JP5249974B2 - Mine treatment equipment - Google Patents

Description

  The present invention relates to a mine treatment apparatus for blasting a mine laid on the seabed or a mine buried under the seabed.

  For example, the one disclosed in Patent Document 1 is known as a method for blasting a mine laid on the seabed or a mine buried under the seabed.

JP 2001-287694 A

However, in the invention disclosed in Patent Document 1, it is necessary to pre-arrange the acoustic marker 8 with high accuracy directly above the mine 2 buried under the sea floor using the mine detection vehicle 5. There was a problem with its installation accuracy.
In addition, the above-mentioned patent document 1 describes that “the mine disposal vehicle 6 may be reusable by using a normal detonation instead of the molded warhead 66”. However, in recent years, in order to improve the safety in handling glaze, LOVA (low weakening) of glaze has been promoted all over the world. For this reason, the method of dropping a normal mine to the vicinity of the mine has a problem that the amount of glaze is insufficient and the mine can be disabled, but it is difficult to dispose of the mine with an explosion of the mine itself. . In addition, for mines buried under the seabed, it is difficult to align them for the installation of bombs due to obstacles in the seabed, and a large amount of explosives is required, making it difficult to mount them on a mine disposal vehicle. There was a point.

  Further, in the invention disclosed in Patent Document 1, the attitude of the mine disposal vehicle 6 is controlled so that the blasting reference direction of the molded warhead 66 (the direction of delivery of the metal jet 66d) faces the acoustic marker 8. Must. Therefore, when the flow of the tide is fast, the mine disposal vehicle 6 is washed away by the tide, and it is difficult to control the attitude of the mine disposal vehicle 6 and the blast treatment work should proceed smoothly. It may not be possible.

  The present invention has been made in view of the above circumstances, and provides a mine disposal apparatus to which disposal costs are reduced, work efficiency is improved, reliability and safety are improved, and a disposal function for mines buried under the seabed is added. For the purpose.

The present invention employs the following means in order to solve the above problems.
A mine treatment device according to the present invention is a mine treatment device for blasting a mine laid on the seabed or a mine buried under the seabed, and a main body suspended from an underwater vehicle via a suspension cable; A molded glaze that generates a high-speed metal jet, and a detonator for the molded glaze, each having a leg portion detachably attached to the lower side of the main body via a leg separation mechanism attached to the lower surface of the main body. Ignition control device for igniting, a TV camera for identifying a mine laid on the seabed, a sonar for aiming at the mine including a mine buried under the seabed, and these molded glazes, ignition control device, television A pan mechanism for panning the entire part composed of a camera and an aiming sonar with respect to the leg, and a tilt mechanism for tilting the molding glaze with respect to the leg. It is attached to the leg. Here, the generation of the high-speed metal jet is caused by the Neumann effect.

  A mine treatment method according to the present invention is a mine treatment method for blasting a mine laid on the seabed or a mine buried under the seabed, a main body suspended from an underwater vehicle via a suspension cable; A molding glaze that generates a high-speed metal jet due to the Neumann effect, and a leg portion that is detachably attached to the lower portion of the main body via a leg separation mechanism that is attached to the lower surface of the main body. Ignition control device that ignites detonators, TV camera for identifying mines laid on the seabed, and sonar for aiming at the mine including mines buried under the seabed, and these molded glazes and ignition control A pan mechanism for panning the entire part composed of a device, a TV camera and an aiming sonar with respect to the leg, and tilting the molding glaze with respect to the leg A mine treatment device installed in the vicinity of the mine, grasping the mine with the aiming sonar, grasping the attitude of the mine, and the pan mechanism and the tilt mechanism. The mechanism is used to adjust the direction of the molding glaze, the leg separation mechanism is operated, and the underwater vehicle and the main body are separated from the place to a safe place. Activate and decommission the mine.

