EP2000591A2 - Method for relocating a military bridge - Google Patents

Method for relocating a military bridge Download PDF

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Publication number
EP2000591A2
EP2000591A2 EP08008974A EP08008974A EP2000591A2 EP 2000591 A2 EP2000591 A2 EP 2000591A2 EP 08008974 A EP08008974 A EP 08008974A EP 08008974 A EP08008974 A EP 08008974A EP 2000591 A2 EP2000591 A2 EP 2000591A2
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EP
European Patent Office
Prior art keywords
vehicle
laying
bridge
obstacle
laying vehicle
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Granted
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EP08008974A
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German (de)
French (fr)
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EP2000591A3 (en
EP2000591B1 (en
Inventor
Lothar Emrich
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General Dynamics European Land Systems Bridge Systems GmbH
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General Dynamics European Land Systems Germany GmbH
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Priority to PL08008974T priority Critical patent/PL2000591T3/en
Publication of EP2000591A2 publication Critical patent/EP2000591A2/en
Publication of EP2000591A3 publication Critical patent/EP2000591A3/en
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D15/00—Movable or portable bridges; Floating bridges
    • E01D15/12—Portable or sectional bridges
    • E01D15/127—Portable or sectional bridges combined with ground-supported vehicles for the transport, handling or placing of such bridges or of sections thereof

Definitions

  • the invention relates to methods for laying military bridges over an obstacle in the combat area according to the preamble of claim 1.
  • bridge systems are today summarized under the generic term "attack bridges". Due to the necessary armor of these vehicles, systems for active protection are dispensed with and passive protection is reduced in favor of the load requirements for the bridge and the publisher. By contrast, bridges without direct enemy action are referred to as “tactical bridges” or “support bridges”. Such systems usually have a higher capacity in terms of free span and thus higher weight. Therefore only systems without protection can be used for transport.
  • the present invention has for its object to provide a method for laying military bridges, in which no soldiers are exposed to the enemy fire.
  • the invention has taken on the task to optimize the transport of the bridge to the site.
  • the bridge is loaded onto a laying vehicle.
  • the laying vehicle is in principle self-propelled, but is first moved by a transport vehicle.
  • This transport vehicle is a military, possibly also a civilian vehicle and can move on the road, by rail, in the water or in the air.
  • the laying vehicle is used only as a carrier and is otherwise passive.
  • the control of vehicle movements is carried out conventionally by the systems of the transport vehicle.
  • the laying vehicle is separated from the transport vehicle.
  • a leading vehicle takes over the guidance of the laying vehicle loaded with the bridge in the direction of the obstacle to be crossed.
  • the laying vehicle drives actively, ie with its own drive and unmanned.
  • the leading vehicle is manned and preferably armored. Since the laying vehicle is not mechanically coupled, the leading vehicle has its full independence and agility.
  • the leading vehicle can thus correspond to the vehicles of the combat force in active and passive protection or consist of such a vehicle.
  • the laying vehicle is connected via an electronic guidance system with the leading vehicle and follows its movement independently in the (given) appropriate distance up to the zone.
  • the laying vehicle automatically drives to the obstacle as a robotic vehicle. This is possible thanks to the built-in environment detection, which can include both optical image recognition and laser scanner. Having arrived here, it measures the width of the obstacle and the shape of the banks. With the help of the data thus obtained, the laying vehicle then first performs a simulation of the laying process. If it detects that the obstacle is too wide or the banks are too steep, it stops the laying process. Otherwise, it performs the installation process.
  • each bridge part is loaded on a separate laying vehicle. If the transport is by air freight, each laying vehicle can be transported with its bridge part in separate aircraft.
  • the guidance of the laying vehicle from the edge of the combat area to the obstacle zone does not take place by a single leader vehicle but by a group of guidance vehicles.
  • the travel of the laying vehicle to the obstacle is not interrupted if a leading vehicle should fail due to enemy bombardment.
  • multiple guide vehicles are able to locate a suitable location for overcoming the obstacle more quickly. If one of the guide vehicles has found a position that appears suitable for overcoming the obstacle, then the laying vehicle follows this leading vehicle.
  • the command vehicles have recorded their path via a global positioning system and transmit the cheapest route to the laying vehicle via telemetry. With the help of these data and their own detection systems, the laying vehicle can then automatically find the obstacle. Arriving at the obstacle, the laying vehicle then automatically carries out the fine approach, the measurement, the simulation and finally the laying of the bridge.
  • the fine approach to the obstacle at reduced speed ultimately with walking speed. This prevents the laying vehicle, for example, passing over the edge of a ravine and causing damage.
  • the laying vehicle performs a check of the laid bridge after the laying of the bridge.
  • the approach is interrupted. Depending on the circumstances, the entire installation process can be aborted or retried at another location.
  • the environment detection is switched to short distance and resumed the approach according to an embodiment of the invention.
  • the laying process may be stopped as soon as the environment detection detects a terrain level difference that exceeds the allowable pitch of the bridge.
  • Fig. 1 shows purely schematically laying vehicles 2, loaded with a military bridge 1 and the associated facilities for installation.
  • the laying vehicles 2 are self-propelled and equipped with their own environment detection, which includes both optical means and laser scanner and a suitable transmitter.
  • Fig. 1 further shows four examples of transport vehicles that allow rapid transport of the loaded with the bridge 1 laying vehicle 2 in the approaching zone to the edge of a combat zone.
  • the first example is a tractor 3, with which the laying vehicle 2 is connected as a semi-trailer. In the same way, a cab can also be adapted here as a control module to the laying vehicle.
  • PLS Pallet Load System
  • the third example is a transport aircraft.
  • the fourth example is a towing vehicle from the standard military equipment, to which the laying vehicle is mechanically attached as a trailer.
  • the laying vehicle 2 After the laying vehicle 2 has been brought to the edge of the combat zone with the aid of one of the transport vehicles 3, 4, 5, the laying vehicle 2, loaded with the bridge 1, is guided by a leading vehicle to an obstacle 4, 3 to be overcome. This is in Fig. 2 shown.
  • the guide vehicles 6, 7 have only wireless contact to the laying vehicle 2. This drives itself, so that the guide vehicles 6, 7 are hindered in any way. They retain their full mobility, which ensures the survival of the operating team sitting in the guide vehicles 6, 7.
  • the last approach to the obstacle 10 to be overcome in the deployment zone takes place without leader vehicle 6, 7 Fig. 3 shown.
  • the laying vehicle 2 as already mentioned with its own drive and its own Environment identification equipped.
  • the approach to the obstacle 10 is at a decreasing speed, last at walking speed, to prevent the laying vehicle 2 from passing over the obstacle 10 and being damaged.
  • the laying vehicle 2 Arrived at the edge 11 of the obstacle 10, the laying vehicle 2 performs measurements. These measurements capture on the one hand the width of the obstacle 10, on the other hand the height levels of the two edges 11, 12 of the obstacle 10. With the help of these measurement data, the laying vehicle 2 then performs a laying simulation. If this simulation shows that the width of the obstacle 10 is less than the length of the military bridge 1 and that the differences in level of the edges 11, 12 of the obstacle 10 do not exceed the permissible longitudinal inclination of the laid bridge 1, the laying vehicle 2 automatically performs the laying operation.
  • the laying vehicle 2 moves back or seeks a more suitable location for the laying process. In any case, the laying vehicle 2 transmits the obstacle data to the leading vehicle 6, 7, where then optionally also on the use of other bridge systems can be decided.
  • Fig. 4 shows the overcome with the bridge 1 obstacle 10, wherein the laying process itself is symbolized by the dot-dashed bridge 1 '. Bridge 1 and laying vehicle 2 are not shown to scale.
  • Fig. 5 shows purely schematically that it is possible to break the bridge into two longitudinally divided halves 1.1, 1.2 and to transport each bridge half 1.1, 1.2 on a separate laying vehicle 2.1, 2.2. Since now every combination of bridge half 1.1, 1.2 and installation vehicle 2.1, 2.2 alone has to comply with the tunnel, road and other profiles, the dimensions can be selected to be large.
  • the laying vehicles 2.1, 2.2 are equipped with coupling devices 2.3, by means of which the laying vehicles 2.1, 2.2 are coupled at the edge of the combat zone. In the coupled position, the laying vehicles 2.1, 2.2 then travel to the obstacle, where the two bridge halves 1.1, 1.2 are laid either simultaneously or one after the other.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Bridges Or Land Bridges (AREA)
  • Traffic Control Systems (AREA)

