EP0738868A2 - Device for searching and clearing of land mines and method for clearing land mine fields with such a device - Google Patents

Device for searching and clearing of land mines and method for clearing land mine fields with such a device Download PDF

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Publication number
EP0738868A2
EP0738868A2 EP96105759A EP96105759A EP0738868A2 EP 0738868 A2 EP0738868 A2 EP 0738868A2 EP 96105759 A EP96105759 A EP 96105759A EP 96105759 A EP96105759 A EP 96105759A EP 0738868 A2 EP0738868 A2 EP 0738868A2
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EP
European Patent Office
Prior art keywords
search
clearing
carrier vehicle
clearing device
frame
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Granted
Application number
EP96105759A
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German (de)
French (fr)
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EP0738868B1 (en
EP0738868A3 (en
Inventor
Peter Grünewald
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Wegmann and Co GmbH
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Wegmann and Co GmbH
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Publication of EP0738868A3 publication Critical patent/EP0738868A3/en
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    • 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 a search and clearing device for land mines installed on a carrier vehicle, in particular a battle tank, and a method for locating and destroying a land mine by means of such a search and clearing device.
  • the invention has for its object to provide a search and clearing device for landmines installed on a carrier vehicle, in particular a main battle tank, with which it is possible to use AT mines and possibly also AP mines within a given strip lying in the direction of travel very high probability of being tracked down, precisely localized and then cleared individually, so that as a result an alley can be cleared through the mines that have been laid. Both open and hidden mines should be detectable.
  • the invention is based on the basic idea of devices one behind the other on a frame which can be coupled to the bow of the carrier vehicle and which can be suspended on the carrier vehicle and additionally supported by support wheels to arrange, which first enable a rough detection of electrically conductive objects by means of appropriate sensors, then a precise detection of the position and type of an object detected by a sensor by means of a movable search detector and finally the positioning of an explosive or hollow charge over the found mine and its ignition .
  • the carrier vehicle can be reset to a safety distance, damage to the search and clearing device or, for example, to the carrier vehicle is very unlikely and the overall device can be dimensioned in a correspondingly lighter design. Furthermore, the deliberate and carefully metered use of explosive or hollow charges to destroy the mines limits the damage to the environment. The use of a directed shaped charge jet to destroy the mine is particularly intended for hidden mines.
  • the tank crew can carry out their tasks under full tank and ABC protection.
  • the fighting power of the tank is largely preserved even in mine clearance operations.
  • the view of the main battle tank driver in operation is only slightly restricted even when the search and clearing device is in a raised transport position.
  • To control and monitor the search and clearing process is an electrical control and evaluation device arranged in the carrier vehicle, which can contain a monitor, a control device, a computer, and adaptation elements.
  • the entire search and clearing procedure can be carried out largely automatically and / or monitored automatically under computer control.
  • a frame 1 is coupled to the bow side of a main battle tank KP by means of a coupling device 2.
  • a coupling device 2 On the front side of the frame 1, seen in the direction of travel F, four sensors 3.1, 3.2, 3.3 and 3.4 designed as electromagnetic rectangular coils are arranged on two sensor bars 1.1 and 1.2 running in the transverse direction, which extend over a width that extends by a predetermined amount Amount is greater than the width of the KP main battle tank.
  • These sensors are designed to detect electrically conductive objects and are connected in a manner not shown to an operating and evaluation device arranged in the main battle tank KP.
  • guide rails 4 are arranged on the frame 1 in the transverse direction, on which a carriage 5 can be moved back and forth in the arrow direction S transversely to the direction of travel F.
  • the drive device of the carriage 5, not shown, can also be controlled by the operating and evaluation device arranged in the battle tank KP.
  • an arm 7 which is rotatable in a horizontal plane is arranged on the underside of the carriage 5 and can likewise be rotated by means of a drive device (not shown) (arrow direction R).
  • the arm 7 carries a search detector 6 for the precise detection of the position and the type of one detected by one of the sensors 3.1 to 3.4 Subject. This is explained in more detail below.
  • a movable gripper 8 for gripping and depositing explosive or shaped charges with an ignition device on the ground is arranged on the carriage 5 in a manner which can only be seen from FIG. 2.
  • These explosive and hollow charges are stored in a magazine 9 arranged on the frame.
  • the frame 1 In the area behind the guide rails 4 or the slide 5, the frame 1 is supported on the ground by two support wheels 10. Furthermore, the frame 1 is suspended from the weapon W via a suspension device 11 which engages on a holder 11.1 on the frame 1 or a holder 11.2 on the weapon W of the main battle tank KP.
  • This suspension device 11 can be designed in a manner not specifically shown as a lifting device, which is controlled from the main battle tank, by means of which the frame 1 with the devices attached to it can be moved into a raised transport position. Furthermore, a video surveillance camera 12 is arranged on the frame 1, which is also connected in a manner not shown to the operating and evaluation device arranged in the main battle tank KP. In order to reduce the passage width of the search and clearing device, in particular in the transport position, the two outermost sensors 3.1 and 3.4 can be folded upward in a manner not shown, about a horizontal axis of rotation in the direction of travel F. Furthermore, on the frame 1 or on the main battle tank KP, a separate lighting device for the sensor 3.1 to 3.4 and / or the area detected by the search detector 6 can be arranged on the ground.
  • the magazine for the explosive and shaped charges to be carried is shown in more detail in FIG. 3.
  • the explosive or hollow charges are arranged in the upper part 13.2 or 14.2 of a stand 13 or 14.
  • This stand 13, 14 has three to five legs made of spring steel, which, in the state shown in FIG. 3, in which the stands are inserted from above into chambers 9.1 and 9.2 of the magazine 9, are in an inwardly folded state.
  • Brackets 13.1 and 14.1 are arranged on the top of the stands 13 and 14, on which the stands can be gripped by the gripper 8.
  • the gripper 8 When pulling out of the magazine 9 by means of the gripper 8, which is arranged on a robot arm, the legs 13.3 and 14.3 automatically fold apart, so that the stand 13 and 14 by means of the gripper 8 to a predetermined position on the ground, as in Fig. 4 and 5, can be placed.
  • the upper part 13.2 and 14.2 of the tripods 13 and 14 is provided with a cable reel 13.4 and 14.4, which contains a cable 13.5 and 14.5, respectively, via which an electrical detonator of the hollow or explosive charge arranged on the tripod with the operating and evaluation device in the KP battle tank connected is.
  • the method for locating and destroying a land mine using the search and clearing device described above proceeds as follows.
  • the search and clearing device is mounted in the manner described on the bow side of the main battle tank KP, the frame 1 being lowered so far that the support wheels 10 are seated on the ground.
  • the distance between the sensors 3.1 to 3.4 and the search detector 6 from the ground can be approximately 500 mm.
  • the operating and evaluation device in the KP main battle tank can be adapted on the loader side and is connected to the search and clearing device by means of a cable via an angle mirror adapter. The sensors are activated and the video surveillance system is switched on. All hatches are closed.
  • the KP battle tank now moves constantly through the terrain at a speed of about 5 km / h.
  • a detection signal is emitted and the battle tank KP is stopped immediately, if necessary automatically, the braking distance being approximately 1 to 1.5 m can.
  • the operating and evaluation device shows which of the sensors 3.1 to 3.4 has reacted.
  • the carriage 5 with the search detector 6 is moved into the detected area and activated.
  • An area - for example 1 m 2 - on or under which a mine is suspected is now scanned by means of the search detector 6. This is done by rotation of the arm 7 with simultaneous transverse travel of the carriage 5.
  • the exact position and, if appropriate, the type of the object detected are determined and registered.
  • further identification can be carried out or an exposed object can be found. If there is a high probability that the object detected is a mine, the fight against it is initiated. It is decided whether an explosive charge (e.g. with open mines) or whether a shaped charge (e.g.
  • the cleared alley can be marked automatically.