According to the mine disposal apparatus according to the present invention or the mine disposal method according to the present invention, when expelling a mine, a very expensive underwater vehicle will be recovered without being damaged. Can be greatly reduced.
In addition, according to the mine disposal apparatus according to the present invention or the mine disposal method according to the present invention, the mine is blown up by a high-speed metal jet generated from a shaped glaze installed and fixed on the sea floor near the mine. Even when the flow of the tide is fast, the direction of the formed glaze (the direction of delivery of the high-speed metal jet) can be adjusted easily and quickly, and the working efficiency can be improved.

  In the mine treatment apparatus, the sonar axis of the aiming sonar and the glaze axis of the molded glaze are located on the same straight line, and the direction of the sound wave output from the aiming sonar and the molded glaze are sent out from the molded glaze More preferably, the aiming sonar and the molding glaze are arranged so that the direction of the high-speed metal jet is in the same direction.

According to such a mine treatment device, the entire portion composed of the molded glaze, the ignition control device, the TV camera, and the aiming sonar is panned and tilted with respect to the leg, and the echo intensity by the aiming sonar By simply setting it in the direction where it becomes the highest, the firing angle is automatically set within a predetermined range (for example, within 10 degrees), so the mine is captured by the aiming sonar. It is no longer necessary to adjust the firing angle after grasping the attitude (buried state), and the mine can be explosively disposed of more quickly.
Here, the “shooting angle” is an angle formed by the direction in which the high-speed metal jet is sent from the molding glaze (the central axis of the high-speed metal jet mainstream) and the mine normal.

  In the mine treatment apparatus, the aiming is performed so that the relative relationship between the direction of the sound wave output from the aiming sonar and the direction of the high-speed metal jet delivered from the shaped glaze has a preset relationship. More preferably, a sonar and the shaped glaze are arranged.

According to such a mine treatment device, the entire portion composed of the molded glaze, the ignition control device, the TV camera, and the aiming sonar is panned and tilted with respect to the leg, and the echo intensity by the aiming sonar The direction in which the highest is detected is stored in the controller, for example, and then the molding glaze and the ignition control device are arranged so that the direction of the high-speed metal jet delivered from the molding glaze faces that direction. By simply panning and tilting the entire part composed of the TV camera and the aiming sonar, the firing angle is automatically (within 10 degrees) automatically (within 10 degrees). It can be set and the mine can be explosively disposed of reliably.
In addition, the sonar axis of the aiming sonar and the glaze axis of the molded glaze are positioned on the same straight line, and the direction of the sound wave output from the aiming sonar and the direction of the high-speed metal jet sent from the molded glaze are the same. Since the restriction of turning in the direction will be relaxed, the degree of freedom in the arrangement (layout) of the molding glaze, ignition control device, TV camera, aiming sonar, etc. can be increased, and miniaturization of the mine treatment equipment can be reduced. Can be planned.
Here, the “shooting angle” is an angle formed by the direction in which the high-speed metal jet is sent from the molding glaze (the central axis of the high-speed metal jet mainstream) and the mine normal.

  In the mine treatment apparatus, it is more preferable that the aiming sonar includes a low-frequency sonar that transmits a low-frequency sound wave and a high-frequency sonar that transmits a high-frequency sound wave.

  According to such a mine treatment device, after understanding the general relative position and attitude of the mine buried under the seabed using a low frequency sonar, more details of the mine buried under the seabed using a high frequency sonar. Therefore, the time required to grasp the relative position and posture of the mine can be shortened, and the working efficiency can be further improved.

  In the mine treatment apparatus, it is more preferable that the main body includes a position correction mechanism such as a thruster and a crawler.

  According to such a mine treatment apparatus, it becomes possible to dispose of a LOVA mine and a mine buried under the seabed, so that a significant improvement in the disposal function can be expected.

  An underwater vehicle according to the present invention includes any one of the above mine treatment devices and a hoisting / lowering device for hoisting / lowering the suspension cable.

  In the mine disposal method, the aiming sonar includes a low-frequency sonar that transmits a low-frequency sound wave, and a high-frequency sonar that transmits a high-frequency sound wave. More preferably, after grasping the approximate relative position and attitude of the buried mine, it is possible to grasp the more detailed relative position and attitude of the mine buried under the seabed using the high frequency sonar. is there.

