JP2019104363A - Underwater vessel for mine treatment and mine treatment system provided with the same - Google Patents

Abstract

To suppress cost for mine treatment.SOLUTION: An underwater vessel 10 for mine treatment comprises: an underwater sailing body 11; and a position fixing device 40 provided on the underwater sailing body 11 for maintaining a distance between a mine M and the underwater sailing body 11 by coming into contact with the mine M. The underwater sailing body 11 includes an explosives storage unit 13 for storing explosives 45 and a detonator 46 for detonating the explosives 45.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an underwater mine handling vessel and a mine handling system including the same.

  As a mine disposal system, for example, there is a system described in Patent Document 1 below. This system comprises a mother ship and a mine handling underwater vessel. The mother ship and the mine processing underwater vessel can communicate via an optical cable. The mine disposal underwater vessel comprises a hull capable of traveling in water, a self-propelled mechanism for propelling the hull, a sonar, an underwater video, and a bomb.

  Images taken in the underwater video of the mine handling underwater vessel are sent to the mother ship via the optical cable. The operator who is aboard the mother ship outputs an operation command to the mine processing underwater vessel while watching this image, and operates the mine processing underwater vessel to head to the mine. The self-propelled mechanism of the mine disposal underwater vessel is driven in accordance with this operation command. When the mine processing underwater vessel reaches the vicinity of the mine, the operator outputs an ignition command to the mine processing underwater vessel at a predetermined timing. The igniter of the mine processing underwater vessel that has received the ignition command ignites the bomb. As a result, the mine is destroyed along with the mine disposal underwater vessel.

Patent No. 4486211

  In mine processing, it is required to process mines and to reduce the processing cost.

  Then, an object of this invention is to provide the mine processing underwater vessel which can hold down a part for processing cost, and a mine processing system provided with the same.

In order to achieve the above object, a mine disposal underwater vessel according to a first aspect of the present invention,
An underwater vehicle capable of traveling underwater, and a position fixer provided on the underwater vehicle and maintaining a distance between the mine and the underwater vehicle in contact with a mine. The underwater vehicle has an explosive storage unit for storing an explosive and an initiator for detonating the explosive.

  In this aspect, since the position fixing device is provided, the underwater vehicle does not flow in tidal current or the like when the position fixing device contacts the mine even if the propulsion device is not provided. The distance between and can be maintained. For this reason, in this aspect, the explosive stored in the underwater vehicle can be exploded while maintaining the distance between the mine and the underwater vehicle at an appropriate distance. As described above, in the present embodiment, since the distance between the mine and the underwater vehicle can be maintained at an appropriate distance without providing the propulsion device, the mine disposal cost can be reduced.

In order to achieve the above object, a mine disposal underwater vessel according to a second aspect of the present invention,
In the mine processing underwater boat of the first aspect, the position fixing device is configured to be able to maintain the relative attitude of the underwater vehicle with respect to the mine.

In order to achieve the above object, there is provided a mine handling underwater vessel according to a third aspect of the present invention,
In the mine processing underwater boat of the first or second aspect, the position fixing device is a magnet.

A mine disposal underwater vessel according to a fourth aspect of the present invention for achieving the above object,
In the mine processing underwater boat of the first or second aspect, the position fixing device is a gripper that grips at least a part of the mine.

A mine disposal underwater vessel according to a fifth aspect of the present invention for achieving the above object,
In the mine processing underwater boat of the first aspect, the position fixing device is a net.

A mine disposal underwater vessel according to a sixth aspect of the present invention for achieving the above object,
The underwater vehicle according to any of the first to fifth aspects, wherein the underwater vehicle is
A detonation indicator for issuing an explosion instruction for detonating the explosive stored in the explosive storage unit; and an explosion control unit for activating the detonator of the explosive when the explosion indicator issues the explosion instruction And.

A mine disposal underwater vessel according to a seventh aspect of the present invention for achieving the above object,
In the mine processing underwater boat of the sixth aspect, the underwater vehicle has an underwater communication device capable of communicating with the outside in the water. The underwater communication device is the detonation indicator that issues the detonation instruction to the detonation control unit when an instruction to detonate the explosive stored in the explosive storage unit is received from the outside.

  In this aspect, the instruction from the outside of the mine disposal underwater vessel can explode the explosive stored in the underwater vehicle.

In order to achieve the above object, a mine disposal underwater vessel according to an eighth aspect of the present invention,
In the mine processing underwater boat of the sixth aspect, the initiation indicator is released when a predetermined time has elapsed since the position fixing device is in contact with the mine, or the underwater vehicle is released to the mine laying water area. The timer is a timer that issues the explosion instruction to the initiation control unit when a predetermined time has elapsed after being dropped.

  In this aspect, the explosive stored in the underwater vehicle can be exploded even if there is no instruction from the outside of the mine disposal underwater vessel.

A mine processing underwater vessel according to a ninth aspect of the present invention for achieving the above object,
In the mine processing underwater boat of any of the above aspects, the underwater vehicle changes the direction of the rudder, a mine sensor that detects a mine, a rudder that changes the running direction of the underwater vehicle, and the rudder. A rudder driver and a cruise control unit that controls the operation of the rudder driver so as to approach the mine detected by the mine sensor.

