JP2013163491A - Minesweeping support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a minesweeping support device that can discover surfacing underwater suspended matters in a short time and automatically, and can greatly reduce workload of monitoring member in monitoring task.SOLUTION: A minesweeping support device 10 that includes: a laser device; an ICCD camera; a laser radar device 12 mounted to a water navigation body 13; a minesweeping rope 24; a cutting machine 25; and a minesweeping device 11 towed to the water navigation body 13 calculates a turning amount and a magnetic dip to turn the laser radar device 12 to underwater suspended matters 34 surfacing on a water surface 35 based on position information and course information of the water navigation body 13 and the position information of the underwater suspended matters 34 surfacing the water surface 35, and makes the laser radar device 12 turn automatically to the underwater suspended matters 34 surfacing on the water surface 35 based on the calculated turning amount the magnetic dip.

Description

  The present invention relates to a minesweeping work support device.

  Conventionally, in a minesweeping operation for removing underwater suspended matter (for example, a mooring mine) laid in water by a weight laid on the bottom of the water and a (tether) cable extending from this weight, for example, Patent Document 1 Using the disclosed mooring sweeper, the mine sweeping device disclosed in Patent Document 2, or the blasting cutter towed by the towing disclosed in Patent Document 3, the cable extending from the weight is cut, The underwater suspended matter laid on the surface floats on the surface of the water, and a watcher called a watcher monitors the surface of the water with binoculars from the ship and discovers the underwater suspended matter. (Explosion) was done by doing. Monitoring the water surface by the observer at this time is heavy labor, and in particular, it is not easy to visually recognize suspended matter floating in a wide water area such as the surface of the water shining due to the reflection of sunlight from the water surface. Time monitoring was accompanied by great fatigue. In addition, combined with these points, the work efficiency was not very good. Therefore, it is desired to automate the removal work of the suspended matter in water as much as possible.

Japanese Utility Model Publication No. 58-055115 JP-A-60-131395 Japanese Patent Publication No. 61-014039

  Now, an infrared camera is known as a general device widely used for detecting suspended matters in water. However, since this infrared camera detects the infrared rays emitted from the detection object as a clue, it cannot be detected when the detection object has a temperature similar to the water surface. Infrared cameras are useful, for example, for use in finding people who have suffered distress, but are themselves floating underwater laid in water by a weight laid on the bottom of the water and a cable extending from the weight. Is not a heating element, and is not suitable for detecting suspended matter in water that has a temperature similar to that of water over time.

  On the other hand, there is a laser radar device that is suitable for the purpose of automatically tracking after catching an underwater floating body that has floated on the water surface and is not a heating element itself. As shown in FIG. 5, this laser radar apparatus irradiates an ultrashort pulse laser beam from a laser apparatus 1 toward a target 2 and has an ultra-high-speed gated ICCD camera (hereinafter, referred to as a shutter function that operates at a high speed). This is referred to as an “ICCD camera.”) 3, the reflected light from the target 2 is observed. That is, only when the reflected light from the target 2 arrives at the ICCD camera 3, the shutter is turned on (opened) so that the target 2 is detected and the target 2 is reached based on the propagation speed (light speed) of the laser light. Distance can also be detected. The state of the water surface including the target 2 at this time can be visually recognized by an image of the monitor device 4.

  By using such a laser radar device, not only can the influence of disturbance (fog, rain, waves, etc.) between the laser device 1 and the ICCD camera 3 and the target 2 be significantly reduced, but also the laser light source can be reduced. Since it is an active detection method used, it has the feature that it can be operated day and night.

  However, even when such a laser radar apparatus is used, the underwater suspended matter that has floated on the water surface is still discovered by a watcher called a watcher who monitors the water surface with binoculars from the ship, and the watcher uses the laser device 1 and the ICCD camera. By pointing 3 toward the underwater suspended matter that has floated on the water surface, the underwater suspended matter that has floated on the water surface is captured by the laser radar device and then automatically tracked. For this reason, it takes a considerable amount of time to find the suspended matter floating on the surface of the water, and there is a problem in that it is not possible to reduce the work burden on the monitoring work of the observer.

  The present invention has been made to solve the above-described problems, and can automatically detect suspended matters floating on the water surface in a short time and automatically, greatly increasing the work load on the monitoring work of the observer. An object of the present invention is to provide a minesweeping work support device that can be reduced.