  According to such a mine disposal method, after understanding the general relative position and attitude of a mine buried under the seabed using a low-frequency sonar, more details of the mine buried under the seabed using a high-frequency sonar. Therefore, the time required to grasp the relative position and posture of the mine can be shortened, and the working efficiency can be further improved.

  According to the mine treatment apparatus according to the present invention, there are effects that a disposal cost can be reduced, work efficiency can be improved, certainty and safety can be improved, and a mine disposal function buried under the seabed can be added.

1 is a perspective view of a mine treatment device according to an embodiment of the present invention. 1 is a perspective view of a mine treatment device according to an embodiment of the present invention. 1 is a perspective view of a mine treatment device according to an embodiment of the present invention. 1 is a perspective view of a mine treatment device according to an embodiment of the present invention. It is a perspective view of the mine processing apparatus which concerns on one Embodiment of this invention, Comprising: It is a figure which shows the state which isolate | separated the main body and the leg part. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention, Comprising: (a) is the figure which looked at the underwater vehicle from the right side, (b) looked at the underwater vehicle from the upper side. FIG. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on one Embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on other embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on other embodiment of this invention. (A) is a figure for demonstrating the mine disposal method which concerns on another embodiment of this invention, (b) is a figure for demonstrating the mine disposal method which concerns on another embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on another embodiment of this invention. It is a figure for demonstrating the mine disposal method which concerns on another embodiment of this invention.

Hereinafter, an embodiment of a mine treatment apparatus according to the present invention will be described with reference to FIGS. 1 to 5 and FIG. 9.
The mine treatment device 1 is a device for blasting a mine laid on the seabed or a mine buried under the seabed. As shown in any of FIGS. 1 to 5 and 9, the main body 2 and the leg 3 The underwater light 4, the tilt / pan drive control unit 5, the molding glaze 6, the aiming sonar 7, the ignition control device 8, the sonar control device 9, the TV camera 10, and the aiming sonar preamplifier 11. And.

  The main body 2 is configured to be suspended from the underwater vehicle 22 via a suspension cable 21 attached to the upper surface (top surface) thereof and to be conveyed by the underwater vehicle 22. The suspension cable 21 includes a wire (not shown) for suspending the main body 2 and the underwater vehicle 22, the underwater light 4, the tilt / pan drive control unit 5, the aiming sonar 7, the ignition control device 8, and the sonar control. A power cable (not shown) for supplying power (electric power) to the device 9, the TV camera 10, the aiming sonar preamplifier 11, and the like, and the underwater vehicle 22, the tilt / pan drive control unit 5, the ignition control device 8 And a signal cable (not shown) for transmitting a command signal to the sonar control device 9 or the like, or transmitting an image signal or the like captured by the television camera 10 to the underwater vehicle 22. The suspension cable 21 is wound around a hoisting / lowering device (winch) 23 mounted on the underwater vehicle 22, and can be hoisted / lowered as necessary.

On the lower surface (bottom surface) of the main body 2, a leg separation mechanism 31 for attaching and detaching the leg 3 is provided. The leg separation mechanism 31 operates based on a command signal issued from the underwater vehicle 22 so that the leg 3 suspended from the lower surface of the main body 2 is separated from the main body 2 ( (See FIG. 5).
The leg portion 3 includes three legs 32 and three connecting members 33 that connect the three legs 32. The leg 32 is provided with a disc-like member extending in the horizontal direction at the tip (lower end) of a hollow rod-like member extending in the vertical direction, and the connecting member 33 is a hollow rod-like member having an annular shape in plan view. is there. The underwater light 4, tilt / pan drive control unit 5, molding glaze 6, aiming sonar 7, ignition control device 8, sonar control device 9, TV camera 10, aiming are provided inside the legs 32 and the connecting member 33. The sonar preamplifier 11 and the like are housed, and the underwater light 4, the tilt / pan drive control unit 5, the molding glaze 6, the aiming sonar 7, the ignition control device 8, the sonar control device 9, the TV camera 10, and the aiming The sonar preamplifier 11 and the like are guarded (protected) by the legs 32 and the connecting member 33.

