RU2628351C1 - Anti-tank mine "strekosa-m" with possibility of spatial movement with hovering and reversibility in air, reconnaissance, neutralisation, and damage of mobile armoured targets - Google Patents

Abstract

FIELD: weapon and ammunition.

SUBSTANCE: anti-tank mine contains a cumulative combat element fixedly connected to a multi-copter, with the vertical position of the axis of the cumulative lined funnel of the combat element with the horizontal position of the multi-copter, electric propellers, a power supply, a control system at a safe distance by onboard devices and a surveillance system, at least, through technical vision, as well as a support and landing device oriented vertically downward along the axis of the cumulative funnel at the distance with its peripheral part from the air screws on top. At the same time, the combat element is connected to the multi-copter with the cumulative funnel orientation of the combat element vertically upwards with the horizontal position of the multi-copter, opposite the orientation of the landing gear, with the possibility of repeated shunting-landings of the mine and its destruction from the bottom and the chassis of the latter from its ground position, and the electrical equipment and the control system are configured to differentially control the speed and direction of rotation of the non-aligned propellers to ensure the ability of maneuvering by turning the multi-copter by 180°.

EFFECT: increasing the combat characteristics of an anti-tank mine with the possibility of spatial movement with hovering in the air, reconnaissance, neutralisation and single defeat of mobile armoured targets.

5 cl, 11 dwg

Description

The invention relates, on the one hand, to remotely mounted mines designed to neutralize or destroy tanks and other land vehicles, mainly armored vehicles, and, on the other hand, to the placement of weapons on small helicopter unmanned aerial vehicles (multicopter).

Known anti-tank mines (military elements) of cumulative action, including anti-bottom, containing a housing with a built-in explosive charge with a cumulative metal-lined funnel, with a vertical axis with the horizontal position of the hull and vertical orientation of the cumulative action vector (funnel orientation ), as well as a control system (safety and operation devices), with the possibility of its delivery by air, including a crew helicopter, to the tanovki ("lying") in anticipation of a collision with a tank or other mobile land vehicle ("target") [Anti-personnel and anti-tank mines of NATO countries: Course work. SPb .: SPbSPU, Military Department, 2002. - http://www.rc-p.ru/istoriya_texniki/kursovaya_protivopexotnye_i.html].

At the same time, a mine can be dropped from a height of at least 15-20 meters [Anatoly Gorlov. CVO aviation “mined” the landfill from the air. - http://rg.ru/2014/02/21/reg-urfo/poligon-anons.html], with its subsequent passive fall to the ground in a stationary position, with the possibility of triggering under the target in case of hitting it (t. e. out of goal).

They are mass-produced and are in service with the armies of a number of states, including Russia.

The disadvantages of such mines should be attributed (from the angle of the claimed invention) their lack of effectiveness, due to:

- low probability of combining the target’s trajectory with the mine’s “lying” position, while it is fundamentally impossible to independently move it to any other “lying” place (since the mover is not provided for in the design — neither ground or air), which must be compensated by an increase in the number of mines, a high the density of minefields (and this is economically unprofitable);

- lack of means of detection and recognition (identification of "friend or foe") of the target and, therefore, the possibility of undermining its object;

- an even higher likelihood of undermining your facility and people (including civilians) if there is no liquidation or self-liquidation device in the mines, and if they are present in both cases, direct military-economic damage;

- a high probability of the enemy receiving information early on the fact of the installation of mines by helicopters from the air (i.e. conditions favorable for the enemy), since this process is difficult to hide from visual and technical observation;

- the impossibility of hitting a ground target with the active operational choice of the target’s hit zone in a wide range (optionally from the bottom to the bottom or chassis, side to side, top to the tower, top to the roof, etc.);

- the impossibility of hitting an air target (in the air), as well as maneuvering in the air;

- the inability to remotely return mines for subsequent use (s).

Obviously, such mines after they are put into a combat position (to their original “lying position”) can in no way be attributed to those with the possibility of spatial movement, with hovering and flipping in the air, as well as reconnaissance, and their stopping and damaging actions are not statistically high.

Also known is an ammunition for implementing a method of hitting lightly armored vehicles and manpower, which comprises a flight module with a solid fuel rocket engine equipped with an igniter with powder mounts, as well as explosive charges associated with a detonation system, submunitions and a target detection sensor, while the jet engine is located on top the flight module, and its peripheral nozzles are inclined to the longitudinal axis of the munition, submunitions with stabilizers are placed in at least two locations dix each other for a jet engine cassette containers with the central bursting charge, and part of ammunition in each said container is placed in the additional metallic envelope in which is placed submunitions fastening system [RU 121652, IPC F42B 23/00, publ. 11/10/1998].