The present invention employs the following means in order to solve the above problems.
A minesweeping operation support device according to the present invention includes a laser device and an ICCD camera, a laser radar device mounted on a surface of a watercraft, a scavenging line and a cutting device, and a sweeper towed by the surface of the watercraft. A scavenging work support device comprising: the scavenging line, which is generated by a tension applied to the scavenging line when the cutter cuts a line extending upward from a weight laid on the bottom of the water. An optical fiber sensor for measuring the extension of the mine sweep line as a change in refractive index is provided, data measured by the optical fiber sensor is input, the data is processed, and the cutting device, An optical fiber measuring device that identifies which cutting device has cut the cord, data relating to the cutting device specified by the optical fiber measuring device, and the floating vehicle Position information of the watercraft that is mounted and sent from a positioning device that measures the position of the watercraft on the earth is input, and data relating to the cutting device specified by the optical fiber measuring instrument, and the water Using the position information of the navigation body, the position of the cutting device that cut the cable is calculated on the earth when the cable is cut, and based on the position information on the earth when the cable is cut, Calculate the position of the underwater suspended substance that floated on the water surface on the earth, and based on the position information and course information of the surface navigation object and the position information of the underwater suspended substance that floated on the water surface, The turning amount and the dip angle for directing the laser radar device, which is attached to the surface of the watercraft so as to be able to turn, toward the underwater suspended matter that has floated on the water surface, are calculated. A controller for converting the amount and the dip angle into a command signal for directing the laser radar device toward the underwater suspended matter floating on the water surface, and sending the command signal to the swivel .

  A minesweeping operation support device according to the present invention includes a laser device and an ICCD camera, a laser radar device mounted on a surface of a watercraft, a scavenging line and a cutting device, and a sweeper towed by the surface of the watercraft. A minesweeping operation support device comprising: data relating to the cutting device specified by an ignition signal of an explosive attached to the cutting device; and the earth of the floating navigation device mounted on the floating navigation body The position information of the floating navigation body sent from the positioning device for measuring the position of the floating navigation vehicle is input, the data relating to the cutting device specified by the ignition signal of the gunpowder attached to the cutting device, and the position of the floating navigation vehicle Using the information, the position of the cutting device that cut the cord was calculated on the earth when the cord was cut, and when the cord was cut Based on the position information on the earth, the position of the underwater suspended substance floating on the water surface is calculated on the earth, and the position information and course information of the watercraft and the position information of the underwater suspended substance floating on the water surface are calculated. Based on the above, the laser radar device attached to the surface of the watercraft via a swivel so as to be able to turn is calculated to calculate the turning amount and the depression angle for directing the underwater suspended matter floating on the water surface. A control device that converts the turning amount and the dip angle into a command signal for directing the laser radar device toward a floating object floating on the water surface, and sends the command signal to the swivel. .

  A minesweeping work support method according to the present invention includes a laser device and an ICCD camera, a laser radar device mounted on a surface of a watercraft, a scavenger line and a cutting device, and a sweeper towed by the watercraft. And when the cutting device cuts a cable attached to the sweep line and extending upward from a weight laid on the bottom of the water, the extension of the sweep line caused by the tension applied to the sweep line is expressed as a refractive index. An optical fiber sensor to be measured as a change in data and data measured by the optical fiber sensor are input, and the data is processed to identify which cutting device of the cutting device has cut the cord. A scavenging work support method using the optical fiber measuring instrument, the data relating to the cutting device specified by the optical fiber measuring instrument, and the water navigation The position information of the watercraft that is mounted on the earth and sent from a positioning device that measures the position of the watercraft on the earth is input, and the data related to the cutting device specified by the optical fiber measuring instrument, and Using the position information of the watercraft, calculate the position of the cutting device that cut the cable on the earth at the time of cutting the cable, and based on the position information on the earth at the time of cutting the cable , Calculating the position of the underwater suspended substance floating on the surface of the earth on the earth, based on the position information and course information of the watercraft and the position information of the underwater suspended object floating on the water surface, Calculating a turning amount and a dip angle for directing the laser radar device attached to the surface of the watercraft so as to be able to turn toward the underwater suspended matter floating on the water surface, and calculating the calculated turning And based on the dip angle, the laser radar apparatus, and to direct towards the waterborne product it was floated on the water surface.