  In this embodiment, the underwater light 4 accommodated inside the leg 3, the tilt / pan drive controller 5, the molding glaze 6, the aiming sonar 7, the ignition controller 8, the sonar controller 9, and the television camera 10, the entire part constituted by the aiming sonar preamplifier 11 and the like is moved from the tilt / pan drive control unit 5 to a pan mechanism (not shown) that operates based on a command signal. As shown in the figure, the leg 3 is configured to be able to perform a pan operation, and the molding glaze 6 and the aiming sonar 7 are transmitted to the command signal output from the tilt / pan drive control unit 5. As shown in FIGS. 1 and 4, a tilt mechanism (not shown) that operates based on the tilting mechanism can be tilted with respect to the leg 3 and other components.

Next, a procedure for blasting the mine 42 buried under the seabed 41 using the mine treatment device 1 configured as described above will be described with reference to FIGS.
First, as shown in FIG. 6, the underwater vehicle 22 mounted (accommodated) on the ship 44 from the deck 45 of the ship (for example, a minesweeper) 44 that has reached the minesweeping region 43, the crane 46, etc. It is used and lowered into the sea so that the underwater vehicle 22 can be maneuvered (operated) from above the ship 44.
Next, as shown in FIGS. 7A and 7B, a parametric sonar (mine-specific sonar) 47 and an image processing device (not shown) mounted on the bow of the underwater vehicle 22 are provided. The underwater vehicle 22 is set from the downstream side to the upstream side of the tidal current while monitoring the information sent from the parametric sonar 47 and the image identification device in real time. Proceeds against the flow). At this time, attention is paid to the altitude of the underwater vehicle 22 so that the altitude (height from the seabed 41) H of the underwater vehicle 22 does not become lower than the sensitive distance (for example, 5 m) of the mine 42.
In addition, the dashed-two dotted line shown to Fig.7 (a) and the broken line shown to FIG.7 (b) have shown the search range of the parametric sonar 47 which concerns on this embodiment, and the code | symbol L1 shown to FIG.7 (b) is distance Resolution (5 cm), symbol L2 indicates azimuth resolution (5 cm).

As shown in FIG. 7A and FIG. 7B, when the parametric sonar 47 catches the mine 42, the underwater vehicle 22 appears to be directly above (just above) the mine 42 as shown in FIG. In other words, the underwater vehicle 22 is operated so as to receive the reflected sound indicated by the solid arc in FIG. At this time, the parametric sonar 47 and the image processing device face the mine 42, that is, directly below.
A broken line shown in FIG. 8 indicates a received beam formed by a hydrophone (not shown) installed in the longitudinal direction (the bow-stern direction) of the underwater vehicle 22.

Then, as shown in FIG. 9, with the underwater vehicle 22 hovering directly above the mine 42, the hoisting / lowering device 23 mounted on the underwater vehicle 22 is operated, and the mine treatment is performed. The apparatus 1 is suspended, and the mine treatment apparatus 1 is installed on the seabed 41 directly above the mine 42.
When the mine treatment apparatus 1 is installed on the seabed 41, as shown in FIG. 10, a part composed of the underwater light 4, the tilt / pan drive control unit 5, the aiming sonar 7, the sonar control apparatus 9, the TV camera 10, and the like. Operate the whole, catch the mine 42 with the aiming sonar 7, grasp the mine 42's posture (buried state), and the direction in which the directional molded glaze 6 can surely explode the mine 42. In other words, the angle formed by the normal direction of the mine 42 and the normal direction of the mine 42 (hereinafter referred to as the “shooting angle”) is the direction of the high-speed metal jet delivered from the molding glaze 6 (the central axis of the high-speed metal jet mainstream). The direction of the molding glaze 6 is adjusted so that it is within a predetermined range (for example, within 10 degrees).