This device works as follows: the ammunition is installed in the ground; upon detection of a target, a jet engine is launched with a stepwise decrease in thrust and the ammunition flight module is brought out of the ground; undermine it into submunitions and scatter them under the influence of jet jets with different horizontal velocity components; the flight of submunitions to the targets is stabilized by shooting part of their mass.

If there are some advantages due to new design and tactical features, such a device, however, has disadvantages that negatively affect the effectiveness of their combat use. Among them, again, the impossibility of even a one-time independent change of the installation location in the ground and operational maneuvering, excessive acoustic and visual visibility of a vertical upward flight from the installation site (explosive), the random nature of the distribution of submunitions over the area, problems with orientations that fell on the ground submunitions (in any case, if the submunitions carry out anti-tank cumulative actions), the impossibility of precise guidance and destruction of air targets.

It is known to use anti-roof mines, which, when installed in the area of possible target movement, when approaching a target, shoot a combat element that must hit the target from above using the control (guidance) system [Semyon Fedoseev. Anti-tank mines. Who will stop the tanks? (section “We hit from above”) // Around the World, 2007, No. 11. - http://las-arms.ru/?id=204].

The combat element of such a mine can be a self-aiming ammunition with a charge of the type "shock cumulative core" similar to that used in artillery cluster munitions - like the Russian Motiv-3M or the German SMArt. Closer to practical application turned out to be the American family of engineering antipover munitions of mines M93 Hornet. It includes modifications designed for manual installation (with or without removal) or remote mining systems, as well as for the destruction of unarmored vehicles and manpower. The control system, processing signals from the seismic and acoustic sensors that each ammunition is equipped with, detects and identifies the target, determines the direction and range, and by turning and tilting the platform it directs the warhead. When approaching a target closer than 100 meters, a combat element is shot. The latter, having described the ballistic trajectory, refines the pickup with the help of an infrared sensor, and, being directly above the target, shoots the “impact core”. The combat work time of mines is from 4 hours to 30 days, there is a self-liquidation device. It is planned to use mines in groups, and there is a regime in which they transmit target data to the operator’s console, and the decision to use ammunition remains with him.

The insufficiency of their effectiveness is determined by:

- low probability of combining the trajectory of the target with the place of “laying” of the mine with the fundamental impossibility of independently moving it to any other place of “laying”;

- the impossibility of hitting a ground target with an active operational choice of the target's hit zone in a wide range;

- the impossibility of maneuvering in the air and "air battles";

- the inability to remotely return mines for subsequent use (s).

Ultra-low altitudes are covered by anti-helicopter land mines [Semyon Fedoseev. Anti-tank mines. Who will stop the tanks? (section "Fire on the" flying tanks "") // Around the World, 2007, No. 11. - http://las-arms.ru/?id=204].

So, a Russian experimental mine, known as FDA, strikes an air target with a cumulative impact core and is equipped with several target sensors - the acoustic ones detect characteristic engine noise, the selection system emits them in the noise of ground vehicles, explosions, firing, and the combat element is guided by infrared sensors target. Mina has a self-liquidation device, a remotely-switched non-recoverable device, the combat operation time is up to 9 months. When connecting a group of mines with a cable, the control system separates the targets between them. There are mine options for manual installation and remote mining systems.

The insufficiency of their effectiveness (as a means against tanks and other ground objects of armored vehicles) is determined by "counter-helicopter specialization," which makes it generally debatable to classify it as a mine.

On the other hand, they are actively creating ground-based and airborne crewless remotely controlled, semi-automatic and automatic (robotic) systems, including for combating armored targets, the most effective of which are unmanned aerial vehicles (UAVs), “combat drones”. loads, including reconnaissance purposes for power structures, which are a multicopter (a category of helicopters with a group of propellers symmetrically spaced relative to the central of the vertical axis), in particular a quadrocopter containing a body and / or frame, electrical equipment with electric propellers of an airscrew and a power supply, a safety system for controlling the airborne devices at a safe distance and a surveillance system, at least by means of technical vision, as well as a landing and landing device (“landing gear "In the form of rods with peripheral horizontal ski-like supporting elements), oriented vertically down along the central vertical axis of the said body and / or frame at the removal of the periphery its part from the propellers in height, with the possibility of repeated shunting takeoffs and landings and maneuvering in the air [Product line 2015 Russia. CopterZone. Quadro-copters. CZ 460. - http://copterzone.ru/cat/; The complex with an unmanned helicopter "NELK-V6" received a serial model letter. - http://www.helicopter.su/pressa/ novosti / 2015/03/12 / kompleks_s_bespilotnyim_vertoletom_% C2% ABnelk_v6% C2% BB_poluchil_literu_serijnogo_obrazcza /].

However, by themselves (in the described composition), such aircraft are not able to inflict serious damaging effects even on lightly armored ground vehicles (not to mention tanks), unless to damage poorly protected external equipment by going to ram.