  A minesweeping work support method according to the present invention includes a laser device and an ICCD camera, a laser radar device mounted on a surface of a watercraft, a scavenger line and a cutting device, and a sweeper towed by the watercraft. A minesweeping work support method performed using the data of the cutting device specified by the ignition signal of the explosive attached to the cutting device, and the earth of the floating navigation device mounted on the floating navigation vehicle Position information of the surface navigation vehicle sent from a positioning device that measures the position above is input, data relating to the cutting device specified by the ignition signal of the gunpowder attached to the cutting device, and the surface navigation vehicle Using the position information, calculate the position of the cutter that cut the cord on the earth when the cord was cut, and when the cord was cut Based on the position information on the earth, the position of the underwater suspended substance that floated on the water surface is calculated, and the position information and course information of the watercraft and the position information of the suspended substance that floated on the water surface are obtained. Based on the above, the laser radar device that is turnably mounted on the deck of the surface of the watercraft through a swivel, and calculates the turning amount and the dip angle for directing toward the underwater suspended matter that has floated on the water surface, Based on the calculated turning amount and dip angle, the laser radar device is directed toward the underwater suspended matter floating on the water surface.

According to the minesweeping work support device or the minesweeping work support method according to the present invention described above, the rope extending upward from the weight laid on the bottom of the water is cut by the cutter, so that the underwater suspended matter floating on the surface of the water is on the earth. The position and angle of turn for turning the laser radar device, which is attached to the surface of the watercraft via a swivel so as to be able to turn, to the underwater suspended matter floating on the surface of the water. Is calculated using a computer or the like, and the laser radar device is quickly pointed toward the underwater suspended matter that has floated on the water surface based on the calculated turning amount and dip angle.
As a result, it is possible to automatically find the underwater suspended matter floating on the water surface in a short time, and the work burden on the monitoring work of the supervisor can be greatly reduced.

  In the minesweeping work support device, a towing buoy is attached to an end of the minesweeping line, and the control device is equipped with data relating to the cutting device specified by the optical fiber measuring instrument, and mounted on the surface of the surface of the watercraft. In addition to the position information of the watercraft that has been sent from the positioning device that measures the position of the watercraft on the earth, it is sent from the positioning device that is mounted on the towing buoy and measures the position of the watercraft on the earth. The position information of the towed buoy that has been input is input, and the control device uses the data related to the cutting device specified by the optical fiber measuring instrument, the position information of the surface object, and the position information of the towed buoy. The position of the cutting device that cuts the cord is calculated on the earth when the cord is cut, and the position information on the earth when the cord is cut is calculated. Then, the position of the underwater suspended substance that has surfaced on the water surface is calculated on the earth, and the laser radar is based on the position information and course information of the watercraft and the position information of the underwater suspended object that has surfaced on the water surface. Calculate the turning amount and dip angle for directing the device toward the underwater suspended matter that has floated on the water surface, and direct the calculated turning amount and dip angle toward the underwater suspended matter that has floated on the water surface. More preferably, the command signal is converted to a command signal for transmission to the swivel base.

  In the minesweeping operation support device, a towing buoy is attached to an end of the minesweeping line, and the control device includes data relating to the cutting device specified by the ignition signal of the explosive attached to the cutting device, and In addition to the position information of the watercraft that has been sent from a positioning device that is mounted on a watercraft and measures the position of the watercraft on the earth, the position of the towed buoy mounted on the towed buoy on the earth The position information of the towed buoy sent from the positioning device that measures the position of the towed buoy is input, and the control device receives the data relating to the cutting device specified by the ignition signal of the explosive attached to the cutting device, the position of the surface of the surface Using the information and the position information of the towing buoy, the position of the cutting device that cut the cord on the earth at the time of cutting the cord is calculated, Based on the position information on the earth at the time of cutting, the position of the underwater suspended substance floating on the water surface is calculated on the earth, and the position information and course information of the watercraft and the underwater suspended substance floating on the water surface are calculated. Based on the positional information, the turning amount and the dip angle for directing the laser radar device toward the underwater suspended matter floating on the water surface are calculated, and the calculated turning amount and the dip angle are calculated on the surface of the laser radar device. It is more preferable that the command signal is sent to the swivel base after being converted into a command signal for directing toward a suspended substance in water.

