An anti-tank intelligent mine with flying submunitions

Abstract

The application discloses an intelligent mine for anti-tank with flyable intelligent sub-bullets, which comprises a ground control device for finding and preliminarily positioning a target and flyable sub-bullets capable of self-identifying the target and attacking the target; the ground control device is provided with a sound array detector and a millimeter wave radar detector, and the target can be quickly found through a detection mode of active and passive combination, so that the flyable sub-bullets can be quickly positioned and launched; after the flyable sub-bullets are launched, the flyable sub-bullets can fly to a specified position according to information of the ground control device, or can fly autonomously according to information obtained by a visual detection guiding module, and can complete the tasks of detection and identification, tracking and guiding and accurate attack without relying on detection information of the ground control device, so that the precision requirement of initial judgment on the target is greatly reduced, the stability of the flyable sub-bullets is improved, and the complexity of the overall structure is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of anti-tank weapons, and particularly relates to an anti-tank intelligent mine with flying submunitions. BACKGROUND

[0002] Intelligent mines generally adopt advanced infrared detectors or millimeter wave radars as well as sound and vibration sensors, and are equipped with intelligent submunitions, and can detect and attack targets at a long distance. The intelligent mines can communicate between mines and implement networking of mine fields to implement cooperative attack. The intelligent mines can be divided into two categories according to different targets, i.e. anti-helicopter intelligent mines and anti-tank intelligent mines. The equipment and development of the intelligent mines will bring revolutionary changes to the engineering troops in tactics, and become an obvious trend of mine development.

[0003] The existing technologies of the "Hornet" developed by the United States and the PTKM-1R intelligent anti-tank mine developed by Russia both adopt sound and vibration to locate targets. Since the attack submunitions of the traditional anti-tank intelligent mines generally adopt a working mode similar to that of the terminal-sensitive bomb, the azimuth and distance information of the targets are required to be strict. If the attack submunition loses the target in a given area after being launched, the attack submunition will not be able to complete the attack task due to the lack of self-detection capability and the inability to maneuver. SUMMARY

[0004] The present application provides an anti-tank intelligent mine with flying submunitions to solve the problems mentioned in the background technology, which comprises:

[0005] a ground launching control device and flying submunitions;

[0006] The ground launching control device comprises a base and a top cover. The base is a cylindrical barrel with a dead end at the lower end, and a plurality of supporting legs are arranged at the bottom of the base. A plurality of sound array detectors are arranged on each supporting leg. The top cover is composed of two half-cylindrical barrels, and the two half-cylindrical barrels are connected by explosion bolts at the top ends. A plurality of millimeter wave radar detectors are arranged on the side surface of the top cover. A main control module is arranged in the base, which is used to receive the detection information of the sound array detectors and the millimeter wave radar detectors, and send instructions to the explosion bolts and the flying submunitions.

[0007] The flying submunition is composed of a coaxial double-rotor aircraft, a visual detection guiding module and a warhead; the coaxial double-rotor aircraft is provided with two groups of foldable rotors, after the rotors are folded, the flying submunition can be put into the base and fixed through the top cover; the warhead is provided with a fuse, one end of the warhead is connected to the bottom of the coaxial double-rotor aircraft, and the other end is connected to the visual detection guiding module; the visual detection guiding module collects image information below the flying submunition and sends the image information to the on-board control system; the flying submunition is further provided with an on-board control system for receiving the target recognition result and the azimuth information of the visual detection guiding module, transmitting the azimuth information to the coaxial double-rotor aircraft and sending an attack instruction to the fuse in the warhead.

[0008] Further, the connection between the two half-cylinder barrels of the top cover is further provided with a spring, the explosive bolt is electrically connected to the main control module, after receiving the disengagement instruction sent by the main control module, the explosive bolt ignites and explodes the connection structure of the bolt, the spring separates the two half-cylinder barrels of the top cover, the two half-cylinder barrels are separated from the base, and the flying submunition is completely exposed, and at the same time the rotors are unfolded.

[0009] Further, the visual detection guiding module comprises a shell, the shell is connected below the warhead, and the bottom is provided with a visible light lens, an infrared lens and a laser range finder, which are respectively used for collecting visible light, infrared images on the ground and measuring the distance between the flying submunition and the target.

[0010] Further, the leg is rotatably connected to the base, and the connection is provided with a torsional spring for assisting the leg to support the ground.

[0011] Further, the one acoustic array detector is rotatably connected to the leg, and the connection is provided with a torsional spring, the torsional spring limits the maximum unfolding angle of the acoustic array detector to 90 degrees; the sidewall of the base is provided with a groove, after the acoustic array detector and the leg are folded and stored, the acoustic array detector is placed in the groove, and the folded leg is fixed through a clamp.