Closest to the claimed invention by purpose and combination of design features (prototype) is an anti-tank mine with the possibility of spatial movement with hovering in the air, reconnaissance (recognition of potential targets), neutralization and destruction of (disposable) mobile armored targets, containing a cumulative combat element, motionless ( according to the main version) connected to a multicopter (using an example of a quadrocopter), with a vertical arrangement of the axis of the cumulative funnel of the combat element at th the multicopter’s horizontal position (literally - “preferably vertically during horizontal flight”), electrical equipment with electric propellers and a power source, a safe-distance control system on-board devices and a surveillance system, at least through technical vision, as well as a support and landing device oriented vertically down along the axis of the cumulative funnel at a distance of its peripheral part from the propellers in height [RU 2576214 C1, F42B 10/00, 02.27.2016, BI No. 6].

In it, the combat element is connected to the multicopter with the orientation of the cumulative funnel of the combat element vertically down, with the multicopter horizontal, that is, with the orientation to the same location as the support and landing device. An additional feature is the option with the movable installation of the combat element relative to the multicopter’s body, its “swing” (by means of the swing drive and / or rotation in the versions), that is, with the rotation of the action vector of the cumulative jet from the specified base position to the solid angle, up to blunt - more than 90 °. In addition, the minimum number of propellers is limited to two (obviously, when they are misaligned), that is, a helicopter circuit with one-sided orientation of the screws, one screw per axis of rotation. Information about the features of electrical equipment and a control system from the point of view of the possibility / impossibility of differential (independent) control of electric drives or groups of electric drives in ensuring the maneuvering of a multicopter mine in the description of the prototype device is missing. In the description of the functional action of the prototype, it is prescribed (see description plus Fig. 3 in the description of the patent prototype) a single take-off and subsequent non-stop search for a target, shunting active approach with it and the operation of a combat element at a given distance from it.

However, for all its certain undoubted advantages with previous analogues, such a mine also has disadvantages that stimulate the technical (s) task (s) for further improvement of the device.

Firstly, an attack on a target from points of the upper hemisphere of its surrounding space due to the developed three or more level security of the main targets - tanks and other armored objects: active defense (shooting - intercepting an attacking air object); dynamic protection; cumulative screens; in the general case, the non-orthogonality of the longitudinal axis of the cumulative funnel to the target armor plate; the possibility of pre-emptive defeat even with rifle-machine-gun fire, small arms of a landing force of the target and surrounding infantry; the possibility of pre-emptive destruction by weapons of neighboring enemy targets, including other tanks and cover helicopters; electronic means of decommissioning on-board systems. It’s not profitable in itself, but with respect to tactics of striking action from under the target (from the bottom or the undercarriage), as provided for by anti-tank anti-bottom non-mobile mines - in the tacked or superficial position in the passive mode of “patiently waiting” hitting them or (upon detection) the target’s refusal from further advancement to clearance (which also applies to the effective use of anti-tank mines).

The limitation of the tactical capabilities of the prototype by the indicated hemisphere of space is already a drawback like any limitation of the possibilities and freedom of choice of actions according to the situation.

Secondly, taking off at a safe distance and attacking immediately (that is, without one or more intermediate landings) after detecting and identifying the target in a significant part of the situations is accompanied by a significant duration of flight in a danger zone for a mine multicopter, often well visible by enemy observation means, which leads to its destruction, and therefore, a decrease in the mathematical probability of completing its combat mission.

Thirdly, the “unwrittenness” of the possibility of differentiated (independent) control of the helical group (speed control, reverse rotation of the propellers) in combination with a combat element stationary relative to the multicopter body limits the maneuverability of the mines with the multicopter tilting up to 180 ° reversible reversal for the purpose of cumulative target destruction anywhere in the sphere. In particular, it does not allow to hit either an air target such as a helicopter or a similar enemy mine-drone in such a specific air battle, or a ground target with a cumulative jet from below normal to the bottom, since the cumulative funnel is located in the bottom of the attacking device in the upper position of the helical group of the latter.

Fourth, the unilaterally located support and landing device (simplified chassis), typical of the prototype, in combination with the relative position of the cumulative funnel, unprotected screw group and the inability to use it upside down, there is an undoubted reason to state the “flaw” of a combination of these design features.

Fifthly, the “non-Kama” scheme of the screw group (without coaxial counter-rotation screws) does not allow using the advantages of the “Kama” scheme in the application to this device with such high requirements for autonomous maneuverability and accuracy of pointing a combat element of cumulative action on a moving, active target.

Sixth, the “developed” version of the device with non-rigid (rotatable) fastening of the combat element, with the ability to quickly change the longitudinal axis of the cumulative funnel relative to the multicopter as the carrier of the combat element, expanding the capabilities of the mines and significantly increasing the accuracy of the defeat, at the same time, it makes the device very difficult with the inevitable increase in the overall dimensions of the “board” and the ground part of the control equipment (if any), cost, control complexity with both remote and automatic control enii accompanying operator errors and automation, etc.