Abstract

The method involves loading a military bridge (1) e.g. tactical bridge, on an unmanned and remotely-controlled laying vehicle (2). The vehicle (2) is driven by a manned guide vehicle e.g. helicopter, close to an obstacle (10). The vehicle (2) is independently and precisely moved on the obstacle by an optical or laser-scanner surrounding-detection process. A laying process is simulated based on constructive and preset limit values, and data corresponding to a scanned site situation. A determination is made whether to perform or stop the laying process.

Description

Die Erfindung betrifft Verfahren zum Verlegen von militärischen Brücken über ein Hindernis im Kampfgebiet gemäß dem Oberbegriff des Anspruchs 1.The invention relates to methods for laying military bridges over an obstacle in the combat area according to the preamble of claim 1.

Das Verlegen von militärischen Brücken über Hindernisse, die im Beschuss des Feindes liegen, ist ein schwieriges und vor allem gefährliches Geschäft. Ursprünglich mussten die Pioniere die Brücken zum Überwinden des Hindernisses vor Ort erstellen. Dabei kam es zu großen Verlusten. Deshalb wurde vor einigen Jahrzehnten zum Verlegen derartiger Brücken ein Verfahren entwickelt, bei dem ein zum Verlegefahrzeug umgebauter Panzer eine in mehrere Teilelemente zerlegte Brücke zum Rand des Hindernisses fahren und anschließend im Freivorbau über das Hindernis verlegen konnte. Diese Brücken waren in der Lage, Hindernisse bis zu 28 m Breite zu überwinden. Die Bedienmannschaft konnte im Wesentlichen im Panzer sitzen bleiben, gegebenenfalls musste sie den Panzer kurz verlassen, um Fehlfunktionen zu beseitigen.Bringing military bridges over obstacles under attack by the enemy is a difficult and, above all, dangerous business. Originally, the pioneers had to build bridges to overcome the obstacle on the ground. There were big losses. Therefore, a few decades ago for the laying of such bridges, a method was developed in which a vehicle converted to the laying vehicle drive a broken into several sub-elements bridge to the edge of the obstacle and then could lay in the free trench over the obstacle. These bridges were able to overcome obstacles up to 28 m wide. The operating crew could essentially stay in the tank, possibly had to leave the tank shortly to eliminate malfunction.

Solche Brückensysteme werden heute unter dem Oberbegriff "Angriffsbrücken" zusammengefasst. Aufgrund der notwendigen Panzerung dieser Fahrzeuge wird dabei zugunsten des Zuladungsbedarfs für Brücke und Verleger auf Systeme zum aktiven Schutz verzichtet und der passive Schutz reduziert. Brücken ohne direkte Feindeinwirkung werden hingegen als "taktische Brücken" oder auch "Unterstützungsbrücken" bezeichnet. Solche Systeme haben meist eine höhere Leistungsfähigkeit in Bezug auf die freie Spannweite und dadurch höheres Gewicht. Für den Transport können deshalb sinnvoll nur Systeme ohne Schutz eingesetzt werden.Such bridge systems are today summarized under the generic term "attack bridges". Due to the necessary armor of these vehicles, systems for active protection are dispensed with and passive protection is reduced in favor of the load requirements for the bridge and the publisher. By contrast, bridges without direct enemy action are referred to as "tactical bridges" or "support bridges". Such systems usually have a higher capacity in terms of free span and thus higher weight. Therefore only systems without protection can be used for transport.