A mine processing underwater vessel according to a tenth aspect of the present invention for achieving the above object,
The mine processing underwater boat according to the ninth aspect of the present invention has a storage unit in which position information of the mine is stored. The cruise control unit controls the operation of the rudder driver to approach the position indicated by the position information stored in the storage unit until the mine sensor detects the mine by the mine sensor, and the mine sensor When the mine is detected, the operation of the rudder driver is controlled to approach the mine detected by the mine sensor.

  In this aspect, for example, even if the water depth of the mine is deep and the mine sensor of the underwater vehicle can not detect the mine, the underwater vehicle can travel to a position detectable by the mine sensor.

A mine disposal system according to an eleventh aspect of the present invention for achieving the above object comprises:
The mine processing underwater vessel of the seventh aspect and a mother ship having an underwater vessel storage portion capable of storing the mine processing underwater vessel are provided. The mother ship has an underwater communicator capable of communicating with the underwater communicator of the mine disposal underwater vessel. The underwater communication device of the mine processing underwater vessel receives an instruction to detonate the explosive stored in the explosive storage unit from the underwater communication device of the mother ship.

  In this aspect, the instruction from the mother ship can control the explosion of the explosive stored in the underwater vehicle.

A mine disposal system according to a twelfth aspect of the present invention for achieving the object mentioned above,
The mine processing underwater vessel according to the tenth aspect of the present invention, and a mother ship having an underwater vessel storage unit capable of storing the mine processing underwater vessel. The mine processing underwater vessel has a storage communication device capable of communicating with the mother ship while being stored in the underwater vessel storage unit. The mother ship includes: a storage unit in which position information of the mine is stored; and the position information stored in the storage unit of the mother ship in the underwater vessel storage unit. And a storage communication device for sending the storage communication device to the storage communication device. When the storage communication device of the mine processing underwater vessel receives the position information from the storage communication device of the mother ship, the storage communication unit stores the position information in the storage unit of the mine processing underwater boat.

A mine disposal system according to a thirteenth aspect of the present invention for achieving the object mentioned above,
In the mine disposal system according to the twelfth aspect, the mother ship creates the position information using a mine position sensor for detecting a position of the mine and information on the mine detected by the mine position sensor. And a position information creation unit that stores the position information in the storage unit of the mother ship.

A mine disposal system according to a fourteenth aspect of the present invention for achieving the object mentioned above,
In the mine disposal system according to the twelfth or thirteenth aspect, the mother ship includes a first speed sensor that detects a first relative speed that is a relative speed of the mother ship to the bottom of the water; A second speed sensor for detecting a second relative speed which is a relative speed of a mother ship, a discharger capable of releasing the mine processing underwater vessel from the underwater vessel storage unit into water, the first relative speed and the second A third relative velocity computing unit for obtaining a third relative velocity which is a relative velocity of the fluid relative to the water bottom from the relative velocity, the underwater boat from the first relative velocity, the third relative velocity, and the position information A release timing calculation unit for determining a release timing for releasing the mine processing underwater vessel from the storage section into water, and driving the release machine when the release timing is reached, and the underwater ship is collected by the release machine. Having a release device instructing unit to release the mines processing underwater vessel into the water from parts.

A mine disposal system according to a fifteenth aspect of the present invention for achieving the object mentioned above,
The mine processing underwater vessel according to any one of the first to the tenth aspects, and a mother ship having an underwater vessel storage unit capable of storing a plurality of the mine processing underwater vessels. The mother ship is a mine type sensor for detecting the type of the mine, a discharger capable of selectively releasing the plurality of mine processing underwater vessels stored in the underwater vessel storage unit, and the mine type According to the type of the mine detected by the sensor, the underwater vessel for mine processing corresponding to the type of the mine among the plurality of the mine processing underwater vessels stored in the underwater vessel storage unit is the underwater And a discharger instruction unit configured to discharge water from the ship storage unit into the water by the discharger.

  According to one aspect of the present invention, the mine disposal cost can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which shows the structure of the underwater vessel for mine processing in 1st embodiment of this invention. It is an explanatory view showing composition of a mother ship in a first embodiment of the present invention. It is explanatory drawing which shows the structure of the underwater vessel for mine processing in 2nd embodiment of this invention. It is an explanatory view showing the composition of the underwater vessel for mine processing in a third embodiment of the present invention.

  Various embodiments of the mine disposal system according to the present invention will be described with reference to the drawings.

"First embodiment"
A mine disposal system in the first embodiment will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the mine disposal system of the present embodiment includes a mine disposal underwater vessel 10 and a mother ship 50 capable of storing a plurality of mine disposal underwater vessels 10.

  The mine processing underwater vessel 10 (hereinafter simply referred to as the underwater vessel 10) includes an underwater vehicle 11 and a position fixing device 40. The underwater vehicle 11 includes a hull 12, an underwater communication device 16, an in-storage communication device 17, a mine sensor 19, a rudder 26, a rudder driver 28, a controller 30, and a power supply circuit 35. Prepare. The underwater communication device 16, the storage communication device 17, the mine sensor 19, the rudder 26, the rudder driver 28, and the controller 30 are all provided on the hull 12.