In any case, the design features of the prototype device make it almost unlikely (or not at all realistic) to hit the target from under it.

These shortcomings of the prototype in the aggregate determine its insufficient tactical and technical characteristics and limited combat use against objects of mobile armored vehicles.

The task to which the claimed invention is directed is to increase the combat (tactical and technical) characteristics of an anti-tank mine with the possibility of spatial movement with hovering in the air, reconnaissance, neutralization and one-time destruction of mobile armored targets.

Specifically - increasing their own protection from active, dynamic and other defense of the target, the effectiveness of hitting it with the target by increasing the fraction of the time of covert ground-based waiting on the intended trajectory of the target, adjusting the estimated trajectory of the target (tracking the target’s maneuver by their own maneuver) and, accordingly, ground-based “low ground” up to a meter and a half) by spatial movement through the air, reducing the possibility of noticeability, especially in conditions of grass, heather and other low vegetation (obna mine landing almost when it is triggered or at extremely close range), normal impacts on the bottom, track or other elements of the target’s chassis, from the “dead zone” of active and dynamic means of protecting the target and neighboring weapons, reducing weight and size characteristics, cost and energy efficiency simplifying management and monitoring, etc.

It also seems appropriate to expand some of the variety of mine models to optimize their choice for use in each specific situation, and especially in multi-agent scenarios of reconnaissance and combat use of mine drones.

The solution of this complex task is achieved by the fact that in an anti-tank mine with the possibility of spatial movement with hovering and turning in the air, reconnaissance, neutralization and destruction of mobile armored targets containing a cumulative warhead motionlessly connected to a multicopter, with a vertical axis of the cumulative lined funnel of the warhead when the multicopter is horizontal, electrical equipment with electric propellers and a power source, a control system at a safe distance by airborne devices and a surveillance system, at least by means of technical vision, as well as a support and landing device oriented vertically downward along the axis of the cumulative funnel at a distance of its peripheral part from the propellers in height; according to the invention, the combat element is connected to the multicopter with the orientation of the cumulative funnel of the combat element vertically upward with the horizontal position of the multirotor, opposite to the orientation of the support and landing device wa, with the possibility of repeated maneuvering takeoffs and landings of a mine and hitting it with a target from the bottom and the undercarriage of the latter from its ground position, and the electrical equipment and control system are capable of differentially controlling the speed and direction of rotation of off-axis propellers to allow maneuvering with multicopter turning 180 °.

The solution of this problem is also achieved due to additional structural features (with the above main set of features):

- each propeller with its individual electric drive can be supplemented with a counter-rotation screw coaxial to it with its individual electric drive according to the “Kamov” scheme of twin propellers (this is aimed at enhancing the tactical and technical effectiveness of the mines as a high-precision weapon in the framework of the overall complex task, since the advantages of the "Kamov" scheme are applied in the application to the device with a weapon stationary relative to its carrier - multicopter);

- mine control and observation systems can be performed according to the remote control scheme (this also enhances the reconnaissance and combat effectiveness of the use of mines, which fits into the overall development goal, due to the accompanying reduction in overall dimensions, cost and reliability of operation);

- mines control and observation systems can be performed according to the semi-automatic control scheme (this also enhances the reconnaissance and combat effectiveness of the use of mines, which fits into the overall development goal, due to, on the contrary, the choice of a compromise, intermediate option between two “extreme concepts” - manual remote and fully autonomous automatic, such attendant advantages as increasing accuracy and reducing the influence of the "human factor" and the requirements for the qualifications of operators);

- mine control and observation systems can be performed according to the automatic control scheme (this allows, when a complex of basic new advantages arises, due to the claimed main set of design features, to further maximize the known advantages of maximum automation of devices, especially robotization of military facilities; in addition, as the previous two private variants of the claimed device, the range or “line” of anti-tank min-drones for specific tactical is expanding tasks and specific tactical situation).

Among the known devices and methods, no such combination of essential features would coincide with the declared one. At the same time, it is due to the latter that a new technical result is achieved in accordance with the task.