[0012] Further, the warhead is filled with explosive, the bottom is provided with a shaped charge, and the shaped charge is fixed through a compression screw, the compression screw is an annular structure, the outer ring is provided with a thread, and the thread can be connected to the bottom end of the warhead to resist the shaped charge and prevent it from falling off. After the fuse explodes the explosive in the warhead, the shaped charge forms an explosively formed projectile under the explosion of the explosive, penetrates the visual detection guiding module below, and attacks the target directly below the flying submunition.

[0013] Further, a remote control terminal is further included, the master control module comprises a communication submodule and a detection information comprehensive processing submodule, the communication submodule is responsible for information transmission between multiple anti-tank intelligent mines and between the anti-tank intelligent mine and the remote control terminal; the detection information comprehensive processing submodule is responsible for fusion processing information acquired by the sound array detector and the millimeter wave radar detector.

[0014] Further, the information transmitted between the anti-tank intelligent mine and the remote control terminal comprises position information of the anti-tank intelligent mine, a working state and a residual power, data processed by the detection information comprehensive processing submodule and a control instruction sent by the remote control terminal to the anti-tank intelligent mine.

[0015] Beneficial effects:

[0016] The ground launching control device in the application is provided with a sound array detector and a millimeter wave radar detector, and a target can be quickly found through a combined active and passive detection mode, so that rapid positioning and launching of flying submunitions are realized;

[0017] After the flying submunitions are launched, the flying submunitions can fly to a specified location according to information of the ground launching control device, or can fly autonomously according to information obtained by a visual detection and guidance module, and complete a task of detection and identification, tracking and guidance and precision attack, without needing to rely on detection information of the ground launching control device, so that a requirement on precision of initial judgment of a target is greatly reduced, stability of the flying submunitions is improved, and complexity of an overall structure is reduced.

[0018] The intelligent submunition comprises a visual detection and guidance module, can identify different types of attack targets through a deep learning method, determine a best attack position of the target, and guide the submunition to attack the target closely, so that hitting precision is improved and damage efficiency is increased. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural diagram of the device;

[0020] Figure 2 It is a structural diagram of the ground launching control device;

[0021] Figure 3 It is a structural diagram of the device in a folded state;

[0022] Figure 4 It is an enlarged view of a supporting leg;

[0023] Figure 5 It is an enlarged view of a top cover;

[0024] Figure 6 It is a structural diagram of an explosion bolt;

[0025] Figure 7 It is a structural diagram of the flying submunition;

[0026] Figure 8 This is a schematic diagram of the internal structure of the warhead;

[0027] Figure 9 This is a schematic diagram of the visual detection guidance module structure;

[0028] The correspondence between the various figure labels is as follows:

[0029] 1-Ground launch control device, 11-Base, 12-Legs, 13-Acoustic array detector, 14-Top cover, 15-Explosive bolt, 151-Spring, 16-Millimeter wave radar detector, 17-Groove, 18-Clamp, 2-Flying submunition, 21-Coaxial dual-rotor aircraft, 211-Rotor, 22-Visual detection guidance module, 221-Shell, 222-Visible light lens, 223-Infrared lens, 224-Laser rangefinder, 23-Warhead, 231-Creature liner, 232-Pressure screw, 24-Fuse. Detailed Implementation

[0030] Based on the above technical solution, the following description, in conjunction with the accompanying drawings, will provide further details:

[0031] The anti-tank smart mine provided in this embodiment includes a ground control device 1 and a flight submunition 2. The ground control device 1 includes a base 11 and a top cover 14. The base 11 is a cylindrical tube sealed at the lower end, and its interior houses the main control module. The inner cavity is used to hold the flight submunition 2. The top cover 14 is a cylindrical tube sealed at the upper end, and the top cover 14 is divided into two parts, which are connected by explosive bolts 15. Figures 1-2 As shown, the top cover 14 can cover the flying submunition 2 from above the base 11, and multiple millimeter-wave radar detectors 16 are provided around the outer side wall of the top cover 14.

[0032] like Figures 3-4 As shown, the base 11 has multiple foldable legs 12 at its bottom. The legs 12 are rotatably connected to the base 11, and a torsion spring is provided at the connection point. The torsion spring applies a spreading force to the legs 12, and prevents the ground control device from being lifted when placed on the ground. Multiple acoustic array detectors 13 are provided on the legs 12. Each acoustic array detector 13 is also foldably mounted on the leg 12 via a torsion spring and a pivot. The torsion spring limits the maximum unfolding angle of the acoustic array detector to 90 degrees. The side wall of the base 11 has a groove 17. After the acoustic array detector 13 and the legs 12 are folded up, the acoustic array detector 13 is placed in the groove 17, and the folded legs 12 are fixed by clamps 18.