  In the minesweeping work support method, the data relating to the cutting device specified by the optical fiber measuring instrument, the position information of the floating navigation body, and the earth of the towing buoy mounted on the towing buoy attached to the end of the minesweeping line The position information sent from the positioning device that measures the position above is used to calculate the position of the cutting device that cuts the cord on the earth when the cord is cut, and the earth when the cord is cut Based on the position information on the surface, the position of the underwater suspended matter that floated on the water surface is calculated on the earth, and based on the position information and course information of the surface navigation object, and the position information of the underwater suspended matter that floated on the water surface Calculating a turning amount and a depression angle for directing the laser radar device toward the underwater suspended matter that has floated on the water surface, and based on the calculated turning amount and the depression angle, The laser radar apparatus, it is further preferable to the direct toward the waterborne product was floated on the water surface.

  In the minesweeping work support method, mounted on the towing buoy attached to the end of the minesweeping data, the data related to the cutting device specified by the ignition signal of the explosive attached to the cutter The position information sent from the positioning device that measures the position of the towing buoy on the earth is used to calculate the position of the cutting device that cut the rope on the earth when the rope is cut, and the rope Based on the position information on the earth at the time of cutting, the position of the underwater suspended substance that floated on the water surface is calculated on the earth, and the position information and course information of the watercraft and the underwater floating that floated on the water surface Based on the position information of the object, the turning amount and the depression angle for directing the laser radar device toward the underwater suspended matter that has floated on the water surface are calculated. Based on the dip angle, the laser radar apparatus is further preferred when the direct toward the waterborne product was floated on the water surface.

According to these minesweeping work support devices or minesweeping work support methods, the data related to the cutting device specified by the optical fiber measuring instrument, the position information of the watercraft, or the ignition signal of the explosive attached to the cutting device In addition to the data on the cutting device and the position information of the floating navigation body, the position information sent from the positioning device mounted on the towing buoy attached to the end of the minesweeper and measuring the position of the towing buoy on the earth is used. Thus, the position of the underwater suspended substance floating on the water surface on the earth, the turning amount for turning the laser radar device toward the underwater suspended object floating on the water surface, and the depression angle are calculated.
This makes it possible to more accurately calculate the position of the underwater suspended substance floating on the surface of the water on the earth, the turning amount and the dip angle for directing the laser radar device toward the underwater suspended object floating on the surface of the water. Floating underwater suspended matter can be found in a shorter time.

  According to the minesweeping work support device according to the present invention, it is possible to automatically find suspended matters floating on the water surface in a short time and automatically, and it is possible to greatly reduce the work load in the monitoring work of the observer. There is an effect.

It is a schematic block diagram of the minesweeping work assistance apparatus which concerns on one Embodiment of this invention. It is a figure which shows a part of minesweeping work assistance apparatus shown in FIG. It is the figure which looked at the ship shown in FIG.1 and FIG.2 from upper direction. It is a chart which shows how sensor information concerning one embodiment of the present invention appears. It is explanatory drawing which shows the basic principle of the laser radar apparatus which concerns on this invention.

Hereinafter, a minesweeping work support apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.
FIG. 1 is a schematic configuration diagram of a minesweeping work support apparatus according to the present embodiment, FIG. 2 is a diagram showing a part of the minesweeping work support apparatus shown in FIG. 1, and FIG. 3 is a view of the ship shown in FIGS. FIG. 4 is a chart showing how the sensor information according to the present embodiment appears.

As shown in FIG. 1 or FIG. 2, the minesweeping work support device 10 according to the present embodiment includes a minesweeper 11 and a laser radar device 12.
The minesweeper 11 includes a winch 21, a sinker rope 22, a sinker 23, a minesweeper 24, a cutter 25, a deployer 26, a towing buoy 27, and a depth rope 28. .

The winch 21 is disposed on the rear deck of the ship (for example, a minesweeper) 13 and feeds or unwinds the settling rigging line 22 and the mine sweeping line 24 that are wound around a horizontal cylindrical trunk. It is a hoisting machine.
The settling rig 22 includes a single steel cable (wire) that tows the settling 23, one end of which is wound around the winch 21, and the other end to which the settling 23 is attached.
The subsidence device 23 generates a subsidence force due to the water flow generated by the towing of the mine sweeper 11, and sinks the mine sweeping line 24, the cutting unit 25, the developing unit 26, and the depth line 28.

  The sweep line 24 is composed of two steel cables (wires) towing the cutter 25 and the expander 26, one end of each sweep line 24 is wound around the winch 21, and the other end of each sweep line 24 is unfolded. A vessel 26 is attached.