  The underwater communication device 16 is a communication device that can communicate with the outside underwater, such as an acoustic communication device, for example. The underwater communication device 16 may be wireless or wired as long as it can communicate with the outside in the water. The storage communication device 17 has a mother ship communication connector 18. The mother ship communication connector 18 is provided in the hull 12. The mother ship communication connector 18 is disposed so as to be accessible from the outside of the hull 12 by opening a connector door 18 a which constitutes a part of the hull 12. The mine sensor 19 is a sensor that detects the position, shape, and the like of the mine M. The mine sensor 19 is, for example, an underwater camera. The mine sensor 19 may be an underwater camera, a magnetic sensor, a chemical sensor, an acoustic sensor or the like, or a combination thereof. The mines M include mines from which certain chemical substances flow out from inside the mines M. A chemical sensor is a sensor that detects such a chemical substance.

  The hull 12 has an explosive storage 13 and a buoyancy storage 14. The explosive storage portion 13 is a space capable of storing the explosive 45 and the detonator 46 that detonates the explosive 45. The buoyancy material storage unit 14 is a space capable of storing the buoyancy material 47 such as expanded polystyrene. The hull 12 is provided with a storage door 15 for taking the explosive 45 in and out of the explosive storage 13 and for taking the buoyancy material 47 in and out of the buoyancy material storage 14. The rudder 26 has a first rudder 26a and a second rudder 26b. The first rudder 26a and the second rudder 26b are both provided at the stern. The first rudder 26a is pivotable about a first axis 27a perpendicular to the ship's forward direction. The second rudder 26b is pivotable about a second axis 27b which is perpendicular to the ship's heading direction and the first axis 27a. The swing angle of the first rudder 26 a and the second rudder 26 b is changed by the rudder driver 28.

  The controller 30 is, for example, a computer. The controller 30 includes a control unit 31 configured by an arithmetic circuit such as a CPU, and a storage unit 34 configured by a memory or the like. The control unit 31 functionally includes a running control unit 32 that controls the operation of the rudder driver 28 and an initiation control unit 33 that controls the operation of the initiation device 46 stored in the explosive storage unit 13. Have.

  The power supply circuit 35 supplies power to the underwater communication device 16, the storage communication device 17, the mine sensor 19, the rudder driver 28, the controller 30 and the like.

  The position fixing device 40 is, for example, a permanent magnet. The position fixing device 40 is provided at a position on the bow side of the hull 12 and at least a portion thereof protrudes from the hull 12.

  As described above, the underwater vehicle 11 according to the present embodiment does not include the propulsion device. For this reason, the underwater vehicle 11 of the present embodiment is an underwater glider.

  The mother ship 50 of this embodiment is an unmanned ship. As shown in FIG. 2, the mother ship 50 includes a hull 52, an underwater communication device 56, a storage communication device 57, a mine sensor 69, a first speed sensor 67, a second speed sensor 68, and a discharge machine. 61, a self-propelled device 64, and a controller 70.

  The underwater communication device 56 is a communication device that can communicate with the outside underwater, such as an acoustic communication device, for example. The underwater communication device 56 may be wireless or wired as long as it is a notification device capable of communicating with the outside underwater. The storage communication device 57 has an underwater vessel communication connector 58. The underwater vessel communication connector 58 is connectable to a mother vessel communication connector 18 of the underwater vessel 10. The mother ship 50 further includes an external communication connector 59 for communicating with an external computer or the like. A mine sensor (mine position sensor, mine type sensor) 69 is a sensor that detects the position, shape, etc. of the mine M. The mine sensor 69 is, for example, a sonar. The mine sensor 69 may be provided on the hull 52 of the mother ship 50, but may not be provided on the hull 52 of the mother ship 50. For example, the mine sensor 69 may be provided on a free-standing underwater vehicle for mine search that can be detached from or released from the mother ship 50. In this case, data obtained by the mine sensor 69 is sent from the self-contained underwater vehicle for mine search to the mother ship 50 by the underwater communication device. The first velocity sensor 67 detects a first relative velocity, which is a relative velocity of the mother ship 50 to the seabed (water bottom). The second velocity sensor 68 detects a second relative velocity, which is the relative velocity of the mother ship 50 to seawater (fluid).

  The hull 52 has an underwater vessel storage 53. The underwater vessel storage unit 53 is a space capable of accommodating a plurality of underwater vessels 10. This space is partitioned into a plurality of single storage spaces 54 by partition walls and the like. One underwater vessel 10 can be stored in each of the plurality of single storage spaces 54. The hull 52 is provided with a discharge door 62 for separating the single storage space 54 and the outboard space for each of the plurality of single storage spaces 54. The discharge door 62 is opened and closed by the drive of the door drive unit 63. The discharging machine 61 is configured to have the discharging door 62 and the door driving machine 63 for each of the plurality of single storage spaces 54. The underwater vessel communication connector 58 of the above-mentioned storage communication device 57 is provided for each of the plurality of single storage spaces 54.

  The self-propelled device 64 has a propulsion device 65 having a screw or the like, and a direction changer 66 that changes the direction of the hull 52. The direction changer 66 is, for example, a rudder. The direction changer 66 does not have to be a rudder. For example, in the case where a plurality of propulsion devices are provided, the direction of the hull 52 is changed by adjusting the propulsion force of each of the plurality of propulsion devices. It may be something.

  The controller 70 is, for example, a computer. The controller 70 includes a control unit 71 configured by an arithmetic circuit such as a CPU, and a storage unit 78 configured by a memory or the like. The control unit 71 functionally has a detonation management unit 72, a position information creation unit 73, a third relative speed calculation unit 74, a discharge timing calculation unit 75, a discharge machine instruction unit 76, and a free-running control unit And 77.