[0033] The sound array detector 13 in this embodiment is set to 4, and is symmetrically distributed on the 4 legs 12. When the anti-tank intelligent mine is started, one of the 4 sound array detectors 13 is opened, and the remaining 3 are still in sleep mode. When the opened sound array detector 13 detects a signal, the main control module determines whether it is an attack target. When it is determined to be an attack target, the remaining 3 sound array detectors 13 and the millimeter wave radar detector 16 are opened to detect and locate the attack target. After the positioning is completed, the main control module sends a command to the explosion bolt 15 on the top cover 14, the top cover 14 is opened, and the flying bullet 2 is released; at the same time, the main control module sends the direction information of the attack target to the flying bullet 2.

[0034] As Figures 5-6 , the two half-cylinder barrels of the top cover 14 are connected by a plurality of explosion bolts 15, and a plurality of springs 151 are arranged between the two half-cylinder barrels. The explosion bolt 15 is electrically connected to the main control module 17 through a wire. When the main control module sends a disengagement command, the wire detonates the explosive in the explosion bolt 15, causing the explosion bolt 15 to be cut off, destroying the bolt connection structure, and at the same time the spring 153 opens the two half-cylinder barrels of the top cover 14, and the top cover 14 is completely separated, the flying bullet 2 is exposed, and the rotor 211 is unfolded.

[0035] The structure of the flying bullet 2 is shown in Figure 7 , from top to bottom, it is composed of a coaxial double-rotor aircraft 21, a visual detection and guidance module 22, and a warhead 23 connected in turn. The action of the flying bullet 2 after it is separated from the ground control device 1 is controlled by the on-board control system inside it. The coaxial double-rotor aircraft 21 is provided with two groups of foldable rotors 211, which can be unfolded automatically. When the rotors 211 are folded, the flying bullet 2 can be retracted into the base 11 and fixed through the top cover 14 and the clamp 18. The coaxial double-rotor aircraft 21 is loaded with a flight control module and a power supply. After the on-board control system sends a start command, the flight control module receives the specific direction command and controls the flight direction of itself.

[0036] The warhead 23 is connected below the coaxial double-rotor aircraft 21, as Figure 8As shown, the warhead 23 is provided with a fuse 24 and filled with explosive, and a shaped charge 231 is arranged below the explosive and fixed by a pressing screw 232, which is annular in structure and threadedly connected to the bottom of the warhead 23 to abut against the shaped charge 231 to avoid falling. The bottom of the warhead 23 is connected with a visual detection and guidance module 22, which is connected below the warhead 23 through a shell 221, and the shell 221 is provided with a visible light lens 222, an infrared lens 223 and a laser range finder 224, which can respectively collect visible light images, infrared images and measure the distance between the flying bullet 2 and the target. The visual detection and guidance module 22 is provided with a recognition model obtained by deep learning in advance, which can perform target recognition on the collected image information in real time, and send the recognized target position information and target distance information to the on-board control system.

[0037] The ground launch control device 1 and the flying bullet 2 each contain an independent power supply and can work independently. After the ground launch control device 1 finds the target and releases the flying bullet 2, the two groups of rotors of the coaxial dual-rotor aircraft 21 are unfolded, and the on-board control system starts to work after receiving the instruction of the main control module, and the main control module sends the position information to the flight control module in the aircraft. The coaxial dual-rotor aircraft 21 starts to rise and flies to the position above the target sent by the ground launch control device 1 after rising to the specified height. The visual detection and guidance module 22 is provided with a target recognition model obtained by deep learning, which can perform target recognition on the images collected by the visible light lens 222 and the infrared lens 223 and obtain the position information of the target. The confidence level is used to distinguish the priority during target recognition, and at most one target can be determined. After determining the target, the distance information of the target is obtained by the laser range finder 224 in the visual detection and guidance module 22, and the above target position information and distance information are sent to the on-board control system, and the on-board control system sends the flight instruction to the flight control module of the coaxial dual-rotor aircraft 21, and the flight control module controls the coaxial dual-rotor aircraft 21 to fly to the target above, and after flying to the above, the on-board control system compares the distance data sent by the laser range finder 224 in real time with the distance threshold value, and if the target is within the distance threshold value, the on-board control system sends the attack instruction to the fuse 24 in the warhead 23 to detonate the internal explosive, and the shaped charge 231 forms an explosively formed projectile under the explosion of the explosive to attack the top of the target from above. When the aircraft 21 flies to the specified position sent by the ground launch control device 1, and the visual detection and guidance module 22 fails to recognize the target in the collected information, the on-board control system sends the climbing instruction to the flight control module, the aircraft 21 increases the height to expand the search range, and attacks the target after finding it.

[0038] The main control module of the ground launching and control device 1 further comprises a communication submodule and a detection information comprehensive processing submodule. The communication submodule is responsible for information transmission between multiple anti-tank intelligent mines and between the anti-tank intelligent mines and the remote control terminal. The detection information comprehensive processing submodule is responsible for fusion processing of information obtained by the sound array detector and the millimeter wave radar detector. The main control system receives information sent by the communication submodule and the detection information comprehensive processing submodule, and sends instructions to them, the explosive bolts (15) and the flying submunitions (2).