  The cutter 25 cuts the (tether) cable 33 extending from the weight 32 laid on the water bottom 31, and is arranged at equal intervals along the direction in which the sweep line 24 extends. A plurality (seven in this embodiment) are attached. Examples of the cutter 25 include a tooth plate type cutter that cuts the cord 33 with two saw teeth, and a blast-type cutter that cuts the cord 33 by punching the chisel with the explosive force of explosives. Further, in the portion of the sweep line 24 to which the cutter 25 is attached, the extension (deformation: distortion) of the sweep line 24 caused by the tension applied to the sweep line 24 when the cutter 25 cuts the rope 33. Are each provided with an optical fiber sensor (not shown) for measuring (sensing) as a change in refractive index. The data measured by the optical fiber sensor, for example, the tension data (CH N-1, CH N, and CH N + 1 strain data) shown in FIG. 4 is an optical fiber measuring instrument (not shown) mounted on the ship 13 (for example, Anritsu Device Co., Ltd. FBG sensor monitor (AR4041A, AR4011A)) is processed and data processing is performed to determine which cutting device 25 has cut the cord 33, and the data is a control mounted on the ship 13. Sent to the device 41.

It should be noted that the underwater suspended matter 34 from which the cord 33 is cut by the cutter 25 floats on the water surface 35.
Further, in the present embodiment, CH N-1 shown in FIG. 4 corresponds to the third cutting device 25 from the front (ship 13 side) attached to the sweep line 24 that is deployed behind the port 13 on the port side. CH N is attached to the attached optical fiber sensor, and CH N + 1 is attached to the optical fiber sensor attached corresponding to the fourth cutting device 25 from the front attached to the sweep line 24 deployed behind the port side of the ship 13. It corresponds to the optical fiber sensor attached corresponding to the fifth cutting device 25 from the front attached to the sweep line 24 deployed behind the port side of the ship 13.

The expander 26 generates a deploying force due to the water flow generated by the towing of the mine sweeper 11, and deploys the mine sweeper 24 and the cutting device 25 to the left and right in the direction of travel of the ship 13 (backward of the port 13 and behind the starboard). It is something to be made.
The towing buoy 27 is a buoy that is used as a marker for holding the sweeper 11 at a specified depth by buoyancy and knowing the position of the other end (end) of the sweep line 24. A positioning device (for example, a GPS (Global Positioning System) receiver) 37 that measures the position of the towing buoy 27 on the earth is provided at the tip of the pole 36 standing on the upper surface of the towing buoy 27 (see FIG. 2), and the exact position of the towing buoy 27 on the earth can be known.

  The depth rope 28 is composed of two steel ropes (wires) that maintain the depth of the deployer 26 attached to the other end of the sweep line 24, and one end of each depth rope 28 is attached to the other end of the sweep line 24, The other end of each depth rope 28 is attached to the lower surface of the towing buoy 27.

  Here, in addition to the data sent from the optical fiber measuring instrument, the control device 41 includes the positional information of the towed buoy 27 sent from the positioning device 37 attached to the tip of the pole 36 of the towed buoy 27, Position information of the ship 13 that is mounted on the ship 13 and sent from a positioning device (for example, a GPS receiver) that measures the position of the ship 13 on the earth is input. In the control device 41, the position information on the earth at the time of cutting the cord 33 of the cutter 25 that cut the cord 33 is calculated using the position information of the towing buoy 27 and the position information of the ship 13 that have been input. Based on the position information, the position of the underwater suspended matter 34 that has floated on the water surface 35 on the earth is calculated (estimated). Next, in the control device 41, the laser constituting the laser radar device 12 based on the position information and course information of the ship 13 and the position information of the underwater suspended matter 34 that has floated on the water surface 35 calculated by the control device 41. The turning amount θ and the dip angle for directing the device 1 and the ICCD camera 3 toward the underwater suspended matter 34 that has floated on the water surface 35 are calculated. Subsequently, in the control device 41, the calculated turning amount θ and dip angle are converted into a command signal (operation signal) for directing the laser device 1 and the ICCD camera 3 toward the underwater suspended matter 34 that has floated on the water surface 35. Is done.

  Similar to the laser radar apparatus described with reference to FIG. 5, the laser radar apparatus 12 irradiates the target 2 with laser light of an extremely short pulse from the laser apparatus 1 and has an ultrahigh-speed gate having a shutter function that operates at a high speed. The reflected light from the target 2 is observed by an attached ICCD camera (hereinafter referred to as “ICCD camera”) 3. The details of the laser radar device 12 are disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-253391 filed earlier by the present applicant, and thus detailed description thereof is omitted here.