Abstract

The device is built up on a frame (1) cantilevered on a two-wheeled truck (10) and coupled (2) to the nose of the vehicle (KP). Rectangular electromagnetic search coils (3.1-3.4) for detection of electrically conductive objects in its path are arranged on two beams (1.1,1.2) across the front of the frame. A slider (5) runs between two transverse guide rails (4) behind the coils, with an underslung arm rotatable in the horizontal plane and carrying a detector (6). Mines thereby located are detonated by charges taken from a magazine (9) and placed on the ground by a movable gripper (8).

Description

Die Erfindung betrifft eine an einem Trägerfahrzeug, insbesondere, einem Kampfpanzer installierte Such- und Räumeinrichtung für Landminen, sowie ein Verfahren zur Ortung und Zerstörung einer Landmine mittels einer derartigen Such- und Räumeinrichtung.The invention relates to a search and clearing device for land mines installed on a carrier vehicle, in particular a battle tank, and a method for locating and destroying a land mine by means of such a search and clearing device.

Es ist bekannt, Landminen mittels Einrichtungen zu suchen und zu räumen, die an einem Trägerfahrzeug, beispielsweise einem Kampfpanzer, angeordnet sein können. Es ist bekannt, diese Einrichtungen als Minenräumpflüge, Minenräumwalzen oder auch als sogenannte Dreschflegelgeräte auszubilden. Diese Einrichtungen weisen einerseits den Nachteil auf, daß sie sehr massiv ausgebildet sein müssen, weil sie der Detonation der Minen direkt standhalten sollen und daß sie andererseits bei ihrem Einsatz erhebliche Schäden in der bearbeiteten Umgebung anrichten.It is known to search for and clear landmines by means of devices which can be arranged on a carrier vehicle, for example a main battle tank. It is known to design these devices as mine clearing plows, mine clearing rollers or also as so-called flail devices. On the one hand, these devices have the disadvantage that they have to be very solid, because they are the Detonation of the mines should withstand directly and that on the other hand they cause considerable damage in the processed environment when used.

Der Erfindung liegt die Aufgabe zugrunde, eine an einem Trägerfahrzeug, insbesondere einem Kampfpanzer, installierte Such- und Räumeinrichtung für Landminen zu schaffen, mit der es möglich ist, innerhalb eines vorgegebenen, in Fahrtrichtung liegenden Streifens AT-Minen und gegebenenfalls auch AP-Minen mit sehr hoher Wahrscheinlichkeit aufzuspüren, exakt zu lokalisieren und dann einzeln zu räumen, so daß im Ergebnis durch die verlegten Minen eine Gasse freigeräumt werden kann. Dabei sollten sowohl offen wie auch verdeckt verlegte Minen erfaßbar sein.The invention has for its object to provide a search and clearing device for landmines installed on a carrier vehicle, in particular a main battle tank, with which it is possible to use AT mines and possibly also AP mines within a given strip lying in the direction of travel very high probability of being tracked down, precisely localized and then cleared individually, so that as a result an alley can be cleared through the mines that have been laid. Both open and hidden mines should be detectable.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den Merkmalen aus dem kennzeichnenden Teil des Patentanspruchs 1. Vorteilhafte Weiterbildungen der erfindungsgemäßen Such und Räumeinrichtung sind in den Unteransprüchen beschrieben. Ein Verfahren zur Ortung und Zerstörung einer Landmine mittels der erfindungsgemäßen Such- und Räumeinrichtung ist Gegenstand von Anspruch 16, wobei Anspruch 17 eine vorteilhafte Ausführungsform dieses Verfahrens umfaßt.This object is achieved according to the invention with the features from the characterizing part of patent claim 1. Advantageous developments of the search and clearing device according to the invention are described in the subclaims. A method for locating and destroying a land mine by means of the search and clearing device according to the invention is the subject of claim 16, claim 17 comprising an advantageous embodiment of this method.