Alle Angriffsbrücken haben gemeinsam, dass der Verlegevorgang vor Ort von einem oder mehreren Soldaten aktiviert und gesteuert werden muss. Diese sind somit dem gegnerischen Feuer weiterhin ausgesetzt.All attack bridges have in common that the laying process on site must be activated and controlled by one or more soldiers. These are thus still exposed to the enemy fire.

Ein weiteres Problem bei der Entwicklung militärischer Brücken ist die Transportierbarkeit. Meist bestehen Beschränkungen bezüglich Zuladung, Anhängelast, Gesamtgewicht und Abmessungen. Gepanzerte Fahrzeuge stellen hohe Anforderungen an das Brückensystem, da sie selbst schon die zur Verfügung stehenden Gewichtslimits und Baumaße in hohem Maße ausnutzen. Deshalb wurden die Brücken so konstruiert, dass sie für den Transport zusammengefaltet oder - geschoben werden können. Auch hierfür wurde eine Vielzahl von Konstruktionen entwickelt. Diesen ist jedoch gemeinsam, dass sie die Konstruktion komplizieren und den Verlegevorgang verlangsamen.Another problem with the development of military bridges is the transportability. In most cases there are restrictions on payload, trailer load, total weight and dimensions. Armored vehicles make high demands on the bridge system, since they themselves already make full use of the available weight limits and dimensions. Therefore, the bridges were constructed so that they folded together for transport or - can be pushed. Again, a variety of constructions has been developed. However, these have in common that they complicate the construction and slow down the laying process.

Sinngemäß die gleichen Überlegungen gelten auch, wenn die Brücke per Wasser oder per Luft transportiert wird. Auch hier müssen die jeweiligen Transportprofile eingehalten werden, beim Lufttransport außerdem die begrenzten zulässigen Zuladungs- bzw. Transportgewichte.The same considerations apply analogously when the bridge is transported by water or air. Again, the respective transport profiles must be complied with, the air transport also the limited allowable payload or transport weights.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Verlegen von militärischen Brücken anzugeben, bei dem keine Soldaten dem gegnerischen Feuer ausgesetzt sind. Ergänzend hat sich die Erfindung die Aufgabe gestellt, den Transport der Brücke zum Einsatzort zu optimieren.The present invention has for its object to provide a method for laying military bridges, in which no soldiers are exposed to the enemy fire. In addition, the invention has taken on the task to optimize the transport of the bridge to the site.

Die genannte Hauptaufgabe wird gelöst durch ein Verfahren mit den Merkmalen des Anspruchs 1.The stated main object is achieved by a method having the features of claim 1.

Der vorliegenden Erfindung liegen folgende Prinzipien zugrunde:

  • Zunächst wird entsprechend der Gefährdung durch Feindeinwirkung der Gesamtweg zum Einsatzort in drei Gefährdungszonen unterteilt:
    Zone 1:
    Anmarschzone.
    In dieser Zone besteht keine direkte Feindeinwirkung und die Fahrzeuge bewegen sich im überwachten Raum.
    Zone 2:
    Kampfzone.
    In dieser Zone bewegen sich nur Fahrzeuge mit aktivem und passivem Schutz.
    Zone 3:
    Einsatzzone.
    Diese Zone liegt genau vor den gegnerischen Einheiten und ist selbst für gepanzerte Fahrzeuge kritisch.
The present invention is based on the following principles:
  • First of all, according to the threat of enemy action, the total route to the place of deployment is subdivided into three hazard zones:
    Zone 1:
    Advancing zone.
    There is no direct enemy action in this zone and the vehicles are moving in the monitored area.
    Zone 2:
    Combat zone.
    Only vehicles with active and passive protection move in this zone.
    Zone 3:
    Use zone.
    This zone is right in front of enemy units and is critical even for armored vehicles.

Die räumliche Ausdehnung dieser Zonen wird von Fall zu Fall nach militärischen Gesichtspunkten definiert.The spatial extent of these zones is defined case by case according to military considerations.

Zur Bewegung des Brückensystems in der Anmarschzone wird die Brücke auf ein Verlegefahrzeug geladen. Das Verlegefahrzeug ist prinzipiell selbstfahrend, wird jedoch zunächst von einem Transportfahrzeug bewegt. Dieses Transportfahrzeug ist ein militärisches, gegebenenfalls auch ein ziviles Fahrzeug und kann sich auf der Straße, auf der Schiene, im Wasser oder in der Luft bewegen. In der Anmarschzone wird das Verlegefahrzeug nur als Träger eingesetzt und ist ansonsten passiv. Die Steuerung der Fahrzeugbewegungen erfolgt dabei konventionell durch die Systeme des Transportfahrzeugs. An der Grenze zur Kampfzone wird das Verlegefahrzeug vom Transportfahrzeug getrennt.To move the bridge system in the approaching zone, the bridge is loaded onto a laying vehicle. The laying vehicle is in principle self-propelled, but is first moved by a transport vehicle. This transport vehicle is a military, possibly also a civilian vehicle and can move on the road, by rail, in the water or in the air. In the approach zone, the laying vehicle is used only as a carrier and is otherwise passive. The control of vehicle movements is carried out conventionally by the systems of the transport vehicle. At the border to the combat zone, the laying vehicle is separated from the transport vehicle.

