-24 | 重庆元韩汽车技术设计研究院有限公司 | 一种用于扫雷辊的控制系统 |
-
2021
- 2021-05-25 FR FR2105187A patent/FR3123425A1/fr active Pending
-
2022
- 2022-05-24 IL IL308543A patent/IL308543A/en unknown
- 2022-05-24 EP EP22730277.5A patent/EP4348159A1/fr active Pending
- 2022-05-24 WO PCT/EP2022/064099 patent/WO2022248495A1/fr active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002003007A1 (fr) * | 2000-07-03 | 2002-01-10 | Pearson Engineering Limited | Detonateur de mines et vehicule equipe d'un tel appareil |
EP2133652A2 (fr) | 2008-06-11 | 2009-12-16 | Charles Basil Firth | Appareil de déminage |
US20140157975A1 (en) * | 2008-06-11 | 2014-06-12 | Charles Basil Firth | Mine detonating apparatus |
EP2327951A1 (fr) | 2009-09-09 | 2011-06-01 | Pearson Engineering Limited | Appareil pour la détonation des mines |
EP2299233A1 (fr) * | 2009-09-16 | 2011-03-23 | MBDA France | Ensemble motorise articulé autodirectionnel |
WO2012080719A1 (fr) * | 2010-12-15 | 2012-06-21 | Pearson Engineering Limited | Appareil de détonation de mine et procédé de pilotage associé |
EP2672218A1 (fr) * | 2012-06-08 | 2013-12-11 | Pearson Engineering Limited | Ensemble entrant en contact avec le sol permettant d'appliquer une force au sol et un véhicule de terrassement comportant un tel ensemble |
CN111981911A (zh) * | 2020-08-31 | 2020-11-24 | 重庆元韩汽车技术设计研究院有限公司 | 一种用于扫雷辊的控制系统 |
Also Published As
Publication number | Publication date |
---|---|
EP4348159A1 (fr) | 2024-04-10 |
IL308543A (en) | 2024-01-01 |
FR3123425A1 (fr) | 2022-12-02 |
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