Die Erfindung geht von dem Grundgedanken aus, an einem mit dem Bug des Trägerfahrzeugs koppelbaren Rahmen, der am Trägerfahrzeug aufgehängt und zusätzlich über Stützräder abgestützt sein kann, in Fahrtrichtung gesehen hintereinander Vorrichtungen anzuordnen, die zunächst eine grobe Erfassung elektrisch leitfähiger Gegenstände mittels entsprechender Sensoren, dann eine genaue Erfassung der Position und der Art eines von einem Sensor erfaßten Gegenstandes mittels eines bewegbaren Suchdetektors und schließlich die Positionierung einer Spreng- oder Hohlladung über der aufgefundenen Mine und deren Zündung ermöglichen. Da im Augenblick des Ansprechens eines Sensors das Fahrzeug angehalten wird und nach dem Positionieren einer Spreng- oder Hohlladung über der vom Suchdetektor genau erfaßten Stelle das Trägerfahrzeug in eine Sicherheitsentfernung zurückgesetzt werden kann, sind Beschädigungen an der Such- und Räumeinrichtung oder etwa am Trägerfahrzeug sehr unwahrscheinlich und die Gesamteinrichtung kann in entsprechend leichterer Bauweise dimensioniert werden. Weiterhin wird durch das gezielte und wohldosierte Einsetzen von Spreng- oder Hohlladungen zur Zerstörung der Minen die Beeinträchtigung der Umgebung in Gren-zen gehalten. Der Einsatz eines gerichteten Hohlladungsstrahls zur Vernichtung der Mine ist besonders für verdeckt verlegte Minen gedacht.The invention is based on the basic idea of devices one behind the other on a frame which can be coupled to the bow of the carrier vehicle and which can be suspended on the carrier vehicle and additionally supported by support wheels to arrange, which first enable a rough detection of electrically conductive objects by means of appropriate sensors, then a precise detection of the position and type of an object detected by a sensor by means of a movable search detector and finally the positioning of an explosive or hollow charge over the found mine and its ignition . Since the vehicle is stopped at the moment a sensor responds and after positioning an explosive or shaped charge over the point precisely detected by the search detector, the carrier vehicle can be reset to a safety distance, damage to the search and clearing device or, for example, to the carrier vehicle is very unlikely and the overall device can be dimensioned in a correspondingly lighter design. Furthermore, the deliberate and carefully metered use of explosive or hollow charges to destroy the mines limits the damage to the environment. The use of a directed shaped charge jet to destroy the mine is particularly intended for hidden mines.

Bei Verwendung eines Kampfpanzers als Trägerfahrzeug kann die Panzerbesatzung ihre Aufgaben unter vollem Panzer- und ABC-Schutz durchführen. Dabei bleibt die Kampfkraft des Panzers auch im Minenräumbetrieb weitgehend erhalten. Weiterhin ist die Sicht des Kampfpanzerfahrers im Betrieb auch dann, wenn sich die Such- und Räumeinrichtung in einer angehobenen Transportstellung befindet, nur geringfügig eingeschränkt.When using a main battle tank as a carrier vehicle, the tank crew can carry out their tasks under full tank and ABC protection. The fighting power of the tank is largely preserved even in mine clearance operations. Furthermore, the view of the main battle tank driver in operation is only slightly restricted even when the search and clearing device is in a raised transport position.

Zur Steuerung und Überwachung des Such- und Räumvorgangs dient eine im Trägerfahrzeug angeordnete elektrische Bedien- und Auswerteeinrichtung, die einen Monitor, eine Steuereinrichtung, einen Rechner, sowie Adaptionselemente enthalten kann. Das ganze Such- und Räumverfahren kann rechnergesteuert weitgehend automatisiert durchgeführt und/oder automatisiert überwacht werden.To control and monitor the search and clearing process is an electrical control and evaluation device arranged in the carrier vehicle, which can contain a monitor, a control device, a computer, and adaptation elements. The entire search and clearing procedure can be carried out largely automatically and / or monitored automatically under computer control.

Im folgenden wird anhand der beigefügten Zeichnungen ein Ausführungsbeispiel für das erfindungsgemäße Such- und Räumeinrichtung und das mittels dieser Einrichtung durchführbare Verfahren zur Ortung und Zerstörung einer Landmine näher erläutert.An exemplary embodiment of the search and clearing device according to the invention and the method for locating and destroying a land mine which can be carried out by means of this device are explained in more detail below with reference to the accompanying drawings.

In den Zeichnungen zeigen:

  • Fig. 1 in einer stark schematisierten Seitenansicht einen Teil eines Kampfpanzers mit einer an seiner Bugseite angeordneten Such- und Räumeinrichtung für Landminen;
  • Fig. 2 eine Aufsicht auf den Kampfpanzer mit der Einrichtung nach Fig. 1:
  • Fig. 3 in gegenüber Fig. 1 in vergrößerter Darstellung einen Schnitt durch das Magazin für Spreng- und Hohlladungen an der Einrichtung nach Fig. 2;
  • Fig. 4 und 5 jeweils in Seitenansicht auf den Erdboden aufgesetzte Stative mit Hohlladungen zur Zerstörung einer auf dem Erdboden bzw. unter dem Erdboden verlegten Mine.
The drawings show:
  • Figure 1 is a highly schematic side view of part of a battle tank with a search and clearing device for landmines arranged on its bow side.
  • 2 shows a top view of the main battle tank with the device according to FIG. 1:
  • Fig. 3 in comparison to Figure 1 in an enlarged view a section through the magazine for explosive and shaped charges on the device according to Fig. 2;
  • 4 and 5 each in side view of the tripods placed on the ground with shaped charges for destruction a mine laid on the ground or under the ground.