Nun übernimmt ein Führungsfahrzeug die Führung des mit der Brücke beladenen Verlegefahrzeugs in Richtung auf das zu überquerende Hindernis. Dabei besteht vorzugsweise keine mechanische Verbindung zwischen Führungsfahrzeug und Verlegefahrzeug. Das Verlegefahrzeug fährt aktiv, also mit eigenem Antrieb und unbemannt. Das Führungsfahrzeug ist bemannt und vorzugsweise gepanzert. Da das Verlegefahrzeug nicht mechanisch gekoppelt ist, hat das Führungsfahrzeug seine volle Unabhängigkeit und Beweglichkeit.Now a leading vehicle takes over the guidance of the laying vehicle loaded with the bridge in the direction of the obstacle to be crossed. In this case, there is preferably no mechanical connection between the leading vehicle and laying vehicle. The laying vehicle drives actively, ie with its own drive and unmanned. The leading vehicle is manned and preferably armored. Since the laying vehicle is not mechanically coupled, the leading vehicle has its full independence and agility.

Das Führungsfahrzeug kann somit im aktiven und passiven Schutz den Fahrzeugen der Kampftruppe entsprechen oder aus einem solchen Fahrzeug bestehen. Das Verlegefahrzeug wird über ein elektronisches Leitsystem mit dem Führungsfahrzeug verbunden und folgt dessen Bewegung eigenständig im (vorgegebenen) angemessenen Abstand bis zur Einsatzzone.The leading vehicle can thus correspond to the vehicles of the combat force in active and passive protection or consist of such a vehicle. The laying vehicle is connected via an electronic guidance system with the leading vehicle and follows its movement independently in the (given) appropriate distance up to the Einsatzzone.

Von hier aus fährt das Verlegefahrzeug als Roboticfahrzeug selbstständig zum Hindernis. Dies ist möglich dank der ihm eingebauten Umfelderfassung, die sowohl eine optische Bilderkennung als auch Laser-Scanner umfassen kann. Hier angekommen, misst es die Breite des Hindernisses und die Gestalt der Ufer aus. Mit Hilfe der so gewonnenen Daten führt das Verlegefahrzeug dann zunächst eine Simulation des Verlegevorgangs durch. Stellt es dabei fest, dass das Hindernis zu breit oder die Ufer zu steil sind, bricht es den Verlegevorgang ab. Andernfalls führt es den Verlegevorgang aus.From here, the laying vehicle automatically drives to the obstacle as a robotic vehicle. This is possible thanks to the built-in environment detection, which can include both optical image recognition and laser scanner. Having arrived here, it measures the width of the obstacle and the shape of the banks. With the help of the data thus obtained, the laying vehicle then first performs a simulation of the laying process. If it detects that the obstacle is too wide or the banks are too steep, it stops the laying process. Otherwise, it performs the installation process.

Da in der eigentlichen Einsatzzone des Brückensystems im Bereich des Hindernisses weder Führungsfahrzeuge noch Personen anwesend und das Verlegefahrzeug völlig unbemannt ist, sind Fehlinterpretationen, die zu Fehlfunktionen führen könnten, ausgeschlossen. Gegebenenfalls kann von dem in sicherer Entfernung stehenden Führungsfahrzeug korrigierend eingegriffen werden. Auch können durch das feindliche Feuer keine Personen zu Schaden kommen. Da keine Personen an Bord sind, muss das Verlegefahrzeug auch nicht oder nur schwach gepanzert werden. Dies kommt der Tragfähigkeit zu gute, d. h. es können große und schwere Brückenelemente transportiert und verlegt werden.Since in the actual operating zone of the bridge system in the area of the obstacle neither leading vehicles nor persons present and the laying vehicle is completely unmanned, misinterpretations that could lead to malfunction excluded. If necessary, from the safe distance standing Leadership vehicle be intervened corrective. Also, no enemy can be harmed by the enemy fire. Since there are no persons on board, the laying vehicle does not need to be armored or only weakly armored. This is the load capacity to good, ie it can be transported and laid large and heavy bridge elements.

Um diese großen und schweren Brückenelemente zum Kampfgebiet transportieren zu können, ohne die vorgegebenen Straßen-, Brücken- und sonstigen Profile zu überschreiten, wird zur Lösung der zweiten Teilaufgabe die Brücke längs geteilt, wobei jedes Brückenteil auf ein eigenes Verlegefahrzeug geladen wird. Erfolgt der Transport per Luftfracht, kann jedes Verlegefahrzeug mit seinem Brückenteil in getrennten Flugzeugen transportiert werden.To be able to transport these large and heavy bridge elements to the combat area without exceeding the given road, bridge and other profiles, the bridge is divided longitudinally to solve the second subtask, each bridge part is loaded on a separate laying vehicle. If the transport is by air freight, each laying vehicle can be transported with its bridge part in separate aircraft.