The drawings depict one of the possible examples of constructive implementation of the claimed anti-tank mines (multicopter version - quadrocopter):

in FIG. Figure 1 shows a simplified illustration of a mine device (sub-option “quadrocopter with four misaligned propellers”) in the horizontal position of the multicopter, a general side view, with a partial section, where F _k is the cumulative action vector (direction of the cumulative jet when the mine’s combat element is triggered); F _p - the vector of the lifting force of each rotating propeller of the propeller multicopter;

in FIG. 2 - the same, bottom view;

in FIG. Figure 3 shows in a simplified manner the design of a mine (sub-option “quadrocopter with eight propellers” according to the “Kama” scheme - four rotations and four counter-rotations, pairwise coaxial), in a horizontal position of the multicopter, general side view, with a partial section;

in FIG. 4 - the same, flight inverted by 180 ° when the propellers rotate to the other side (than in FIG. 3) (i.e., their drives are reversed), where F _{p reverse} is the vector of each propeller propeller rotating to the other side, side view;

in FIG. 5 is a diagram of turning the mines in the air through 180 °, where A, B and C are the sequence of positions of the mines in space;

in FIG. 6 is a diagram of maneuvering a mine in take-off and landing mode to track the maneuver of a ground target (front view of the target at the rate of its movement), where A, B and C are the sequence of positions of the mine in space; No. 1 and No. 2 - numbers of mines in the group and numbers of targets (tanks) in the group;

in FIG. 7 is a diagram of the neutralization (stop without damage) of a ground target by a mine in its ground position, side view;

in FIG. 8 is a diagram of the destruction of a ground target by a mine from the bottom;

in FIG. 9 is a diagram of the destruction of a ground target by a mine from the side of the undercarriage (track);

in FIG. 10 is a diagram of the destruction of a ground target from above by a mine (from a distance of the order of 25-50 mm), suspended in air in an inverted position, where A, B, C and D are the sequence of positions of the mine in space;

in FIG. 11 is a diagram of the destruction of an air target by a mine from below (from a distance of the order of 25-50 mm), where A, B, C and D are the sequence of mines in space, F 'and F "are the lifting forces of an unequal magnitude from screws or groups of screws.

Anti-tank mine 1 (hereinafter referred to as “mine 1”, the recommended identification name of the entire family is “Dragonfly-M”, where the letter “M” means “multicopter”, with the addition of a figure for the number of misaligned screws, in particular the version with four misaligned screws - “Dragonfly-M4”) with the possibility of spatial movement with hovering and turning in the air, reconnaissance, neutralization and destruction of (disposable) mobile armored targets 2 contains a cumulative combat element 3, which is fixedly connected to the body (frame) 4 mu a lacticopter (in this example, a quadrocopter as one of the well-known multicopter variants), for example with lucid elements.

In this case, according to one of the options of mine 1 (in this example), the hull (frame) 4 can be the result of a constructive and functional combination of the individual hulls of each of the connected parts of the device - the combat element 3 (used separately) and a multicopter as an aircraft (also used and separately), and in another way - with the preservation of individual buildings, but still with a prerequisite for their fixed (rigid) relationship (the second option is not shown due to a priori understanding).

Element 3 is connected to the body (frame) 4 so that the axis 5 of the cumulative funnel 6 with the metal lining 7 in the explosive substance (BB) 8 of the combat element 3 is located vertically (along the line of action of the force characteristic of the gravitational field - acceleration of gravity) with the multicopter horizontal (it doesn’t matter in air or on a supporting surface).

In this case, the lined cumulative funnel 6 of element 3 is oriented vertically upward with the multicopter horizontal position, which corresponds to the direction of the vector F _to cumulative action, i.e. the direction of the cumulative jet when the combat element 3 mines 1 is activated (see Fig. 1, 3, 8, 9, 11). This is the most important distinctive design feature of the claimed device.

There is a support landing device 9 (helicopter type in the form of rods, oriented (with the horizontal position of the housing 4) down along the axis 5 of the cumulative funnel 6 (the axis of symmetry of the device 9 coincides with the axis 5 or parallel to it) to remove its peripheral supporting part 10 in the form preferably ski-like horizontal elements, actually forming a contact spot with a supporting surface, such as soil, from propellers in height (in height).

Thus, the orientation (relative to the multicopter housing 4) of the combat element 3 is the opposite of the orientation of the support-landing device 9-10. This is also a very significant structural difference of the claimed device.

The composition of the multicopter, and hence the composition of the mine 1 as a whole, includes:

- electrical equipment, primarily with electric drives 11, 12, 13, 14 of propellers 15, 16, 17, 18, respectively, which, in combination, it is desirable to perform in a protective (from external mechanical influences from the side, in particular trees and shrubs) - covered by developed elements 19 of the housing 4 (see Fig. 1, 2), in niches, etc .;

- power supply source 20, usually autonomous - battery;

- a control system at a safe distance by airborne devices - either manual remote, or semi-automatic remote, or automatic programmable, and in the first two versions - with airborne 21 and the operator part, in the third domination of the more developed airborne part 21 and a similar prototype control system, and therefore not given in this description);

- a surveillance system 22a, at least by means of technical vision, with cameras 22b with predominantly horizontally oriented main optical axes (similar to the surveillance systems of analogues mentioned in the overview part of the description, and therefore not described in more detail here).