  The laser radar device 12 is mounted on the ship 13, and the laser device 1 and the ICCD camera 3 constituting the laser radar device 12 can see the water area around the ship 13 without a 360 ° as shown in FIG. It is installed on the deck of the ship 13 that can. The command signal converted by the control device 41 is sent to a turntable (not shown) that operates the laser device 1 and the ICCD camera 3, and the laser device 1 and the ICCD camera 3 send commands sent from the control device 41. Based on the signal, it is automatically directed toward the target 2 (in this embodiment, the underwater suspended matter 34 that has floated on the water surface), automatically captures the target 2, and thereafter automatically tracks the target 2. become.

According to the minesweeping work support device 10 and the minesweeping work support method according to the present embodiment, the cutting device 25 floats on the water surface 35 by cutting the cable 33 extending upward from the weight 32 laid on the water bottom 31. The position of the underwater suspended matter 34 on the earth is calculated using the control device 41, and the laser device 1 and the ICCD camera 3 that are pivotably mounted on the deck of the ship 13 via the swivel are placed on the water surface 35. The turning amount and the dip angle for directing toward the floated underwater suspended matter 34 are calculated using the control device 41, and the laser device 1 and the ICCD camera 3 are placed on the water surface 35 based on the calculated turning amount θ and the dip angle. It will be directed quickly toward the floating underwater substance 34.
As a result, the underwater suspended matter 34 that has floated on the water surface 35 can be automatically discovered in a short time, and the work burden on the monitoring work of the supervisor can be greatly reduced.

Further, according to the minesweeping work support device 10 and the minesweeping work support method according to the present embodiment, at the end of the minesweeping line 24 in addition to the data related to the cutting device 25 specified by the optical fiber measuring instrument and the position information of the ship 13. The position on the earth of the submerged suspended substance 34 that has floated on the water surface 35 using the position information sent from the positioning device 37 that is mounted on the attached towing buoy 27 and measures the position of the towing buoy 27 on the earth, The turning amount θ and the depression angle for directing the laser device 1 and the ICCD camera 3 toward the underwater suspended matter 34 that has floated on the water surface 35 are calculated.
As a result, the position of the underwater suspended matter 34 that has floated on the water surface 35 on the earth, the turning amount θ and the depression angle for directing the laser device 1 and the ICCD camera 3 toward the underwater suspended matter 34 that has floated on the water surface 35 are more accurately determined. The underwater suspended matter 34 that has floated on the water surface 35 can be found in a shorter time.

In addition, this invention is not limited to embodiment mentioned above, It can also implement by changing and changing suitably as needed.
For example, in the above-described embodiment, the example in which the optical fiber sensor is provided in each portion of the minesweeper 24 where the cutting device 25 is attached has been described, but the present invention is not limited thereto. The optical fiber sensors may be provided at intervals of several meters to several tens of meters (every few meters to several tens of meters) with respect to the sweep line 24.

  Further, in the above-described embodiment, the example in which the optical fiber sensor is provided in each portion of the minesweeper 24 where the cutter 25 is attached has been described, but the present invention is not limited thereto. It is not limited. For example, when a blast type cutting device is used as the cutting device 25, the cutting device 25 used to cut the cord 33 is an ignition signal generated when the chisel is driven out by the explosive force of the gunpowder explosive. If it can be specified, the configuration can be simplified by omitting the optical fiber sensor.

  Further, the positioning device 37 attached to the tip of the pole 36 of each towing buoy 27 is not an essential component in the present invention, and the positioning device mounted on the ship 13 and the sweep line 24 are deployed as prescribed. Based on the positional relationship between the ship 13 and the cutting device 25, the control device 41 calculates the position of the cutting device 25 that cuts the cable 33 on the earth when the cable 33 is cut. You can also

DESCRIPTION OF SYMBOLS 1 Laser apparatus 3 ICCD camera 10 Minesweeping work support apparatus 11 Minesweeper 12 Laser radar apparatus 13 Ship (watercraft)
24 Minesweeping line 25 Cutting device 27 Towing buoy 31 Water bottom 32 Weight 33 Line 34 Underwater suspended matter 35 Water surface 37 Positioning device 41 Control device θ Turning amount

Claims (8)