Wie aus den Fig. 1 und 2 ersichtlich, ist an der Bugseite eines Kampfpanzers KP mittels einer Koppelungsvorrichtung 2 ein Rahmen 1 angekoppelt. An der in Fahrtrichtung F gesehen vorderen Seite des Rahmens 1 sind an zwei in Querrichtung verlaufenden Sensorbalken 1.1 und 1.2 in Querrichtung jeweils vier als elektromagnetische Rechteckspulen ausgebildete Sensoren 3.1, 3.2, 3.3 und 3.4 angeordnet, die sich über eine Breite erstrecken, die um einen vorgegebenen Betrag größer ist als die Breite des Kampfpanzers KP. Diese Sensoren sind zur Erfassung elektrisch leitfähiger Gegenstände ausgebildet und in nicht eigens dargestellter Weise mit einer im Kampfpanzer KP angeordneten Bedien- und Auswerteeinrichtung verbunden. Hinter den Sensoren 3.1 bis 3.4 sind am Rahmen 1 in Querrichtung verlaufende Führungsschienen 4 angeordnet, auf denen ein Schlitten 5 in Pfeilrichtung S quer zur Fahrtrichtung F hin und her bewegbar ist. Die nicht dargestellte Antriebsvorrichtung des Schlittens 5 ist ebenfalls von der im Kampfpanzer KP angeordneten Bedien- und Auswerteeinrichtung her steuerbar. Weiterhin ist an der Unterseite des Schlittens 5 ein in einer horizontalen Ebene drehbarer Arm 7 angeordnet, der ebenfalls über eine nicht dargestellte Antriebsvorrichtung in Drehung versetzbar ist (Pfeilrichtung R). Der Arm 7 trägt einen Suchdetektor 6 zur genauen Erfassung der Position und der Art eines von einem der Sensoren 3.1 bis 3.4 erfaßten Gegenstandes. Dies wird weiter unten näher erläutert. Weiterhin ist am Schlitten 5 in nur aus Fig. 2 ersichtlicher Weise ein bewegbarer Greifer 8 zum Erfassen und positionsgenauen Absetzen von Spreng- oder Hohlladungen mit Zündeinrichtung auf dem Erdboden angeordnet. Diese Spreng- und Hohlladungen sind in einem am Rahmen angeordneten Magazin 9 gelagert. Im Bereich hinter den Führungsschienen 4 bzw. dem Schlitten 5 stützt sich der Rahmen 1 über zwei Stützräder 10 auf dem Erdboden ab. Weiterhin ist der Rahmen 1 über eine an einer Halterung 11.1 am Rahmen 1 bzw. einer Halterung 11.2 an der Waffe W des Kampfpanzers KP angreifende Aufhängevorrichtung 11 an der Waffe W aufgehängt. Diese Aufhängevorrichtung 11 kann in nicht eigens dargestellter Weise als Hubeinrichtung, die vom Kampfpanzer aus gesteuert wird, ausgebildet sein, mittels der der Rahmen 1 mit den an ihm befestigten Einrichtungen in eine angehobene Transportposition versetzt werden kann. Weiterhin ist auf dem Rahmen 1 eine Video-Überwachungskamera 12 angeordnet, die ebenfalls in nicht dargestellter Weise mit der im Kampfpanzer KP angeordneten Bedien- und Auswerteeinrichtung verbunden ist. Zur Verkleinerung der Durchfahrtsbreite der Such- und Räumeinrichtung, insbesondere in der Transportstellung, können in nicht dargestellter Weise die beiden äußersten Sensoren 3.1 und 3.4 um eine in Fahrtrichtung F liegende horizontale Drehachse nach innen hochgeklappt werden. Weiterhin kann am Rahmen 1 oder am Kampfpanzer KP in nicht dargestellter Weise eine eigene Beleuchtungseinrichtung für den von den Sensoren 3.1 bis 3.4 und/oder dem Suchdetektor 6 erfaßten Bereich auf dem Erdboden angeordnet sein.As can be seen from FIGS. 1 and 2, a frame 1 is coupled to the bow side of a main battle tank KP by means of a coupling device 2. On the front side of the frame 1, seen in the direction of travel F, four sensors 3.1, 3.2, 3.3 and 3.4 designed as electromagnetic rectangular coils are arranged on two sensor bars 1.1 and 1.2 running in the transverse direction, which extend over a width that extends by a predetermined amount Amount is greater than the width of the KP main battle tank. These sensors are designed to detect electrically conductive objects and are connected in a manner not shown to an operating and evaluation device arranged in the main battle tank KP. Behind the sensors 3.1 to 3.4, guide rails 4 are arranged on the frame 1 in the transverse direction, on which a carriage 5 can be moved back and forth in the arrow direction S transversely to the direction of travel F. The drive device of the carriage 5, not shown, can also be controlled by the operating and evaluation device arranged in the battle tank KP. Furthermore, an arm 7 which is rotatable in a horizontal plane is arranged on the underside of the carriage 5 and can likewise be rotated by means of a drive device (not shown) (arrow direction R). The arm 7 carries a search detector 6 for the precise detection of the position and the type of one detected by one of the sensors 3.1 to 3.4 Subject. This is explained in more detail below. Furthermore, a movable gripper 8 for gripping and depositing explosive or shaped charges with an ignition device on the ground is arranged on the carriage 5 in a manner which can only be seen from FIG. 2. These explosive and hollow charges are stored in a magazine 9 arranged on the frame. In the area behind the guide rails 4 or the slide 5, the frame 1 is supported on the ground by two support wheels 10. Furthermore, the frame 1 is suspended from the weapon W via a suspension device 11 which engages on a holder 11.1 on the frame 1 or a holder 11.2 on the weapon W of the main battle tank KP. This suspension device 11 can be designed in a manner not specifically shown as a lifting device, which is controlled from the main battle tank, by means of which the frame 1 with the devices attached to it can be moved into a raised transport position. Furthermore, a video surveillance camera 12 is arranged on the frame 1, which is also connected in a manner not shown to the operating and evaluation device arranged in the main battle tank KP. In order to reduce the passage width of the search and clearing device, in particular in the transport position, the two outermost sensors 3.1 and 3.4 can be folded upward in a manner not shown, about a horizontal axis of rotation in the direction of travel F. Furthermore, on the frame 1 or on the main battle tank KP, a separate lighting device for the sensor 3.1 to 3.4 and / or the area detected by the search detector 6 can be arranged on the ground.