In this case, in any case, the electrical equipment and the control system are capable of differentially controlling the speed (from maximum revolutions to zero inclusively, see Fig. 11) and the direction of rotation (the possibility of reversing) of the misaligned propellers 13-16 to allow maneuvering with the multicopter turning over 180 °.

In variants with developed autonomy of mine 1, it is equipped with well-known (including according to the description of the prototype) in the theory and practice of automatic drone devices with sensors (devices, blocks, devices).

So, mine 1 can have a target coordinator and an autonomous guidance system on board, including a motion control controller, a navigation system, a receiver for the navigation system, an input and storage unit for target parameters connected to the target coordinator (not shown due to fame from prototype and optionality in the claimed device in its simplest embodiment).

In this case, again, by analogy with the prototype, the target coordinator may contain (also not illustrated options):

- optical infrared sensor of target 2, magnetometric sensor of target 2, connected to the storage unit of the parameters of target 2;

- target recognition device 2, including an optical video recorder, an electronic target recognition unit 2, connected to the storage unit of the parameters of the target 2;

- optical infrared video recorder as part of a target recognition device 2;

- a remote control for entering the parameters of the target 2, made in a separate housing and including a block for receiving and transmitting signals over the air.

Thus, according to the description of two structural variants of FIG. 1, 2 and FIG. Figure 3 provides the technical possibility of not only turning the entire mine 1 in the air and hitting the target 2 from above and from the sides (i.e., maintaining the tactical capabilities of the prototype, but in an inverted position, see Fig. 4, 10), but also technical ability (expansion tactical capabilities in comparison with the prototype) in the initial position (not upside down) hit ground target 2 (or air target 2 when it is landing) from under it - from the bottom and chassis, as befits an anti-tank anti-bottom mine "by definition".

The possibility of repeated maneuvering takeoffs and landings of mine 1 and hitting it with target 2 from the bottom and undercarriage of the latter (see Fig. 6) is the most important technical result that has a causal relationship with the above design features that are declared essential.

 Firstly, in order to hit a ground mobile (self-propelled) target 2 bypassing the target 2 from the bottom with a multi-level defense (defense) system, the flight mode, even if it is hovering, is not suitable because of the small (about 300-500 mm) ground clearance (clearance) goals 2. Requires the operation of the combat element after landing, preferably in the "hole". For the same reason, it is necessary to reduce the dimensions of the mine 1, to simplify its structure, in particular, abandoning the concept of a movable connection of a combat element with a multirotor and controlling the angle of inclination of the axis 5 relative to the housing 4 by means of a rather complicated drive.

Secondly, the anti-bottom cumulative effect is possible, in principle, only if the cumulative funnel 6 of the combat element 1 is oriented upward with the support-landing device pointing down and the horizontal (or approximately horizontal) position of the hull 4 (multicopter) - see FIG. 8, 9, 11.

Thirdly, if you do not perform electrical equipment and a control system with the possibility of differentiated control (operational change), and for the technical support of such wide possibilities for the maneuverability of mine 1 as an aircraft (the desire for symmetry and stability of modes), the Kamov circuit with dual screws 15a -18a and 15b-18b on both sides of the housing 4 (see Fig. 3) just in time.

The described examples of specific design options do not exclude other possible device options within the scope of the claimed combination of essential structural features (see the claims).

The inventive device operates (functions) as follows (first, using the example of a device variant with a "non-Kama" multicopter propeller circuit).

Mine 1 is transferred from the transport position (in which it can be, in particular, in a folded or partially disassembled form, depending on the corresponding design features that are not essential in the claimed invention) to combat, for which they give it the one depicted in FIG. 1, 2, 3 configuration. Turning on the power from the source 20, if necessary, carry out control operations (testing the health of on-board and operator systems -21, 22, etc.). From the power source 20, voltage is supplied to the electric devices and electronic blocks of the mine 1. The physical parameters of the target (s) are introduced into the storage unit of the target parameters (if any) 2. In the more automated (autonomous) version of the mine 1, the target parameters can be set remotely by radio channel from the remote input. Then, the electric drives 11-14 of the propellers 15-18 are launched, the mines 1 take off and fly into the target search zone 2, for example, to the tank-dangerous direction before the expected attack (see Fig. 6).

The flight is carried out according to the usual “helicopter” scheme for multicopter due to the lifting force N⋅F _p , where N is the total number of misaligned propellers, in particular, the quadrocopter N = 4 (see Fig. 1) propeller multicopter with its rotary propellers 15- 18 and controlling the traction force (creating the corresponding horizontal component of the traction force of the group of propellers 15-18 by any method known or developed in the future), in the position of the housing 4, as a rule, with the orientation of the landing-landing device 9-10 down and the orientation of the cumulative funnel 6 b evogo up member 3 respectively (see. Figs. 1, 5a, 6b, 10b, 11b).