Gemäß einer alternativen Weiterbildung der Erfindung erfolgt die Führung des Verlegefahrzeugs vom Rand des Kampfgebiets bis zur Hinderniszone nicht durch ein einzelnes Führungsfahrzeug sondern durch eine Gruppe von Führungsfahrzeugen. Dadurch wird die Fahrt des Verlegefahrzeugs zum Hindernis nicht unterbrochen, wenn ein Führungsfahrzeug aufgrund feindlichen Beschusses ausfallen sollte. Auch sind mehrere Führungsfahrzeuge schneller in der Lage, eine für die Überwindung des Hindernisses geeignete Stelle ausfindig zu machen. Hat eines der Führungsfahrzeuge eine Stelle gefunden, die für eine Überwindung des Hindernisses geeignet erscheint, so folgt das Verlegefahrzeug diesem Führungsfahrzeug. Die Führungsfahrzeuge haben über ein globales Lageortungssystem ihren Weg aufgezeichnet und übermitteln per Telemetrie die günstigste Route an das Verlegefahrzeug. Mit Hilfe dieser Daten und den eigenen Erfassungssystemen kann dann das Verlegefahrzeug selbsttätig das Hindernis finden. Am Hindernis angekommen, führt das Verlegefahrzeug dann wieder selbsttätig die Feinannäherung, die Messung, die Simulation und schließlich die Verlegung der Brücke durch.According to an alternative development of the invention, the guidance of the laying vehicle from the edge of the combat area to the obstacle zone does not take place by a single leader vehicle but by a group of guidance vehicles. As a result, the travel of the laying vehicle to the obstacle is not interrupted if a leading vehicle should fail due to enemy bombardment. Also, multiple guide vehicles are able to locate a suitable location for overcoming the obstacle more quickly. If one of the guide vehicles has found a position that appears suitable for overcoming the obstacle, then the laying vehicle follows this leading vehicle. The command vehicles have recorded their path via a global positioning system and transmit the cheapest route to the laying vehicle via telemetry. With the help of these data and their own detection systems, the laying vehicle can then automatically find the obstacle. Arriving at the obstacle, the laying vehicle then automatically carries out the fine approach, the measurement, the simulation and finally the laying of the bridge.

Gemäß einer Weiterbildung der Erfindung erfolgt die Feinannäherung an das Hindernis mit reduzierter Geschwindigkeit, letztlich mit Schrittgeschwindigkeit. Dadurch wird verhindert, dass das Verlegefahrzeug beispielsweise den Rand einer Schlucht überfährt und zu Schaden kommt.According to one embodiment of the invention, the fine approach to the obstacle at reduced speed, ultimately with walking speed. This prevents the laying vehicle, for example, passing over the edge of a ravine and causing damage.

Gemäß einer Ausgestaltung der Erfindung führt das Verlegefahrzeug nach dem Verlegen der Brücke eine Kontrolle der verlegten Brücke durch.According to one embodiment of the invention, the laying vehicle performs a check of the laid bridge after the laying of the bridge.

Sobald die dem Verlegefahrzeug eigene Umfelderkennung während der Annäherung an die Endzone des Hindernisses eine Geländesteigung erkennt, die die Steigfähigkeit des Verlegefahrzeugs überschreitet, wird die Annäherung unterbrochen. Je nach den Umständen kann der Verlegevorgang insgesamt abgebrochen oder an einer anderen Stelle neu versucht werden.As soon as the environment recognizing the laying vehicle recognizes a terrain slope during the approach to the end zone of the obstacle, which exceeds the climbing ability of the laying vehicle, the approach is interrupted. Depending on the circumstances, the entire installation process can be aborted or retried at another location.

Da es jedoch auch möglich ist, dass die angezeigte Steigung durch eine zu grobe Auswertung verursacht wird, wird gemäß einer Weiterbildung der Erfindung die Umfelderkennung auf kurze Distanz umgeschaltet und die Annäherung wieder aufgenommen.However, since it is also possible that the indicated slope is caused by a too rough evaluation, the environment detection is switched to short distance and resumed the approach according to an embodiment of the invention.

In ähnlicher Weise kann der Verlegevorgang gestoppt werden, sobald die Umfelderkennung eine Geländeniveaudifferenz erkennt, die die zulässige Längsneigung der Brücke übersteigt.Similarly, the laying process may be stopped as soon as the environment detection detects a terrain level difference that exceeds the allowable pitch of the bridge.

Auch hier besteht die Möglichkeit, die Situation durch einen Feinscan in Standposition neu zu ermitteln, um anschließend die Verlegesimulation zu starten.Here too it is possible to redetermine the situation by means of a fine scan in the stance position in order to then start the laying simulation.

Schließlich besteht die Möglichkeit, die Umfelderkennungsdaten vom Verlegefahrzeug zu einem Führungsfahrzeug drahtlos zu übertragen. Im Führungsfahrzeug, das in sicherer Entfernung vom Verlegefahrzeug positioniert ist, kann ein Soldat die Situation zusätzlich bewerten, um anschließend Befehlsdaten an das Verlegefahrzeug drahtlos zu übertragen. Auf diese Weise lassen sich Situationen, die die im Verlegefahrzeug eingebaute Logik überfordern, doch noch meistern.Finally, it is possible to wirelessly transmit the surroundings identification data from the laying vehicle to a leading vehicle. In the lead vehicle, which is positioned at a safe distance from the laying vehicle, a soldier can additionally assess the situation in order subsequently to transmit command data wirelessly to the laying vehicle. In this way, situations that overwhelm the logic built into the laying vehicle can still be mastered.

Anhand der Zeichnung soll die Erfindung in Form eines Ausführungsbeispiels näher erläutert werden. Es zeigen

Fig. 1
selbstfahrende Transportfahrzeuge in der Anmarschzone, beladen mit einem eine militärische Brücke tragenden Verlegefahrzeug auf dem Weg zu einem Einsatzgebiet,
Fig. 2
Führung eines unbemannten, selbstfahrenden Verlegefahrzeugs in der Kampfzone zu einem erwarteten Hindernis,
Fig. 3
ein autonom fahrendes, unbemanntes Verlegefahrzeug in der Einsatzzone während der Annäherung an ein Hindernis,
Fig. 4
die über das Hindernis verlegte Brücke und
Fig. 5
zwei Verlegefahrzeuge, jeweils beladen mit einer Brückenhälfte.
Reference to the drawing, the invention will be explained in more detail in the form of an embodiment. Show it
Fig. 1
self-propelled transport vehicles in the approach area, loaded with a laying vehicle carrying a military bridge on the way to an operational area,
Fig. 2
Guiding an unmanned, self-propelled laying vehicle in the combat zone to an expected obstacle,
Fig. 3
an autonomous, unmanned installation vehicle in the service area during approach to an obstacle,
Fig. 4
the bridge over the obstacle and
Fig. 5
two laying vehicles, each loaded with a bridge half.