A laser radar device equipped with a laser device and an ICCD camera and mounted on a watercraft;
A minesweeping work support device comprising a minesweeper and a cutter, and a minesweeper towed by the watercraft,
The minesweeper measures the extension of the minesweeper as a change in refractive index when the cutter cuts the cords extending upward from the weight laid on the bottom of the water. An optical fiber sensor is provided,
Data measured by the optical fiber sensor is input, data processing is performed on the data, and an optical fiber measuring device that specifies which cutting device the cutting cord is cut out of the cutting devices;
The data related to the cutting device specified by the optical fiber measuring instrument, and the position information of the floating navigation body that is mounted on the floating navigation body and sent from a positioning device that measures the position of the floating navigation body on the earth. The position on the earth at the time of cutting the cord of the cutter that cut the cord by using the data relating to the cutter specified by the optical fiber measuring instrument and the positional information of the floating navigation object. And calculating the position of the underwater suspended matter floating on the water surface on the earth based on the position information on the earth at the time when the cord is cut, and the position information and course information of the watercraft, Based on the position information of the underwater suspended matter that has surfaced on the surface of the water, the laser radar device attached to the surface of the watercraft so as to be able to swivel via a swivel is levitated to the surface of the water. In addition, a turning amount and an inclination angle for directing toward the underwater suspended matter are calculated, and a command signal for directing the calculated turning amount and inclination angle toward the underwater suspended matter floating on the water surface. And a control device for transmitting the command signal to the swivel. A towing buoy is attached to the end of the minesweeping line, and the control device includes data relating to the cutting device specified by the optical fiber measuring instrument, and the surface of the watercraft mounted on the watercraft. In addition to the position information of the watercraft that has been sent from the positioning device that measures the position on the earth, the towing that is mounted on the towing buoy and sent from the positioning device that measures the position of the towing buoy on the earth The position information of the buoy is entered,
The control device uses the data related to the cutting device specified by the optical fiber measuring instrument, the position information of the floating navigation body, and the position information of the towing buoy, and the cutting device that cuts the rope Calculating a position on the earth at the time of cutting the rope, calculating a position on the earth of the underwater suspended matter floating on the water surface based on position information on the earth at the time of cutting the rope; Based on the position information and course information of the navigation body and the position information of the underwater suspended matter that has floated on the water surface, the turning amount and the dip angle for directing the laser radar device toward the underwater suspended matter that has floated on the water surface are determined. The calculated turning amount and the dip angle are converted into the command signal for directing the laser radar device toward the underwater suspended matter floating on the water surface, and the command Minesweeping work support apparatus of claim 1, wherein the sending to the swivel base and No.. A laser radar device equipped with a laser device and an ICCD camera and mounted on a watercraft;
A minesweeping work support device comprising a minesweeper and a cutter, and a minesweeper towed by the watercraft,
Data on the cutting device specified by the ignition signal of the explosive attached to the cutting device, and the water navigation transmitted from a positioning device mounted on the water navigation body and measuring the position of the water navigation object on the earth The position information of the body is input, the data on the cutting device specified by the ignition signal of the gunpowder attached to the cutting device, and the position information of the surface of the watercraft, the cutting device that cut the rope Calculate the position on the earth at the time of cutting the rope, calculate the position on the earth of the suspended substance floating on the water surface based on the position information on the earth at the time of cutting the rope, and Based on the position information of the body and the course information and the position information of the underwater suspended matter that has floated on the water surface Rotation amount and dip angle for directing the laser radar device toward the underwater suspended matter that has floated on the water surface are calculated, and the calculated turning amount and dip angle are calculated for the underwater suspended matter that has floated on the water surface. A scavenging work support device, comprising: a control device that converts the command signal into a turn signal and sends the command signal to the swivel. A towing buoy is attached to the end of the minesweeping line, and the control device is equipped with data related to the cutting device specified by an ignition signal of the explosive attached to the cutting device, and mounted on the surface of the watercraft. In addition to the position information of the watercraft that has been sent from the positioning device that measures the position of the watercraft on the earth, a positioning device that is mounted on the towing buoy and measures the position of the watercraft on the earth. The position information of the towed buoy that has been sent is input,
The control device cuts the cord using the data related to the cutting device specified by the ignition signal of the explosive attached to the cutting device, the position information of the floating navigation body, and the position information of the towing buoy Calculate the position of the cutting device on the earth at the time when the cord is cut, and calculate the position of the suspended matter floating on the surface of the earth on the surface of the earth based on the positional information on the earth when the cord is cut. And turning the laser radar device toward the underwater suspended matter that has floated on the water surface based on the position information and course information of the surface of the watercraft and the positional information of the underwater suspended matter that has floated on the water surface. The amount and dip angle are calculated, and the calculated turning amount and dip angle are converted into the command signal for directing the laser radar device toward the underwater suspended matter floating on the water surface, Minesweeping work support device according to decree signals to claim 3, wherein the sending to the swivel base. A laser radar device mounted on a watercraft,