Das Magazin für die mitzuführenden Spreng- und Hohlladungen ist in Fig. 3 genauer dargestellt.The magazine for the explosive and shaped charges to be carried is shown in more detail in FIG. 3.

Die Spreng- oder Hohlladungen sind im Oberteil 13.2 bzw. 14.2 eines Stativs 13 bzw. 14 angeordnet. Dieses Stativ 13, 14 besitzt drei bis fünf Beine aus Federstahl, die im in Fig. 3 dargestellten Zustand, in dem die Stative von oben in Kammern 9.1 bzw. 9.2 des Magazins 9 eingeschoben sind, sich in einem nach innen eingeklappten Zustand befinden. An der Oberseite der Stative 13 und 14 sind Halterungen 13.1 und 14.1 angeordnet, an denen die Stative vom Greifer 8 erfaßt werden können. Beim Herausziehen aus dem Magazin 9 mittels des Greifers 8, der an einem Roboterarm angeordnet ist, klappen die Beine 13.3 und 14.3 automatisch auseinander, so daß das Stativ 13 und 14 mittels des Greifers 8 auf eine vorgegebene Stelle auf dem Erdboden, wie in Fig. 4 und 5 dargestellt, aufgesetzt werden kann. Das Oberteil 13.2 und 14.2 der Stative 13 und 14 ist mit einer Kabelrolle 13.4 und 14.4 versehen, die ein Kabel 13.5 bzw. 14.5 enthält, über welches eine elektrische Zündkapsel der am Stativ angeordneten Hohl- oder Sprengladung mit der Bedien- und Auswerteeinrichtung im Kampfpanzer KP verbunden ist.The explosive or hollow charges are arranged in the upper part 13.2 or 14.2 of a stand 13 or 14. This stand 13, 14 has three to five legs made of spring steel, which, in the state shown in FIG. 3, in which the stands are inserted from above into chambers 9.1 and 9.2 of the magazine 9, are in an inwardly folded state. Brackets 13.1 and 14.1 are arranged on the top of the stands 13 and 14, on which the stands can be gripped by the gripper 8. When pulling out of the magazine 9 by means of the gripper 8, which is arranged on a robot arm, the legs 13.3 and 14.3 automatically fold apart, so that the stand 13 and 14 by means of the gripper 8 to a predetermined position on the ground, as in Fig. 4 and 5, can be placed. The upper part 13.2 and 14.2 of the tripods 13 and 14 is provided with a cable reel 13.4 and 14.4, which contains a cable 13.5 and 14.5, respectively, via which an electrical detonator of the hollow or explosive charge arranged on the tripod with the operating and evaluation device in the KP battle tank connected is.

Das Verfahren zur Ortung und Zerstörung einer Landmine mittels der oben beschriebenen Such- und Räumeinrichtung geht folgendermaßen vor sich.The method for locating and destroying a land mine using the search and clearing device described above proceeds as follows.

Die Such- und Räumeinrichtung sei in der beschriebenen Weise an der Bugseite des Kampfpanzers KP montiert, wobei der Rahmen 1 soweit abgesenkt ist, daß die Stützräder 10 auf dem Erdboden aufsitzen. Der Abstand der Sensoren 3.1 bis 3.4 sowie des Suchdetektors 6 zum Erdboden kann etwa 500mm betragen. Die Bedien- und Auswerteeinrichtung im Kampfpanzer KP kann auf der Ladeschützenseite adaptiert sein und ist mittels Kabel über einen Winkelspiegeladapter mit der Such- und Räumeinrichtung verbunden. Die Sensoren sind aktiviert und das Video-Überwachungssystem ist eingeschaltet. Alle Luken sind geschlossen.The search and clearing device is mounted in the manner described on the bow side of the main battle tank KP, the frame 1 being lowered so far that the support wheels 10 are seated on the ground. The distance between the sensors 3.1 to 3.4 and the search detector 6 from the ground can be approximately 500 mm. The operating and evaluation device in the KP main battle tank can be adapted on the loader side and is connected to the search and clearing device by means of a cable via an angle mirror adapter. The sensors are activated and the video surveillance system is switched on. All hatches are closed.

Der Kampfpanzer KP bewegt sich nun konstant mit einer Geschwindigkeit von etwa 5km/h durch das Gelände. Sobald einer der Sensoren - in Fig. 1 und 2 der Sensor 3.4 - einen elektrisch leitfähigen Gegenstand M entdeckt, wird ein Erfassungssignal abgegeben, und der Kampfpanzer KP wird - gegebenenfalls automatisch - sofort gestoppt, wobei der Bremsweg etwa 1 bis 1,5 m betragen kann.The KP battle tank now moves constantly through the terrain at a speed of about 5 km / h. As soon as one of the sensors - in FIGS. 1 and 2 the sensor 3.4 - detects an electrically conductive object M, a detection signal is emitted and the battle tank KP is stopped immediately, if necessary automatically, the braking distance being approximately 1 to 1.5 m can.