Fig. 1 zeigt rein schematisch Verlegefahrzeuge 2, beladen mit einer militärischen Brücke 1 und den zugehörigen Einrichtungen zum Verlegen. Die Verlegefahrzeuge 2 sind selbstfahrend und mit einer eigenen Umfelderkennung ausgerüstet, die sowohl optische Mittel als auch Laser-Scanner und eine geeignete Auswerteelektronik umfasst. Fig. 1 shows purely schematically laying vehicles 2, loaded with a military bridge 1 and the associated facilities for installation. The laying vehicles 2 are self-propelled and equipped with their own environment detection, which includes both optical means and laser scanner and a suitable transmitter.

Fig. 1 zeigt des weiteren vier Beispiele von Transportfahrzeugen, die einen schnellen Transport des mit der Brücke 1 beladenen Verlegefahrzeugs 2 in der Anmarschzone zum Rand einer Kampfzone ermöglichen. Erstes Beispiel ist eine Zugmaschine 3, mit der das Verlegefahrzeug 2 als Auflieger verbunden ist. In gleicher Weise kann hier auch eine Kabine als Steuermodul an das Verlegefahrzeug adaptiert werden. Zweites Beispiel ist ein geeigneter Spezial-LKW, oder besser auch Standard PLS-Transporter (PLS = Pallet Load System), der das komplette Verlegefahrzeug 2 mit Brücke 1 trägt. Drittes Beispiel ist ein Transportflugzeug 5. Viertes Beispiel ist ein Zugfahrzeug aus der militärischen Standardausrüstung, woran das Verlegefahrzeug als Trailer mechanisch angehängt wird. Fig. 1 further shows four examples of transport vehicles that allow rapid transport of the loaded with the bridge 1 laying vehicle 2 in the approaching zone to the edge of a combat zone. The first example is a tractor 3, with which the laying vehicle 2 is connected as a semi-trailer. In the same way, a cab can also be adapted here as a control module to the laying vehicle. The second example is a suitable special truck, or better also standard PLS transporter (PLS = Pallet Load System), which carries the complete laying vehicle 2 with bridge 1. The third example is a transport aircraft. The fourth example is a towing vehicle from the standard military equipment, to which the laying vehicle is mechanically attached as a trailer.

Nachdem das Verlegefahrzeug 2 mit Hilfe eines der Transportfahrzeuge 3, 4, 5 zum Rand der Kampfzone gebracht wurde, wird das Verlegefahrzeug 2, beladen mit der Brücke 1, von einem Führungsfahrzeug zu einem zu überwindenden Hindernis 4, 3 geführt. Dies ist in Fig. 2 dargestellt. Als Führungsfahrzeuge sind dargestellt ein Panzer 6 bzw. ein Helikopter 7. Die Führungsfahrzeuge 6, 7 haben lediglich drahtlosen Kontakt zum Verlegefahrzeug 2. Dieses fährt selbst, so dass die Führungsfahrzeuge 6, 7 in keiner Weise behindert sind. Sie behalten ihre volle Beweglichkeit, die das Überleben der in den Führungsfahrzeugen 6, 7 sitzenden Bedienungsmannschaft gewährleistet.After the laying vehicle 2 has been brought to the edge of the combat zone with the aid of one of the transport vehicles 3, 4, 5, the laying vehicle 2, loaded with the bridge 1, is guided by a leading vehicle to an obstacle 4, 3 to be overcome. This is in Fig. 2 shown. The guide vehicles 6, 7 have only wireless contact to the laying vehicle 2. This drives itself, so that the guide vehicles 6, 7 are hindered in any way. They retain their full mobility, which ensures the survival of the operating team sitting in the guide vehicles 6, 7.

Die letzte Annäherung an das zu überwindende Hindernis 10 in der Einsatzzone erfolgt ohne Führungsfahrzeug 6, 7. Dies ist in Fig. 3 dargestellt. Zu diesem Zweck ist das Verlegefahrzeug 2 wie schon erwähnt mit einem eigenen Antrieb und einer eigenen Umfelderkennung ausgerüstet. Die Annäherung an das Hindernis 10 erfolgt mit abnehmender Geschwindigkeit, zuletzt mit Schrittgeschwindigkeit, um zu verhindern, dass das Verlegefahrzeug 2 das Hindernis 10 überfährt und beschädigt wird.The last approach to the obstacle 10 to be overcome in the deployment zone takes place without leader vehicle 6, 7 Fig. 3 shown. For this purpose, the laying vehicle 2 as already mentioned with its own drive and its own Environment identification equipped. The approach to the obstacle 10 is at a decreasing speed, last at walking speed, to prevent the laying vehicle 2 from passing over the obstacle 10 and being damaged.

Am Rand 11 des Hindernisses 10 angekommen, führt das Verlegefahrzeug 2 Messungen durch. Diese Messungen erfassen zum einen die Breite des Hindernisses 10, zum anderen die Höhenniveaus der beiden Ränder 11, 12 des Hindernisses 10. Mit Hilfe dieser Messdaten führt das Verlegefahrzeug 2 dann eine Verlegesimulation durch. Ergibt diese Simulation, dass die Breite des Hindernisses 10 geringer ist als die Länge der militärischen Brücke 1 und dass die Niveauunterschiede der Ränder 11, 12 des Hindernisses 10 die zulässige Längsneigung der verlegten Brücke 1 nicht überschreiten, führt das Verlegefahrzeug 2 den Verlegevorgang selbsttätig durch.Arrived at the edge 11 of the obstacle 10, the laying vehicle 2 performs measurements. These measurements capture on the one hand the width of the obstacle 10, on the other hand the height levels of the two edges 11, 12 of the obstacle 10. With the help of these measurement data, the laying vehicle 2 then performs a laying simulation. If this simulation shows that the width of the obstacle 10 is less than the length of the military bridge 1 and that the differences in level of the edges 11, 12 of the obstacle 10 do not exceed the permissible longitudinal inclination of the laid bridge 1, the laying vehicle 2 automatically performs the laying operation.