[0039] The present application can also adopt a joint networking form. Multiple anti-tank intelligent mines are arranged in a region to form a communication network. The position information, working state and residual power of each anti-tank intelligent mine are received by a remote control terminal outside the combat area, and instructions can be sent to the communication submodule of the anti-tank intelligent mine for remote operation (including inquiring about the mine field situation, working state, residual power and sending self-destruction instructions). In autonomous combat, multiple anti-tank intelligent mines designate one anti-tank intelligent mine as a temporary commander through the communication network. The main control module of the temporary commander receives the position information of each anti-tank intelligent mine and processed target data, and performs data analysis and task allocation. The anti-tank intelligent mines form a mine field to perform distributed detection and identification, early warning, positioning and attack decision of incoming tanks and other armored vehicles, expand the attack area and improve the attack speed.

[0040] The above has made a detailed description of the present application in general, but some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, the modifications or improvements without departing from the spirit of the present application are within the scope of protection of the present application.

Claims

1. An anti-tank smart mine with a flying submunition, characterized in that: The system includes a ground-based launch control device (1) and a flight submunition (2). The ground-based launch control device (1) includes a base (11) and a top cover (14). The base (11) is a cylindrical tube with its lower end sealed. Multiple legs (12) are provided at the bottom of the base (11), and multiple acoustic array detectors (13) are provided on each of the legs (12). The top cover (14) is composed of two semi-cylindrical tubes, and the top ends of the two semi-cylindrical tubes are connected by explosive bolts (15). Multiple millimeter-wave radar detectors (16) are provided on the side of the top cover (14). A main control module is provided inside the base (11) for receiving detection information from the acoustic array detectors (13) and the millimeter-wave radar detectors (16) and sending commands to the explosive bolts (15) and the flight submunition (2). The flight submunition (2) consists of a coaxial dual-rotor aircraft (21) and a visual detection and guidance module (22). The system consists of a warhead (23); the coaxial dual-rotor aircraft (21) is equipped with two sets of foldable rotors (211). After the rotors (211) are folded, the flight submunition (2) can be placed in the base (11) and fixed by the top cover (14); the warhead (23) is equipped with a fuse (24). One end of the warhead (23) is connected to the bottom of the coaxial dual-rotor aircraft (21), and the other end is connected to the visual detection and guidance module (22). The visual detection and guidance module (22) collects image information below the flight submunition (2) and performs target identification and determines the target's orientation; the flight submunition (2) is also equipped with an onboard control system for receiving the target identification results and orientation information from the visual detection and guidance module (22), transmitting orientation information to the coaxial dual-rotor aircraft (21), and issuing attack commands to the fuse (24) in the warhead (23); The visual detection and guidance module (22) includes a housing (221), which is connected to the lower part of the warhead (23). The bottom is provided with a visible light lens (222), an infrared lens (223) and a laser rangefinder (224), which are used to collect visible light and infrared images of the ground and measure the distance between the flying submunition (2) and the target, respectively. The warhead (23) is filled with explosives, and a shaped charge cover (231) is provided at the bottom, which is fixed by a screw (232); The support leg (12) is rotatably connected to the base (11), and a torsion spring is provided at the connection point; The acoustic array detector (13) is rotatably connected to the support leg (12), and a torsion spring is provided at the connection. The torsion spring limits the maximum unfolding angle of the acoustic array detector (13) to 90 degrees. The base (11) has a groove (17) on its side wall. After the acoustic array detector (13) and the support leg (12) are folded up, the acoustic array detector (13) is placed in the groove (17). The folded support leg (12) is fixed by a clamp (18).

2. The anti-tank smart mine according to claim 1, characterized in that: The top cover (14) is also provided with multiple springs (153) at the connection between the two semi-cylindrical tubes. The explosive bolt (15) is electrically connected to the main control module. After receiving the signal from the main control module, it detonates itself and destroys the bolt structure.

3. The anti-tank smart mine according to claim 1, characterized in that: It also includes a remote control terminal. The main control module also includes a communication submodule and a detection information processing submodule. The communication submodule is responsible for information transmission between multiple anti-tank smart mines and between the anti-tank smart mines and the remote control terminal. The detection information processing submodule is responsible for fusing and processing the information obtained by the acoustic array detector (13) and the millimeter-wave radar detector (16).

4. The anti-tank smart mine according to claim 3, characterized in that: The information transmitted between the anti-tank smart mine and the remote control terminal includes the anti-tank smart mine's location information, working status, and remaining power sent by the anti-tank smart mine to the remote control terminal, as well as the control commands sent by the remote control terminal to the anti-tank smart mine.

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