  The initiation management unit 72 sends an instruction from the underwater communication device 56 to detonate the explosive 45 on the underwater vessel 10. The position information creation unit 73 creates position information indicating the position of the mine M using the signal from the mine sensor 69. The third relative velocity calculating unit 74 obtains a third relative velocity which is a relative velocity of the tidal flow (fluid) to the seabed (bottom) from the first relative velocity and the second relative velocity. The release timing calculation unit 75 obtains the release timing of the underwater vessel 10 using the third relative velocity. The discharger instruction unit 76 drives a specific door driver 63 of the plurality of door drivers 63 to discharge the underwater vessel 10 corresponding to the specific door driver 63 to the outside of the hull 52. The self-propelled control unit 77 controls the self-propelled device 64.

  Next, the operation of the mine processing system described above will be described.

  The disposer of the mine M performs the following operation before releasing the mother ship 50 into the mine laying area. The disposer or the like stores the explosive 45 and the detonator 46 in each of the explosives storage 13 of the plurality of underwater ships 10. At this time, explosives 45 having different explosive amounts are accommodated in the explosives storage 13 of the plurality of underwater ships 10. Specifically, an appropriate amount of explosive 45 is stored to remove some types of mines M assumed to be laid in the sea area. Furthermore, the buoyancy material 47 is accommodated in each of the buoyancy material accommodating parts 14 of the plurality of underwater ships 10 as necessary in consideration of the amount of explosives and the like. The disposer or the like stores the plurality of underwater vessels 10 containing the explosive 45 in the underwater vessel storage 53 of the mother ship 50. At this time, the disposer or the like connects the mother ship communication connector 18 of the underwater ship 10 and the underwater ship communication connector 58 of the mother ship 50. The disposer connects the computer and the external communication connector 59. Then, the computer is operated to associate the identification number of the single storage space 54 from this computer, and send the amount of explosives mounted on the underwater vessel 10 stored in the single storage space 54 to the controller 70 of the mother ship 50. This information is stored in the storage unit 78 of the controller 70. When the above-described work is completed, the disposer or the like releases the mother ship 50 to the mine laying sea area.

  The mother ship 50 investigates the mine M by the mine sensor 69 while navigating the sea. A signal from the mine sensor 69 is sent to the position information creation unit 73 and the emitter instruction unit 76 of the controller 70. When the presence of the mine M is recognized by the signal from the mine sensor 69, the position information creation unit 73 creates the position information of the mine M and stores the position information in the storage unit 78. The position information here is information on an absolute position indicating the position of the mine M with respect to the seabed. Further, when the presence of the mine M is recognized by the signal from the mine sensor (mine position sensor, mine type sensor) 69, the emitting machine instruction unit 76 identifies the type of the mine M from the shape of the mine M and the like. Subsequently, the discharge machine instruction unit 76 is a single unit in which the underwater ship 10 on which the explosive 45 of an appropriate amount is mounted to remove the identified type of mine M from the plurality of single storage spaces 54 is stored. The storage space 54 is sorted out.

  The third relative velocity calculator 74 of the controller 70 controls the first relative velocity of the mother ship 50 with respect to the seabed (water bottom) detected by the first velocity sensor 67 and the seawater (fluid) detected by the second velocity sensor 68. From the second relative velocity of the mother ship 50, a third relative velocity which is the relative velocity of the tidal current (fluid) to the seabed (bottom) is determined. The release timing calculation unit 75 obtains the release position of the underwater vessel 10 using the first relative velocity, the third relative velocity, and the position information. The release timing calculation unit 75 obtains the time to release the underwater vessel 10 from the release position. The release timing is the time at which the underwater boat 10 is released. The position information creation unit 73 sends the position information of the mine M to the underwater vessel 10 via the underwater vessel communication connector 58 of the mother ship 50 and the mother vessel communication connector 18 of the underwater vessel 10. The position information is stored in the storage unit 34 of the underwater vessel 10. The position information may be information on the absolute position of the mine M, or may be information on the relative position of the mine M to the release position of the underwater vessel 10.

  When the discharge machine instruction unit 76 of the controller 70 recognizes that the discharge timing of the specific underwater ship 10 among the plurality of underwater ships 10 has been reached, first, the underwater ship communication connector 58 of the mother ship 50 and the specific underwater ship 10 The connection with the mother ship communication connector 18 is released. Subsequently, the discharge machine instruction unit 76 drives the door drive machine 63 for the single storage space 54 in which the specific underwater vessel 10 is stored, opens the discharge door 62, and brings the specific underwater vessel 10 into the sea. discharge.

  The controller 70 of the mother ship 50 repeatedly executes the above process each time the mine sensor 69 recognizes the presence of the mine M after the mother ship 50 is released into the mine laying area. When the release of the underwater vessel 10 to all of the mines M detected by the mine sensor 69 is completed, the self-propelled control unit 77 of the mother ship 50 moves itself away from the danger area for all the mines M detected by the mine sensor 69. The traveling device 64 is controlled.

  When released from the mother ship 50, the navigation control unit 32 of the underwater vessel 10 controls the operation of the rudder driver 28 so that the underwater vessel 10 approaches the position indicated by the position information stored in the storage unit 34. As a result, the underwater vessel 10 gradually approaches the mine M indicated by the position information while sinking in the sea. Furthermore, when released from the mother ship 50, the cruise control unit 32 starts to receive a signal from the mine sensor 19.