An der Bedien- und Auswerteeinrichtung wird angezeigt, welcher der Sensoren 3.1 bis 3.4 reagiert hat. Der Schlitten 5 mit dem Suchdetektor 6 wird in den erfaßten Bereich gefahren und aktiviert. Es wird nun ein Flächenbereich - beispielsweise 1m2 - auf oder unter dem eine Mine vermutet wird, mittels des Suchdetektors 6 abgetastet. Dies geschieht durch Drehung des Arms 7 bei gleichzeitiger Querfahrt des Schlittens 5. Mittels dieses Abtastens wird die genaue Position und gegebenenfalls die Art des erfaßten Gegenstandes ermittelt und registriert. Mittels der Video-Überwachungskamera 12 kann eine weitere Identifizierung vorgenommen bzw. ein offenliegender Gegenstand gefunden werden. Ist die Wahrscheinlichkeit groß, daß es sich bei dem erfaßten Gegenstand um eine Mine handelt, so wird deren Bekämpfung eingeleitet. Dabei wird entschieden, ob eine Sprengladung (z.B. bei offen verlegten Minen) oder ob eine Hohlladung (z.B. bei verdeckt verlegten Minen) eingesetzt werden soll. Bei immer noch stehendem Kampfpanzer wird mittels des Greifers 8 eine Spreng- oder Hohlladung 13, 14 aus dem Magazin 9 entnommen und genau über der erfaßten Mine abgesetzt (s. Fig. 4 und 5). Die Überwachung dieses Vorgangs ist ebenfalls mittels der Video-Überwachungskamera 12 möglich. Dann wird der Rahmen 1 in Marschposition angehoben und der Kampfpanzer KP setzt ca. 20 bis 30 m zurück (Sicherheitsabstand). Die Zündung der Ladung erfolgt über die erwähnte Kabelverbindung vom Kampfpanzer KP aus. Über die Optiken des Kampfpanzers kann die Detonation bzw. Zerstörung der Mine beobachtet werden. In der Darstellung gemäß Fig. 4 ist angenommen, daß eine auf dem Erdboden verlegte Mine M1 mittels des Hohlladungsstrahls H1 oder einer entsprechenden Druckwelle getroffen und zerstört wird. Bei der Darstellung gemäß Fig. 5 ist angenommen, daß eine unter dem Erdboden verlegte Mine M2 mittels eines Hohlladungsstrahls H2 zerstört wird.The operating and evaluation device shows which of the sensors 3.1 to 3.4 has reacted. The carriage 5 with the search detector 6 is moved into the detected area and activated. An area - for example 1 m 2 - on or under which a mine is suspected is now scanned by means of the search detector 6. This is done by rotation of the arm 7 with simultaneous transverse travel of the carriage 5. By means of this scanning, the exact position and, if appropriate, the type of the object detected are determined and registered. Using the video surveillance camera 12, further identification can be carried out or an exposed object can be found. If there is a high probability that the object detected is a mine, the fight against it is initiated. It is decided whether an explosive charge (e.g. with open mines) or whether a shaped charge (e.g. with concealed mines) should be used. If the main battle tank is still standing, an explosive or hollow charge 13, 14 is removed from the magazine 9 by means of the gripper 8 and placed exactly over the detected mine (see FIGS. 4 and 5). This process can also be monitored by means of the video surveillance camera 12. Then the frame 1 is raised to the marching position and the main battle tank KP sets back approx. 20 to 30 m (safety distance). The charge is ignited via the aforementioned cable connection from the KP main battle tank. The detonation or destruction of the mine can be observed via the optics of the main battle tank. 4, it is assumed that a mine M1 laid on the ground is hit and destroyed by means of the shaped charge jet H1 or a corresponding pressure wave. 5 it is assumed that a mine M2 laid under the ground is destroyed by means of a shaped charge jet H2.

Anschließend an die Zerstörung der Mine wird die Suchfahrt an der gleichen Stelle fortgesetzt. Die geräumte Gasse kann dabei automatisch markiert werden.After the mine was destroyed, the search continues at the same location. The cleared alley can be marked automatically.

Claims (17)