In principle, it is also possible to fly in an inverted 180 ° position - with screws 15-18 down, support and landing device 9-10 up and, accordingly, with the orientation of the cumulative funnel 6 down (see Fig. 4, 5c, 10g), which is mine 1 can get due to the technical means provided for this, for example (with differential control of electric motors 11-14), slowing down until the front group of screws from the total number of screws 15-18 stops and even reverses, with the inevitable occurrence of a tilting moment with turning over multicopter hull 4 and mine 1 as a whole (see Fig. 5b, 10b, 11b).

Obviously, landing and especially the subsequent launch in the inverted position of mine 1 of the claimed design (as, incidentally, the prototype) can only be considered emergency, acceptable in emergency situations and with a low probability of an optimistic result (not shown in the drawings).

In the appendix to the variant of the device with the “Kamov” multicopter screw group scheme (see Fig. 3), due to individual counter-rotation screws 15b-18b, maneuvering of mine 1 in the air is more stable in all modes, including the 180 ° reversible flipping mode. It is especially important that the "Kamov" circuit symmetrical in height provides in comparison with the circuit of FIG. 1, 2 the maximum (ceteris paribus) symmetry of the aerodynamic equilibrium in the initial and inverted positions of the mine 1.

Further presentation of the material extends to both multicopter schemes - “Nekamovskaya” and “Kamovskaya”.

In any case, after reaching the target search zone 2, mine 1 is in search mode (when remotely controlled by an operator using incoming images from 22b cameras, the fully autonomous version of mine 1 is automatically processed by information from cameras 22b and corresponding specialized on-board sensors) . The navigation system (if available), in accordance with the established search algorithm and based on the signals of the target 2 coordinator, issues control commands for the mine 1 motion control controller. During the move of mine 1, the target coordinator scans the area using an optical infrared target sensor, a magnetometric target sensor , target recognition devices (of course, if available in the device).

The search mode for target 2 can be carried out both in flight or in a hovering position, and in the ground position of mine 1 after its first landing on a support platform (soil), mainly on a hill, with support on the peripheral part 10 of the support-landing device 9-10 (see Fig. 1, 3, 6a, 10a, 11a) and with observance, if possible, of camouflage measures in the area due to grass, shrubs, etc. In the absence of target (s) 2 or knowingly expecting them, they will not soon land and temporarily turn off the rotation mode of propellers 15-18, mainly to save energy and reduce the likelihood of enemy detection.

If the detected search object (target 2) matches the given set of physical parameters set in the target parameter storage unit, target 2 is identified (carried out), tactically competent approach of mine 1 with target 2 (attack) is carried out along a straight or complex shunting trajectory (see. Fig. 6 for mines No. 1, Fig. 10a-g, 11a-g). Based on the analysis of the physical characteristics of target 2 and the recorded image of target 2, as well as upon reaching the effective action distance of the combat element 3, a signal is generated (formed) to undermine it. The initiating combustion of explosive 8 behind a cumulative funnel 6 with its metallic lining 7 forms a cumulative jet as the main damaging factor of mine 1, directed along the axis 5 of the cumulative funnel (vector F _{to the} cumulative action of ammunition 1 - see Fig. 8, 9, 10g, 11g) , plus the accompanying less significant damaging factor - high-explosive-fragmentation, but also capable of harming target 2 until its destruction.

Mine 1 after this, of course, can not be restored.

From the standpoint of the claimed invention, the main interest is the period preceding the operation of the warhead 3 with the attack process (tactics of reaching the battle line), reaching the parameters “range 25-50 mm, orientation of the axis 5 of the cumulative funnel 6 of the combat element 3 normal or close to normal to the surface of the target 2 "(see Fig. 6a-b, 10a-d, 11a-d).

In most situations, it is planned to use simultaneously a group of mines 1 (No. 1, 2, etc.) at a reasonably sufficient distance between them over the areas (see Fig. 6).

The script of FIG. 6-9

Mine 1 “hid” in the ground position in the grass and / or hole with the electric drives 11-14 turned off in the tank direction (position A), moreover, on the supposed (probable) trajectory of the enemy tank, defined as target 2. If target 2 appears, but its trajectory initially or during the near maneuver runs away from the “lying” position of mine 1 (and even more so away from the “lying” places of neighboring mines 1), then mine 1, by command of an operator or autonomous control system 21, rises into the air and flies to the next place "- B (see. Fig. 6 for mines number 1), where he is waiting for a" happy meeting "- hit on her target 2 with subsequent detonation. In the case of the next maneuver of target 2, mine 1 can again “track” this maneuver with a counter-maneuver in the described way. Favorable outcomes (but not for the enemy!) Will be either the neutralization of target 2 (its stop or retreat in reverse if the mine 1 is detected visually or by enemy technical means), as shown in FIG. 7, or the detonation of mines 1 under the bottom or track of target 2, as shown in FIG. 8 and 9, respectively.