  When the underwater ship 10 approaches the mine M indicated by the position information to a certain extent, the cruise control unit 32 can recognize the presence of the mine M from the signal from the mine sensor 19 of the underwater ship 10. When recognizing the presence of the mine M, the cruise control unit 32 drives the rudder driver 28 so as to approach the mine M. Specifically, the cruise control unit 32 determines the relative position of the mine M with respect to the underwater vessel 10, for example, using the signal from the mine sensor 19 input from time to time, and sequentially updates the relative position. The cruise control unit 32 drives the rudder driver 28 so as to approach the calculated relative position.

  When the underwater ship 10 approaches the mine M and the position fixer 40 of the underwater ship 10 contacts the mine M, the magnetic force of the position fixer 40 maintains the contact between the position fixer 40 and the mine M, and the water against the mine M The relative position of the ship 10 is substantially fixed. When the state where the relative position of the underwater vessel 10 to the mine M is substantially fixed continues for a predetermined time (for example, 5 seconds), the initiation control unit 33 causes the underwater vessel 10 to stop mine mine M by the underwater communication device 16. Sends a contact signal to the mother ship 50, indicating that it has touched.

  When the underwater communicator 56 of the mother ship 50 receives the contact signal, the initiation management unit 72 recognizes that the underwater ship 10 has touched the mine M. The explosion management unit 72 sends an explosion signal indicating that the explosive 45 is to be detonated from the underwater communication device 56 to the underwater vessel 10 when the predetermined explosion condition is satisfied. Here, the blasting condition is, for example, that the contact signal from the underwater ship 10 released into the sea is received, and the underwater ship 10 that has sent the contact signal and the mine M in contact with the underwater ship 10 explode Sometimes, the mother ship 50 is removed from the danger area where the mother ship 50 may be damaged. When a plurality of underwater vessels 10 are discharged into the sea, the blasting conditions are that the contact signals from all the underwater ships 10 released into the sea have been received, and all the underwater ships 10 that have sent the contact signals and When the mine M in contact with each underwater vessel 10 explodes, the mother ship 50 is removed from the danger area where the mother ship 50 may be damaged.

  When the underwater communicator 16 of the underwater vessel 10 receives the detonation signal from the mother ship 50, the underwater communicator (detonation indicator) 16 issues an explosion instruction to the detonation controller 33. When the explosion control unit 33 receives the explosion instruction, the explosion control unit 33 activates the detonation device 46 stored in the underwater vessel 10, and detonates the explosive 45 stored in the underwater vessel 10. In response to the explosion of the underwater vessel 10, the mine M contacting the underwater vessel 10 also explodes, and the mine M is disposed of. When a plurality of underwater vessels 10 are discharged into the sea, the underwater communication device 56 of the mother ship 50 simultaneously transmits an initiation signal to the plurality of underwater vessels 10. As a result, all the underwater ships 10 discharged into the sea and the mines M in contact with the respective underwater ships 10 explode substantially simultaneously.

  As described above, although the underwater ship 10 of the present embodiment is an underwater glider not having the propulsion device 65, since the position fixing device 40 is provided, when the position fixing device 40 contacts the mine M, water The mid-sized body 11 can maintain the distance between the mine M and the underwater body 11 without flowing into the tidal current. Therefore, the underwater vessel 10 of the present embodiment detonates the explosive 45 stored in the underwater vehicle 11 while maintaining the distance between the mine M and the underwater vehicle 11 at an appropriate distance. be able to. As described above, the underwater ship 10 of this embodiment can maintain the distance between the mine M and the underwater vehicle 11 at an appropriate distance without providing a propulsion device, so that the mine M disposal cost can be reduced. Can.

  Further, in the present embodiment, when the position fixing device 40 which is a magnet contacts the mine M, the relative posture of the underwater vehicle 11 with respect to the mine M is also maintained. Therefore, by setting the position fixing device 40 at an appropriate position with respect to the underwater vehicle 11, the underwater vehicle 11 is maintained in a state in which the direction in which the explosive is directed toward the mine M is maintained. The stored explosive 45 can be detonated.

  Although the position fixing device 40 of the present embodiment is a permanent magnet, an electromagnet may be used instead. In this case, a drive circuit of the electromagnet and a magnet control unit for controlling the operation of the drive circuit are required.

"2nd embodiment"
A mine processing system in a second embodiment will be described with reference to FIG.

  The mine processing system of the present embodiment also includes a mine processing underwater vessel and a mother ship, as in the mine processing system of the first embodiment. However, although the mother ship of this embodiment and the mother ship 50 of the first embodiment are the same, they are different from the mine processing underwater vessel of the present embodiment and the mine processing underwater vessel of the first embodiment. So, below, the underwater vessel for mine processing of this embodiment is mainly explained.

  As shown in FIG. 3, the underwater vessel for mine treatment 10a of this embodiment also has the underwater vehicle 11 and the position fixer, as in the underwater vessel for mine treatment 10 of the first embodiment, as shown in FIG. And 40a. The underwater vehicle 11 of the present embodiment and the underwater vehicle 11 of the first embodiment are basically the same. On the other hand, the position fixing device 40a of this embodiment and the position fixing device 40 of the first embodiment are different.