Andernfalls wird der Verlegevorgang abgebrochen. Das Verlegefahrzeug 2 fährt zurück oder sucht eine geeignetere Stelle für den Verlegevorgang. Auf jeden Fall überträgt das Verlegefahrzeug 2 die Hindernisdaten zum Führungsfahrzeug 6, 7, wo dann gegebenenfalls auch über den Einsatz anderer Brückensysteme entschieden werden kann.Otherwise the installation process will be aborted. The laying vehicle 2 moves back or seeks a more suitable location for the laying process. In any case, the laying vehicle 2 transmits the obstacle data to the leading vehicle 6, 7, where then optionally also on the use of other bridge systems can be decided.

Fig. 4 zeigt das mit der Brücke 1 überwundene Hindernis 10, wobei der Verlegevorgang selbst durch die strichpunktiert gezeichnete Brücke 1' symbolisiert ist. Brücke 1 und Verlegefahrzeug 2 sind nicht maßstabsgerecht dargestellt. Fig. 4 shows the overcome with the bridge 1 obstacle 10, wherein the laying process itself is symbolized by the dot-dashed bridge 1 '. Bridge 1 and laying vehicle 2 are not shown to scale.

Fig. 5 zeigt rein schematisch, dass es möglich ist, die Brücke in zwei längs geteilte Hälften 1.1, 1.2 zu zerlegen und jede Brückenhälfte 1.1, 1.2 auf einem eigenen Verlegefahrzeug 2.1, 2.2 zu transportieren. Da jetzt jede Kombination aus Brückenhälfte 1.1, 1.2 und Verlegefahrzeug 2.1, 2.2 für sich allein die Tunnel-, Straßen- und sonstigen Profile einzuhalten hat, können die Abmessungen entsprechend groß gewählt werden. Fig. 5 shows purely schematically that it is possible to break the bridge into two longitudinally divided halves 1.1, 1.2 and to transport each bridge half 1.1, 1.2 on a separate laying vehicle 2.1, 2.2. Since now every combination of bridge half 1.1, 1.2 and installation vehicle 2.1, 2.2 alone has to comply with the tunnel, road and other profiles, the dimensions can be selected to be large.

Die Verlegefahrzeuge 2.1, 2.2 sind mit Kupplungsvorrichtungen 2.3 ausgerüstet, mit deren Hilfe die Verlegefahrzeuge 2.1, 2.2 am Rand der Kampfzone gekoppelt werden. In der gekoppelten Stellung fahren die Verlegefahrzeuge 2.1, 2.2 dann zum Hindernis, wo die beiden Brückenhälften 1.1, 1.2 entweder gleichzeitig oder nacheinander verlegt werden.The laying vehicles 2.1, 2.2 are equipped with coupling devices 2.3, by means of which the laying vehicles 2.1, 2.2 are coupled at the edge of the combat zone. In the coupled position, the laying vehicles 2.1, 2.2 then travel to the obstacle, where the two bridge halves 1.1, 1.2 are laid either simultaneously or one after the other.

Claims (14)