An einem Trägerfahrzeug, insbesondere einem Kampfpanzer, installierte Such- und Räumeinrichtung für Landminen, gekennzeichnet durch folgende Merkmale: a) es ist ein über eine Koppelvorrichtung (2, 2.1) an den Bug des Trägerfahrzeugs (KP) ankoppelbarer Rahmen (1) vorgesehen; b) es sind mehrere Sensoren (3.1 bis 3.4) die zur Erfassung elektrisch leitfähiger Gegenstände (M) ausgebildet sind, an der in Fahrtrichtung (F) gesehen vorderen Seite des Rahmens (1) in Querrichtung über eine vorgegebene Breite angeordnet, die mindestens der Breite des Trägerfahrzeugs (KP) entspricht; c) in Fahrtrichtung (F) gesehen hinter den Sensoren (3.1 bis 3.4) sind in Querrichtung verlaufende Führungsschienen (4) angeordnet, auf denen ein Schlitten (5) läuft, der mittels einer Antriebsvorrichtung verfahrbar und in beliebigen Positionen anhaltbar ist; d) an dem Schlitten (5) ist ein Suchdetektor (6) zur genauen Erfassung der Position und der Art eines von einem der Sensoren (3.1 bis 3.4) erfaßten Gegenstandes (M) angeordnet; e) an dem Schlitten (5) ist ein bewegbarer Greifer (8) zum Erfassen und positionsgenauen Absetzen von Spreng- oder Hohlladungen (13, 14) auf dem Erdboden angeordnet; f) an dem Schlitten (5) oder dem Rahmen (1) ist ein Magazin (9) zur Aufnahme von mit Zündeinrichtungen versehenen Spreng- oder Hohlladungen (13, 14) angeordnet; g) im Trägerfahrzeug (KP) ist eine elektrische Bedien-Auswerteeinrichtung für die Sensoren (3.1 bis 3.4), die Antriebsvorrichtung des Schlittens (5), den Suchdetektor (6), den Greifer (8) und die Zündeinrichtungen der Spreng- und Hohlladungen (13, 14) angeordnet. Search and clearing equipment for landmines installed on a carrier vehicle, in particular a main battle tank, characterized by the following features: a) a frame (1) which can be coupled to the bow of the carrier vehicle (KP) via a coupling device (2, 2.1) is provided; b) there are a plurality of sensors (3.1 to 3.4) which are designed to detect electrically conductive objects (M) on the front side of the frame (1), viewed in the direction of travel (F), arranged transversely over a predetermined width which is at least the width corresponds to the carrier vehicle (KP); c) seen in the direction of travel (F) behind the sensors (3.1 to 3.4) transverse guide rails (4) are arranged on which a carriage (5) runs, which can be moved by a drive device and can be stopped in any position; d) a search detector (6) is arranged on the carriage (5) for precisely detecting the position and the type of an object (M) detected by one of the sensors (3.1 to 3.4); e) a movable gripper (8) is arranged on the carriage (5) for gripping and depositing explosive or hollow charges (13, 14) on the ground; f) a magazine (9) for receiving explosive or hollow charges (13, 14) provided with ignition devices is arranged on the carriage (5) or the frame (1); g) in the carrier vehicle (KP) there is an electrical operating evaluation device for the sensors (3.1 to 3.4), the drive device of the carriage (5), the search detector (6), the gripper (8) and the ignition devices for the explosive and shaped charges ( 13, 14) arranged. Such- und Räumeinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß an der Unterseite des Rahmens (1) in Fahrtrichtung (F) gesehen hinter dem Schlitten (5) Stützräder (10) angeordnet sind.Search and clearing device according to claim 1, characterized in that on the underside of the frame (1) in the direction of travel (F), support wheels (10) are arranged behind the carriage (5). Such- und Räumeinrichtung nach Anspruch 2, dadurch gekennzeichnet, daß die Koppelvorrichtung (2) ein Drehgelenk (2.1) zum Geländeausgleich aufweist.Search and clearing device according to claim 2, characterized in that the coupling device (2) has a swivel joint (2.1) for terrain compensation. Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß der Rahmen (1) an seiner Oberseite an einem auskragenden Bauteil (W) des Trägerfahrzeugs (KP) mittels einer Aufhängevorrichtung (11) aufgehängt ist.Search and clearing device according to one of claims 1 to 3, characterized in that the frame (1) is suspended on its upper side from a projecting component (W) of the carrier vehicle (KP) by means of a suspension device (11). Such- und Räumeinrichtung nach Anspruch 4, dadurch gekennzeichnet, daß bei einem Kampfpanzer (KP) als Trägerfahrzeug als auskragendes Bauteil das Geschützrohr (W) der Waffe des Kampfpanzers dient.Search and clearing device according to claim 4, characterized in that in a battle tank (KP) serves as the carrier vehicle as the projecting component, the gun barrel (W) serves the weapon of the battle tank. Such- und Räumeinrichtung nach Anspruch 4 oder 5, dadurch gekennzeichnet, daß die Aufhängevorrichtung (11) eine von der Bedien- und Auswerteeinrichtung her betätigbare Hubeinrichtung aufweist.Search and clearing device according to Claim 4 or 5, characterized in that the suspension device (11) has a lifting device which can be actuated by the operating and evaluation device. Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Sensoren (3.1 bis 3.4) zur Erfassung elektrisch leitfähiger Gegenstände jeweils als elektromagnetische Spulen ausgebildet sind, deren Spulenachsen im wesentlichen vertikal ausgerichtet sind.Searching and clearing device according to one of claims 1 to 6, characterized in that the sensors (3.1 to 3.4) for detecting electrically conductive objects are each designed as electromagnetic coils, the coil axes of which are oriented essentially vertically. Such- und Räumeinrichtung nach Anspruch 7, dadurch gekennzeichnet, daß die Spulen (3.1 bis 3.4) als Rechteckspulen ausgebildet sind, deren längere Rechteckseite quer zur Fahrtrichtung (F) verläuft.Search and clearing device according to claim 7, characterized in that the coils (3.1 to 3.4) are designed as rectangular coils, the longer side of which extends transversely to the direction of travel (F). Such- und Räumeinrichtung nach Anspruch 7 oder 8, dadurch gekennzeichnet, daß die beiden äußersten am Rahmen (1) angeordneten Spulen (3.1, 3.4) um eine in Fahrtrichtung (F) liegende horizontale Drehachse nach innen hochklappbar sind.Search and clearing device according to claim 7 or 8, characterized in that the two outermost coils (3.1, 3.4) arranged on the frame (1) can be folded inwards about a horizontal axis of rotation lying in the direction of travel (F). Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß der Suchdetektor (6) unterhalb des Schlittens (1) an einem mit dem Schlitten verbundenen, in einer horizontalen Ebene drehbaren Arm (7) in einem vorgegebenen Abstand von der Drehachse aufgehängt ist.Searching and clearing device according to one of claims 1 to 9, characterized in that the search detector (6) below the carriage (1) on an arm connected to the carriage and rotatable in a horizontal plane at a predetermined distance from the axis of rotation is hung. Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, daß an der Oberseite des Rahmens (1) eine mit der Bedien- und Auswerteeinrichtung verbundene Video-Überwachungskamera (12) montiert ist.Search and clearing device according to one of the claims 1 to 10, characterized in that a video surveillance camera (12) connected to the operating and evaluation device is mounted on the top of the frame (1). Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, daß an der Oberseite des Rahmens (1) eine mit der Bedien- und Auswerteeinrichtung verbundene Beleuchtungseinrichtung montiert ist.Search and clearing device according to one of claims 1 to 11, characterized in that a lighting device connected to the operating and evaluation device is mounted on the top of the frame (1). Such- und Räumeinrichtung nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, daß die im Magazin (9) gelagerten Spreng- und Hohlladungen jeweils am oberen Ende eines Stativs (13, 14) angeordnet sind, das mit seinem Oberteil vom Greifer (8) erfaßbar und mit seinem Fußteil auf dem Erdboden aufsetzbar ist.Searching and clearing device according to one of Claims 1 to 12, characterized in that the explosive and hollow charges stored in the magazine (9) are each arranged at the upper end of a stand (13, 14), the upper part of which is supported by the gripper (8) is detectable and can be placed on the ground with its foot part. Such- und Räumeinrichtung- nach Anspruch 13, dadurch gekennzeichnet, daß das Fußteil des Stativs (13, 14) mehrere automatisch aufspreizbare Beine (13.3, 14.3) aufweist und das Magazin (9) so ausgebildet ist, daß jedes Stativ (13, 14) im zusammengefalteten Zustand der Beine (13.3, 14.3) vertikal ausgerichtet jeweils in einer Magazinkammer (9.1, 9.2) gelagert ist derart, daß beim Herausziehen des Stativs sich die Beine aufspreizen.Search and clearing device according to claim 13, characterized in that the foot part of the stand (13, 14) has a plurality of automatically spreadable legs (13.3, 14.3) and the magazine (9) is designed such that each stand (13, 14) in the folded state of the legs (13.3, 14.3) vertically aligned, each in a magazine chamber (9.1, 9.2) is mounted such that the legs spread apart when the tripod is pulled out. Such- und Räumeinrichtung nach Anspruch 13 oder 14, dadurch gekennzeichnet, daß am Oberteil des des Stativs (13, 14) ein auf eine Spule (13.4, 14.4) aufgewickeltes mit der Zündeinrichtung verbundenes Zündkabel (13.5, 14.5) angeordnet ist, welches mit der Bedien- und Auswerteeinrichtung verbunden ist.Search and clearing device according to claim 13 or 14, characterized in that on the upper part of the of the stand (13, 14) is arranged an ignition cable (13.5, 14.5) which is connected to the ignition device and which is connected to the operating and evaluation device and is wound onto a coil (13.4, 14.4). Verfahren zur Ortung und Zerstörung einer Landmine mittels der Such- und Räumeinrichtung nach den Ansprüchen 1 bis 15 gekennzeichnet durch folgende, mindestens teilweise automatisch ablaufende Verfahrensschritte: A) Bewegung des Trägerfahrzeugs in Fahrtrichtung mit vorgegebener Geschwindigkeit bei aktivierten Sensoren; B) bei Abgabe eines Erfassungssignals durch einen der Sensoren Abstoppen des Trägerfahrzeugs mit vorgegebenem Bremsweg; C) Ermittlung des Sensors, der das Erfassungssignal abgibt, Verschiebung des Schlittens in den Bereich dieses Sensors und Aktivierung des Suchdetektors; D) Abtasten eines vorgegebenen Flächenbereichs auf dem Erdboden mittels des Suchdetektors unter entsprechender Verschiebung des Schlittens und Drehung des Arms; E) Auswertung der vom Suchdetektor abgegebenen Signale zur Erfassung der genauen Position und Art des erfaßten Gegenstandes; F) Betätigung des Greifers zum Ergreifen einer im Magazin gelagerten Spreng- oder Hohlladung und deren Positionierung an der durch die Auswertung ermittelten Stelle auf dem Erdboden; G) Rücksetzen des Trägerfahrzeugs um eine vorgegebene Strecke; H) Zündung der Spreng- oder Hohlladung vom Trägerfahrzeug aus; I) Weiterbewegung des Trägerfahrzeugs in Fahrtrichtung mit vorgegebener Geschwindigkeit bei aktivierten Sensoren. Method for locating and destroying a land mine by means of the search and clearing device according to claims 1 to 15, characterized by the following, at least partially automatically proceeding process steps: A) movement of the carrier vehicle in the direction of travel at a predetermined speed with activated sensors; B) when a detection signal is emitted by one of the sensors, stopping the carrier vehicle with a predetermined braking distance; C) Determination of the sensor that emits the detection signal, displacement of the carriage in the area of this sensor and activation of the search detector; D) scanning a predetermined surface area on the ground by means of the search detector with corresponding displacement of the slide and rotation of the arm; E) evaluation of the signals emitted by the search detector to detect the exact position and type of the detected object; F) actuating the gripper for gripping an explosive or hollow charge stored in the magazine and positioning it at the location on the ground determined by the evaluation; G) resetting the carrier vehicle by a predetermined distance; H) detonating the explosive or shaped charge from the carrier vehicle; I) Further movement of the carrier vehicle in the direction of travel at a predetermined speed with activated sensors. Verfahren nach Anspruch 16, dadurch gekennzeichnet, daß nach oder während der Verfahrensschritte D und/oder F und/oder H eine Überwachung und Identifizierung der erfaßten Stelle oder des erfaßten Gegenstandes mittels einer Video-Überwachungskamera und eine Auswertung der erhaltenen Bildinformation durchgeführt wird.A method according to claim 16, characterized in that after or during process steps D and / or F and / or H monitoring and identification of the detected point or the detected object is carried out by means of a video surveillance camera and an evaluation of the image information obtained.
EP96105759A 1995-04-20 1996-04-12 Device for searching and clearing of land mines and method for clearing land mine fields with such a device Expired - Lifetime EP0738868B1 (en)

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DE19514569A DE19514569A1 (en) 1995-04-20 1995-04-20 A search and clearing device for land mines installed on a carrier vehicle, in particular a main battle tank, and methods for locating and destroying a land mine by means of this search and clearing device
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Also Published As

Publication number Publication date
CA2174496C (en) 1999-02-23
DK0738868T3 (en) 1999-04-19
EP0738868B1 (en) 1998-07-08
CA2174496A1 (en) 1996-10-21
ES2120259T3 (en) 1998-10-16
DE59600316D1 (en) 1998-08-13
EP0738868A3 (en) 1997-01-02
DE19514569A1 (en) 1996-10-24
US5712441A (en) 1998-01-27

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