  The position fixing device 40 a of the present embodiment is a gripping machine that grips at least a part of the mine M. The control unit 31 of the controller 30 of the present embodiment has a gripping machine control unit 33a in order to control the operation of the gripping machine 40a.

  When the mine processing underwater vessel 10a approaches the mine M, the grasper control unit 33a uses a signal from the mine sensor 19, and a portion of the mine M that can be grasped by the grasper 40a is the grasper 40a. It is determined whether or not it has entered within the operation range of. If it is determined that the grippable part of the mine M has entered the operation range of the grip 40a, the grip control unit 33a operates the grip 40a to grip the grippable part of the mine M. As a result, the contact between the position fixing device 40a and the mine M is maintained, and the relative position of the underwater vehicle 11 to the mine M is substantially fixed. As in the first embodiment, the initiation control unit 33 continues the state in which the relative position of the underwater vehicle 11 to the mine M is substantially fixed for a predetermined time (for example, 5 seconds), the underwater communication device A contact signal is sent to the mother ship 50 by 16.

  When the mine processing underwater vessel 10a transmits a contact signal to the mother ship 50, the mine processing system of this embodiment operates in the same manner as the mine processing system of the first embodiment.

  The position fixing device 40 of the first embodiment is a magnet. For this reason, when at least the surface of the mine M is not formed of a ferromagnetic material, in the position fixing device 40 of the first embodiment, even if it is in contact with the mine M, the distance between the mine M and the underwater vehicle 11 Can not keep up. The position fixing device 40 a of the present embodiment is a gripping machine that grips at least a part of the mine M as described above. For this reason, in the position fixing device 40a of the present embodiment, even when the surface of the mine M is not formed of a ferromagnetic material, the grasping machine grips a part of the mine M, whereby the mine M and the underwater vehicle It is possible to maintain the distance between it and 11 and the relative posture of the underwater vehicle 11 with respect to the mine M.

  As described above, the initiation control unit 33 according to the present embodiment causes the underwater communicator 16 to stop mines when the state in which the relative position of the underwater vehicle 11 to the mines M is substantially fixed continues for a predetermined time. A contact signal indicating that the processing underwater vessel 10a is in contact with the mine M is transmitted to the mother ship 50. However, the initiation control unit 33 may transmit a contact signal to the mother ship 50 by the underwater communication device 16 when the holding operation by the holding device 40a is completed.

  The hull 12 of the mine processing underwater boat 10a of the present embodiment does not have a gripper housing portion for housing the gripper 40a. However, the hull 12 of the mine processing underwater vessel 10a may have a gripper storage unit for storing the gripper 40a.

"Third embodiment"
A mine processing system in a third embodiment will be described with reference to FIG.

  The mine processing system of the present embodiment also includes a mine processing underwater vessel and a mother ship, as in the mine processing system of the first embodiment. However, although the mother ship of the present embodiment and the mother ship of the first embodiment are the same, the underwater vessel for mine treatment of the present embodiment and the underwater vessel for mine treatment of the first embodiment are different. So, below, the underwater vessel for mine processing of this embodiment is mainly explained.

  As shown in FIG. 4, the underwater vessel for mine treatment 10b of this embodiment also includes an underwater vehicle 11b and a position fixing device 40b, similarly to the underwater vessel for mine treatment 10 of the first embodiment. The underwater vehicle 11b of the present embodiment and the underwater vehicle 11 of the first embodiment are basically the same. On the other hand, the position fixing device 40b of this embodiment and the position fixing device 40 of the first embodiment are different.

  The position fixing device 40 b of the present embodiment is a net that wraps the mine M. The net 40 b has a net body 41 and weights 42 attached to a plurality of locations on the periphery of the net body 41.

  The hull 12b of the mine disposal underwater vessel 10b has a net storage unit 37 for storing the net 40b, and a net discharger 38 for discharging the net 40b from the net storage 37. A part of the net 40 b is attached to a part of the net storage 37. The control unit 31 of the controller 30 of the present embodiment has a network discharger control unit 33 b to control the operation of the network discharger 38.

  When the mine processing underwater vessel 10b approaches the mine M, the net discharge machine control unit 33b uses a signal from the mine sensor 19 to enter the mine enclosure area where the mine 40 can be wrapped by the net 40b. To judge. If the net discharging machine control unit 33 b determines that the mine M has entered the mine enclosed area, it operates the net discharging machine 38 to release the net 40 b from the net storage portion 37. When the net 40 b is discharged from the net storage 37, the net 40 b wraps the mine M. As a result, the contact between the position fixing device 40b and the mine M is maintained, and the relative position of the underwater vehicle 11b to the mine M is substantially fixed. As in the first embodiment, the initiation control unit 33 continues the state in which the relative position of the underwater vehicle 11b to the mine M is substantially fixed for a predetermined time (for example, 5 seconds), the underwater communication device A contact signal is sent to the mother ship 50 by 16.

  When the mine processing underwater vessel 10b transmits a contact signal to the mother ship 50, the mine processing system of this embodiment operates in the same manner as the mine processing system of the first embodiment.