Verfahren zum Verlegen einer militärischen Brücke (1) über ein Hindernis (10) im Kampfgebiet unter Verwendung wenigstens eines Verlegefahrzeugs (5), gekennzeichnet durch die Schritte: - Verladen der Brücke (1) auf wenigstens ein selbstfahrendes, unbemanntes, fernsteuerbares Verlegefahrzeug (5), - Transportieren des beladenen Verlegefahrzeugs (5) per Wasser, Luft, Schiene und/oder Straße bis zur Grenze des Kampfgebiets, - Führen des wenigstens einen Verlegefahrzeugs (5) durch ein bemanntes Führungsfahrzeug (6) bis in die Nähe des Hindernisses (10), - selbständige Feinannäherung des wenigstens einen Verlegefahrzeugs (5) an das Hindernis (10), unterstützt durch - optische Umfelderfassung und/oder - Laser-Scanner Umfelderfassung, - Scannen der Geländesituation, - Simulation des Verlegevorgangs unter Berücksichtigung der Scannerdaten und der konstruktiv vorgegebenen Grenzwerte, - Fällen einer Entscheidung betreffend Durchführung oder Abbruch des Verlegevorgangs, - Ausführen der Entscheidung. Method for laying a military bridge (1) over an obstacle (10) in the combat area using at least one laying vehicle (5), characterized by the steps: Loading the bridge (1) onto at least one self-propelled, unmanned, remotely controllable laying vehicle (5), Transporting the loaded laying vehicle (5) by water, air, rail and / or road to the border of the combat area, Guiding the at least one laying vehicle (5) through a manned guiding vehicle (6) into the vicinity of the obstacle (10), - Independent fine approach of the at least one laying vehicle (5) to the obstacle (10), supported by - Optical environment detection and / or - laser scanner environment detection, - scanning the terrain situation, Simulation of the laying process taking into account the scanner data and the design limits, - cases of a decision concerning the execution or termination of the laying process, - Execute the decision. Verfahren nach Anspruch 1, gekennzeichnet durch den Schritt: - der Transport zur Grenze des Kampfgebiets erfolgt mittels personengelenktem Transportfahrzeug nach den Regeln des zivilen Straßenverkehrs. Method according to claim 1, characterized by the step: - The transport to the border of the combat area is carried out by means of a passenger-controlled transport vehicle according to the rules of civil traffic. Verfahren nach Anspruch 1, gekennzeichnet durch den Schritt: - der Transport zur Grenze des Kampfgebiets erfolgt mittels Transportflugzeug (4). Method according to claim 1, characterized by the step: - The transport to the border of the combat area by means of transport aircraft (4). Verfahren nach Anspruch 1, gekennzeichnet durch den Schritt: - der Transport zur Grenze des Kampfgebiets erfolgt mittels Schleppkahn. Method according to claim 1, characterized by the step: - The transport to the border of the combat area takes place by barge. Verfahren nach einem der Ansprüche 1 bis 4, gekennzeichnet durch die Schritte: - das Verlegefahrzeug (5) folgt einem einzelnen Führungsfahrzeug (6, 7), - das Führungsfahrzeug (6, 7) findet die optimale Verlegestelle. Method according to one of claims 1 to 4, characterized by the steps: the laying vehicle (5) follows a single guiding vehicle (6, 7), - The leading vehicle (6, 7) finds the optimal installation place. Verfahren nach einem der Ansprüche 1 bis 4, gekennzeichnet durch die Schritte: - das Verlegefahrzeug (5) folgt einer Gruppe von Führungsfahrzeugen, - eines der Verlegefahrzeuge (5) findet die optimale Verlegestelle, - das Verlegefahrzeug (5) fährt zu der optimalen Verlegestelle, wobei es selbsttätig dem aufgezeichneten Bewegungsprofil dieses Führungsfahrzeugs (6, 7) folgt. Method according to one of claims 1 to 4, characterized by the steps: the laying vehicle (5) follows a group of guide vehicles, - one of the laying vehicles (5) finds the optimal laying place, - The laying vehicle (5) moves to the optimal installation site, where it automatically follows the recorded movement profile of this leading vehicle (6, 7). Verfahren nach Anspruch 5 oder 6, gekennzeichnet durch den Schritt: - das Verlegefahrzeug (5) folgt dem wenigstens einen Führungsfahrzeug (6, 7) ohne mechanische Verbindung. Method according to claim 5 or 6, characterized by the step: - The laying vehicle (5) follows the at least one leading vehicle (6, 7) without mechanical connection. Verfahren nach einem der Ansprüche 1 bis 7, gekennzeichnet durch den Schritt: - die Feinannäherung erfolgt mit reduzierter Geschwindigkeit, letztlich mit Schrittgeschwindigkeit. Method according to one of claims 1 to 7, characterized by the step: - The fine approach is done at reduced speed, ultimately at walking pace. Verfahren nach einem der Ansprüche 1 bis 8, gekennzeichnet durch den Schritt: - das Verlegefahrzeug (5) führt abschließend eine Kontrolle der verlegten Brücke (1') durch. Method according to one of claims 1 to 8, characterized by the step: - the laying vehicle (5) leads finally by a control of the installed bridge (1 '). Verfahren nach einem der Ansprüche 1 bis 9, gekennzeichnet durch den Schritt: - Unterbrechung der Annäherung in der Kampfzone, sobald die optische und/oder durch Laser-Scanner gestützte Umfelderkennung eine Geländesteigung erkennt, die die Steigfähigkeit des Verlegefahrzeugs (5) überschreitet. Method according to one of claims 1 to 9, characterized by the step: - interruption of the approach in the battle zone as soon as the optical and / or assisted by laser scanner environment recognition site recognizes a slope that exceeds the climbing ability of the laying vehicle (5). Verfahren nach Anspruch 10, gekennzeichnet durch die Schritte: - Umschalten der Umfelderkennung auf kurze Distanz, - Wiederaufnahme bzw. kontinuierliche Weiterführung der Annäherung. Method according to claim 10, characterized by the steps: Switching the surroundings detection to short distance, - Resumption or continuous continuation of the approach. Verfahren nach einem der Ansprüche 1 bis 11, gekennzeichnet durch die Schritte: - Unterbrechung der Feinannäherung an das Hindernis (10), sobald die Umfelderkennung die richtige Position zur Verlegestelle erkennt, - Durchführen eines Feinscans in Standposition, - Starten der Verlegesimulation. Method according to one of claims 1 to 11, characterized by the steps: - interruption of the approach to the obstacle (10) as soon as the surroundings recognition recognizes the correct position to the laying place, Performing a fine scan in a stance position, - Start the laying simulation. Verfahren nach einem der Ansprüche 1 bis 12, gekennzeichnet durch den Schritt: - Transportieren der Brücke (1) in zwei längs getrennten Teilen (1.1, 1.2) bis zur Grenze des Kampfgebiets. Method according to one of claims 1 to 12, characterized by the step: - Transporting the bridge (1) in two longitudinally separated parts (1.1, 1.2) to the border of the combat area. Verfahren nach einem der Ansprüche 1 bis 12, gekennzeichnet durch die Schritte: - Drahtlosübertragung der Umfelderkennungsdaten zu einem Führungsfahrzeug (6), - Drahtlosübertragung von Befehlsdaten vom Führungsfahrzeug (6) zum Verlegefahrzeug (5). Method according to one of claims 1 to 12, characterized by the steps: Wireless transmission of the environment identification data to a leading vehicle (6), - Wireless transmission of command data from the leading vehicle (6) to the laying vehicle (5).
EP08008974.1A 2007-06-05 2008-05-15 Method for relocating a military bridge Active EP2000591B1 (en)

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EP2000591A3 (en) 2010-07-21
US20090064427A1 (en) 2009-03-12
PL2000591T3 (en) 2014-11-28
EP2000591B1 (en) 2014-06-11
US7784134B2 (en) 2010-08-31
DE102007026275A1 (en) 2008-12-18

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