A minesweeper including a minesweeper and a cutter, and towed by the watercraft;
When the cutting device cuts a cable attached to the sweep line and extending upward from a weight laid on the bottom of the water, the extension of the sweep line caused by the tension applied to the sweep line is changed in refractive index. An optical fiber sensor to measure as
Using data measured by the optical fiber sensor, data processing the data, and an optical fiber measuring device that specifies which cutting device the cord was cut from among the cutting devices. A minesweeping work support method to be performed,
The data related to the cutting device specified by the optical fiber measuring instrument, and the position information of the floating navigation body that is mounted on the floating navigation body and sent from a positioning device that measures the position of the floating navigation body on the earth. The position on the earth at the time of cutting the cord of the cutter that cut the cord by using the data relating to the cutter specified by the optical fiber measuring instrument and the positional information of the floating navigation object. And calculating the position of the underwater suspended matter floating on the water surface on the earth based on the position information on the earth at the time when the cord is cut, and the position information and course information of the watercraft, Based on the position information of the underwater suspended matter that has surfaced on the surface of the water, the laser radar device attached to the surface of the watercraft so as to be able to swivel via a swivel is levitated to the surface of the water. The amount of swivel and the dip angle to be directed toward the floating object in the water were calculated, and the laser radar device was directed to the underwater buoyant surface that floated on the water surface based on the calculated turn amount and the dip angle. Minesweeping work support method characterized by   Positioning device that is mounted on a towed buoy attached to the end of the minesweeper and measures the position of the towed buoy on the earth, the data relating to the cutting device specified by the optical fiber measuring instrument, the position information of the floating navigation body The position information sent from the position is used to calculate the position of the cutting device that cuts the cable on the earth when the cable is cut, and based on the position information on the earth when the cable is cut Calculating the position of the underwater suspended substance floating on the surface of the earth on the earth, and based on the position information and course information of the watercraft and the position information of the underwater suspended object floating on the water surface, the laser radar device Then, the turning amount and the dip angle for directing the underwater suspended object floating on the water surface are calculated, and the laser radar device is floated on the water surface based on the calculated turning amount and dip angle. Sweeping work supporting method according to claim 5, characterized in that the the direct toward the floating materials. A laser radar device equipped with a laser device and an ICCD camera and mounted on a watercraft;
A minesweeping work support method that includes a minesweeper and a cutter, and uses a minesweeper that is towed by the watercraft,
Data on the cutting device specified by the ignition signal of the explosive attached to the cutting device, and the water navigation transmitted from a positioning device mounted on the water navigation body and measuring the position of the water navigation object on the earth The position information of the body is input, the data on the cutting device specified by the ignition signal of the gunpowder attached to the cutting device, and the position information of the surface of the watercraft, the cutting device that cut the rope Calculate the position on the earth at the time of cutting the rope, calculate the position on the earth of the suspended substance floating on the water surface based on the position information on the earth at the time of cutting the rope, and Based on the position information of the body and the course information and the position information of the underwater suspended matter that has floated on the water surface The amount of turning and the dip angle for directing the laser radar device toward the underwater suspended matter floating on the water surface is calculated, and the laser radar device is floated on the water surface based on the calculated turning amount and dip angle. Minesweeping work support method, characterized by being directed toward   On the earth of the towed buoy mounted on the towed buoy attached to the end of the minesweeper, the data related to the cutting device specified by the ignition signal of the explosive attached to the cuter The position information sent from the positioning device that measures the position of the cable is used to calculate the position of the cutting device that cuts the cable on the earth when the cable is cut, and the earth when the cable is cut Based on the position information on the surface, the position of the underwater suspended matter that floated on the water surface is calculated on the earth, and based on the position information and course information of the surface navigation object, and the position information of the underwater suspended matter that floated on the water surface Then, the turning amount and the depression angle for directing the laser radar device toward the underwater suspended matter that has floated on the water surface are calculated, and the laser radar device is calculated based on the calculated turning amount and the depression angle. Sweeping work supporting method according to claim 7, characterized in that the radar apparatus, and to direct towards the waterborne product was floated on the water surface.

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