  The position fixing device 40 of the first embodiment is a magnet. For this reason, when at least the surface of the mine M is not formed of a ferromagnetic material, in the position fixing device 40 of the first embodiment, even if it is in contact with the mine M, the distance between the mine M and the underwater vehicle 11 Can not keep up. The position fixing device 40b of the present embodiment is a net that wraps the mine M as described above. For this reason, in the position fixing device 40b of the present embodiment, even when the surface of the mine M is not formed of ferromagnetic material, the mesh 40b wraps the mine M so that the space between the mine M and the underwater vehicle 11b is Can maintain the distance.

  As described above, the initiation control unit 33 according to the present embodiment causes the underwater communicator 16 to use the mine communicator 16 when the state in which the relative position of the underwater vehicle 11b to the mine M is substantially fixed continues for a predetermined time. A contact signal indicating that the processing underwater vessel 10 b contacts the mine M is transmitted to the mother ship 50. However, the initiation control unit 33 may transmit a contact signal to the mother ship 50 by the underwater communication device 16 when the network 40 b is released from the network storage unit 37.

"Various modifications"
Although the specific aspect of a position fixing device was illustrated in the above each embodiment, the specific aspect of a position fixing device is not limited to what was illustrated. That is, the position fixing device may be anything as long as it can maintain the distance between the mine M and the underwater vehicle in contact with the mine M, and may be, for example, a suction cup or the like.

  The detonation indicator in each of the above embodiments is the underwater communication device 16 of the underwater ship. However, the detonation indicator is not limited to the underwater communication device 16. The initiation indicator may be, for example, a timer 36, as shown in FIG. The timer 36 issues an explosion instruction to the initiation control unit 33 when a predetermined time has elapsed since the position fixing device is in contact with the mine M. Alternatively, the timer 36 issues an explosion instruction to the initiation control unit 33 when a predetermined time has elapsed since the underwater vessel was released into the mine laying area. In addition, when discharging | emitting a plurality of underwater ships to the sea, it is preferable to lengthen each above predetermined time.

  The bombing conditions in each of the above embodiments are that the contact signal from the underwater vessel released into the sea has been received, that the mother ship 50 has left the danger area, and so on. However, the underwater ship released into the sea does not necessarily come in contact with the mine M. Therefore, for example, when a plurality of underwater ships are discharged into the sea and the touch signal is not transmitted from one unit to the mother ship 50, all the remaining all of the remaining underwater ships even if the touch signals are transmitted to the mother ship 50. You can not blow up the mine M with an underwater ship. Therefore, as the blasting condition, it may be set as a condition that a predetermined time has elapsed after releasing the underwater vessel into the sea, and that the mother ship 50 has left the danger zone. In this case, the predetermined time is a time that is considered to be a sufficient time to reach the mine M after releasing the underwater vessel into the sea. In addition, when a plurality of underwater vessels are discharged into the sea, the explosion condition is that a predetermined time has elapsed from the time of discharge and that the mother ship 50 has left the danger zone for all of the plurality of underwater ships.

  The position fixing devices of the plurality of underwater ships mounted on the mother ship 50 in each of the above embodiments are one type. However, in order to cope with various mines M, the anchors of the plurality of underwater ships may be different from each other. In this case, when the discharge machine instruction unit 76 of the mother ship 50 identifies the type of the mine M based on the signal from the mine sensor 69, an appropriate amount of explosive 45 is mounted to remove the identified mine M. The single storage space 54 in which the underwater vessel equipped with the position fixing device suitable for the contact of the mine M is stored is sorted out.

  The mother ship 50 of each of the above embodiments is an unmanned ship. However, the mother ship 50 may be a manned ship. In this case, for example, a passenger of the mother ship 50 may use the underwater communication device 56 to issue an explosion instruction to the underwater ship. Also, the mother ship 50 does not have to be a ship, and may be, for example, an airplane. In this case, as the underwater communication device 56, it is preferable that an airplane be provided with a communication buoy or the like.

10, 10a, 10b: underwater vessel for mine treatment 11, 11b: underwater vehicle 12, 12b: hull 13: explosive storage portion 14: buoyancy material storage portion 15: storage door 16: underwater communication device (initiation indicator)
17: stored communication 18: mother ship communication connector 18a: connector door 19: mine sensor 26: rudder 26a: first rudder 26b: second rudder 27a: first shaft 27b: second shaft 28: rudder drive 30: control 31: control unit 32: navigation control unit 33: initiation control unit 33a: grasping machine control unit 33b: network discharge unit control unit 34: storage unit 35: power supply circuit 36: timer (initiation indicator)
37: net storage 38: net discharge machine 40: position fixing device (magnet)
40a: Position fixing device (gripping machine)
40b: Position fixing device (network)
41: Net body 42: Weight 45: Explosive 46: Detonator 47: Buoyant material 50: Mother ship 52: Hull 53: Submersible container storage 54: Single storage space 56: Submersible communication device 57: Storage communication device 58: Submersible ship Communication connector 59: External communication connector 61: Ejector 62: Ejector door 63: Door driver 64: Self-propelled device 65: Propulsion device 66: Direction changer 67: First speed sensor 68: Second speed sensor 69: Mine sensor (Mine location sensor, mine classification sensor)
70: controller 71: control unit 72: initiation control unit 73: position information creation unit 74: third relative speed calculation unit 75: release timing calculation unit 76: release machine instruction unit 77: self-propelled control unit 78: storage unit M :mine

Claims (15)