Of particular note as an advantage of the claimed device is the ability to promptly "remove from duty on its own" entire minefields, the prompt transfer of the minefield to another place.

Under favorable tactical conditions or tactical necessity, mine 1 can go into attack mode on target 2 (active use of mine 1).

The first scenario of such an attack: a mine lands directly under the lower frontal armor plate of target 2 or under the front branch of its caterpillar. If the crew (and in the case of a crewless target 2 — an operator or an on-board computer) notice a “drone thrown under the car” in time and have time to stop the car, mine 1 will complete the task of stopping or directing target 2 back, which means its neutralization (not ideal, but positive result of using mines 1). This is shown in FIG. 7. If mine 1 went unnoticed or its appearance was realized late, then target 2 can be hit with a high probability. This is shown in FIG. 8 (detonation under the bottom of target 2) and in FIG. 9 (undermining under the track 2). The described "First" scenario is a key scenario from the perspective of the subject of the claimed invention.

The second scenario (less significant, but also with fundamental differences from the scenarios of the practical use of the prototype mine): mine 1 takes off from the closest distance from the target 2 and along the shunting path, taking into account the kinematics and dynamics of target 2, attacks it from the upper hemisphere, choosing the most vulnerable places (including the top of the tower, as shown in Fig. 10a-g of this application and in Fig. 3 of the description of the prototype in the mentioned source of information). A fundamental, distinguishing feature of this method of using the claimed mine 1 is the need for maneuvers “tilt” or “turning” the multicopter and mine 1 as a whole (see Fig. 5, 10 c-d) in order to deploy the combat element 3 with a cumulative funnel 6 in the direction of the affected area of the armor of target 2 (see Fig. 10 g).

The script of FIG. eleven

It is predicted to be rare, probably “contingent” and involves a surprise attack (usually from below, mainly from the base platform) of air target 2 (helicopter, enemy similar mine, reconnaissance drone, UFO, and even “air battle” of flying mines - duel and group .

When attacking from below, mine 1 flies up to target 2 from lower altitude levels in the initial or tilted position of body 4 - with the orientation of the landing aid 9-10 toward the lower hemisphere of space and the orientation of the cumulative funnel 6, respectively, in the direction of the upper hemisphere towards the target 2 (see FIG. 11).

When attacking from above, the mine flies up to target 2 from the upper altitude levels in a previously turned over position (similar to Fig. 10).

The above-described work (functioning) of the mine 1 can also be considered as a method of using the inventive device, which, as we see, differs significantly from the method of using the prototype device, defining a new tactic for the combat use of mines, flying with the possibility of maneuvering, hovering and multiple take-offs - Landing in the confrontation with self-propelled armored vehicles.

Using the claimed invention allows to solve the complex task by eliminating / reducing the above-mentioned disadvantages of the prototype and increasing the combat (tactical and technical) characteristics of an anti-tank mine with the possibility of spatial movement with hovering and turning in the air, reconnaissance, neutralization and destruction of (single) mobile armored targets.

Claims (5)

1. An anti-tank mine with the possibility of spatial movement with hovering and flipping in the air, reconnaissance, neutralization and destruction of mobile armored targets, containing a cumulative combat element, motionlessly connected to the multicopter, with a vertical axis of the cumulative lined funnel of the combat element with the multicopter horizontal, electric air drives screws, power supply, a safe-distance control system by airborne devices and a surveillance system, like at least by means of technical vision, as well as a support and landing device oriented vertically downward along the axis of the cumulative funnel at a distance of its peripheral part from the propellers in height, characterized in that the combat element is connected to the multicopter with the orientation of the cumulative funnel of the combat element vertically upward in a horizontal position multicopter, the opposite of the orientation of the landing gear, with the possibility of repeated shunting takeoffs and landings of the mine and its defeat of the target from the sides underbody and chassis ground to its final position and the electrical and control system adapted to control the differential speed and direction of rotation of propellers misaligned in providing maneuvering possibilities with inversion multicopter 180 °. 2. An anti-tank mine according to claim 1, characterized in that each propeller with its individual electric drive is complemented by a counter-rotation screw coaxial with its individual electric drive according to the “Kamov” scheme of twin propellers. 3. Anti-tank mine according to any one of paragraphs. 1, 2, characterized in that its control and monitoring systems are made according to the remote control scheme. 4. Anti-tank mine according to any one of paragraphs. 1, 2, characterized in that its control and monitoring systems are made according to a semi-automatic control scheme. 5. Anti-tank mine according to any one of paragraphs. 1, 2, characterized in that its control and monitoring systems are made according to the automatic control scheme.

Images