An underwater vehicle capable of traveling underwater,
A position fixer provided on the underwater vehicle for maintaining a distance between the mine and the underwater vehicle in contact with a mine;
Equipped with
The underwater vehicle has an explosive storage unit for storing an explosive and a detonator for detonating the explosive.
Underwater vessel for mine processing. In the underwater mine handling vessel according to claim 1,
The position fixer is configured to maintain the relative attitude of the underwater vehicle with respect to the mine.
Underwater vessel for mine processing. In the mine processing underwater vessel according to claim 1 or 2,
The position fixer is a magnet,
Underwater vessel for mine processing. In the mine processing underwater vessel according to claim 1 or 2,
The position fixer is a gripper that grips at least a portion of the mine.
Underwater vessel for mine processing. In the underwater mine handling vessel according to claim 1,
The position fixer is a net,
Underwater vessel for mine processing. In the mine processing underwater vessel according to any one of claims 1 to 5,
The underwater vehicle is
A detonation indicator for giving an explosion instruction to detonate the explosive stored in the explosive storage unit;
An initiation control unit for activating the initiation device of the explosive when the initiation indicator issues the indication for explosion;
Have
Underwater vessel for mine processing. In the mine processing underwater vessel according to claim 6,
The underwater vehicle includes an underwater communicator capable of communicating with the outside in the water;
The underwater communication device is the detonation indicator that issues the explosion instruction to the detonation control unit when an instruction to detonate the explosive stored in the explosive storage unit is received from the outside.
Underwater vessel for mine processing. In the mine processing underwater vessel according to claim 6,
The detonation indicator may be configured as a predetermined time after the position fixer contacts the mine, or as a predetermined time after the underwater vehicle is released into the mine laying water area. A timer for issuing the explosion instruction to the initiation control unit;
Underwater vessel for mine processing. The mine processing underwater vessel according to any one of claims 1 to 8,
The underwater vehicle is
Mine sensors that detect mines,
A rudder for changing the traveling direction of the underwater vehicle;
A rudder drive that changes the direction of the rudder;
A cruise control unit that controls the operation of the rudder driver so as to approach the mine detected by the mine sensor;
Have
Underwater vessel for mine processing. In the mine processing underwater vessel according to claim 9,
It has a storage unit in which location information of the mine is stored,
The cruise control unit controls the operation of the rudder driver to approach the position indicated by the position information stored in the storage unit until the mine sensor detects the mine by the mine sensor, and the mine sensor Controlling the operation of the rudder driver to approach the mine detected by the mine sensor when the mine is detected at the
Underwater vessel for mine processing. An underwater vessel for mine processing according to claim 7;
A mother ship having an underwater vessel storage unit capable of storing the mine processing underwater vessel;
Equipped with
The mother ship has an underwater communicator capable of communicating with the underwater communicator of the mine disposal underwater vessel,
The underwater communicator of the mine processing underwater vessel receives an instruction to detonate the explosive stored in the explosive storage unit from the underwater communicator of the mother ship.
Mine handling system. An underwater vessel for mine processing according to claim 10,
A mother ship having an underwater vessel storage unit capable of storing the mine processing underwater vessel;
Equipped with
The mine processing underwater vessel has a storage communication device capable of communicating with the mother ship while being stored in the underwater vessel storage unit,
The mother ship is
A storage unit in which the position information of the mine is stored;
A storage communication device for sending the position information stored in the storage unit of the mother ship to the storage communication device of the mine processing underwater vessel stored in the underwater vessel storage unit;
Have
When the storage communication device of the mine processing underwater vessel receives the position information from the storage communication device of the mother ship, the storage communication unit stores the position information in the storage unit of the mine processing underwater vessel.
Mine handling system. In the mine disposal system according to claim 12,
The mother ship is
A mine position sensor for detecting the position of the mine;
A position information creation unit that creates the position information using information on the mine detected by the mine position sensor, and stores the position information in the storage unit of the mother ship;
Have
Mine handling system. In the mine disposal system according to claim 12 or 13,
The mother ship is
A first velocity sensor that detects a first relative velocity that is a relative velocity of the mother ship to the bottom of the water;
A second velocity sensor that detects a second relative velocity that is a relative velocity of the mother ship to the fluid in which the mine is present;
A discharger capable of releasing the mine processing underwater vessel from the underwater vessel storage unit into the water;
A third relative velocity calculating unit for obtaining a third relative velocity, which is a relative velocity of the fluid with respect to the water bottom, from the first relative velocity and the second relative velocity;
A release timing calculation unit for determining a release timing for releasing the mine processing underwater vessel from the underwater vessel storage unit into the water from the first relative velocity, the third relative velocity, and the position information;
A discharger instruction unit configured to drive the discharger at the discharge timing, and discharge the underwater ship for mine treatment from the underwater ship storage unit by the discharger into water;
Have
Mine handling system. An underwater vessel for mine treatment according to any one of claims 1 to 10,
A mother ship having an underwater vessel storage unit capable of storing a plurality of the mine processing underwater vessels;
Equipped with
The mother ship is
A mine type sensor for detecting the type of the mine;
A discharger capable of selectively releasing the plurality of mine processing underwater vessels stored in the underwater vessel storage unit into water;
An underwater vessel for mine processing corresponding to the type of the mine among the plurality of the mine processing underwater vessels stored in the underwater vessel storage unit according to the type of the mine detected by the mine type sensor A discharger instruction unit that discharges from the underwater ship storage unit into the water by the discharger;
Have
Mine handling system.

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