When the adjustment of the orientation of the molded glaze 6 is completed and the orientation of the molded glaze 6 is set, the leg separation mechanism 31 is activated, and as shown in FIG. The underwater light 4, tilt / pan drive control unit 5, molding glaze 6, aiming sonar 7, ignition control device 8, sonar control device 9, TV camera 10, aiming sonar preamplifier 11 and the like remain on the seabed 41, The underwater vehicle 22 is removed from the place.
When the underwater vehicle 22 comes to a safe place (for example, around the ship 44) where there is no problem even if the mine 42 is blasted, or when the underwater vehicle 22 is lifted onto the deck 45 of the ship 44 As shown in FIG. 12, an acoustic command (ignition command) is output (sent) from the ship 44 to the ignition control device 8. As a result, a detonation device (not shown) of the molded glaze 6 left on the seabed 41 is ignited, and a high-speed metal jet is generated from the molded glaze 6 due to the Neumann effect. The mine 42 is explosively disposed by invading the outer shell of the mine 42.

According to the mine treatment apparatus 1 according to the present embodiment or the mine treatment method according to the present invention, when the mine 42 is blown up, the very expensive underwater vehicle 22 is recovered intact. Disposal costs can be greatly reduced than before.
Moreover, according to the mine disposal apparatus 1 according to the present invention or the mine disposal method according to the present invention, the mine 42 is blown up by the high-speed metal jet generated from the shaped glaze 6 installed on the sea floor 41 near the mine 42. Therefore, even when the flow of the tide is fast, the direction of the molding glaze 6 (the direction in which the high-speed metal jet is sent out) can be adjusted easily and quickly, and the working efficiency can be improved.
Furthermore, according to the mine disposal device 1 according to the present invention or the mine disposal method according to the present invention, the molded glaze 6 and the ship 44 that issues an ignition command to the ignition control device 8 that ignites the detonator of the molded glaze 6 are provided. Since the state is completely separated, the ship 44 can be retreated to a safe place, and the safety of the worker (crew) can be improved.

  On the other hand, the underwater vehicle 22 according to the present embodiment includes the above-described mine treatment device 1 and the hoisting / lowering device 23 that winds and unwinds the suspension cable 21. Since part or all of the device 1 can be accommodated in the hull, or the top of the mine treatment device 1 can be arranged so as to contact the bottom of the hull, resistance during underwater navigation can be reduced. As a result, the speed and cruising distance of the underwater vehicle 22 can be increased, and the work efficiency can be further improved.

It should be noted that the present invention is not limited to the above-described embodiments, and modifications and changes can be appropriately made as necessary without departing from the technical idea of the present invention.
For example, in the above-described embodiment, the sonar shaft of the aiming sonar 7 (the central axis of the sound wave output from the aiming sonar 7: see FIG. 15) and the glaze shaft of the molded glaze 6 (the high speed delivered from the molded glaze 6) The central axis of the main stream of the metal jet (see FIG. 15) is positioned on the same straight line, and the direction of the sound wave output from the aiming sonar 7 (see the solid line arrow shown in FIG. 15) and the molded glaze 6 are sent out. More preferably, the aiming sonar 7 and the shaped glaze 6 are arranged so that the direction of the high-speed metal jet (see the solid line arrow shown in FIG. 15) is the same.
Accordingly, as shown in FIGS. 13 and 14, the underwater light 4 housed inside the leg 3, the tilt / pan drive controller 5, the molded glaze 6, the aiming sonar 7, the ignition control device 8, and the sonar control The entire portion composed of the apparatus 9, the TV camera 10, the aiming sonar preamplifier 11 and the like is panned and tilted so that the echo intensity by the aiming sonar 7 becomes highest (that is, by the aiming sonar 7). By simply setting the echo range (the direction from when a sound wave is transmitted to when the reflected echo is received, that is, the distance to the mine 42) to the shortest, the firing angle is automatically (by itself) within a predetermined range. Since it is set within (for example, within 10 degrees), the horn 42 is captured by the aiming sonar 7, and the strike angle is obtained after grasping the attitude (buried state) of the mine 42. There is no need to be adjusted, it is possible that the mine 42 to more quickly explosion disposal.

Further, the sonar axis of the aiming sonar 7 and the glaze axis of the molded glaze 6 are located on the same straight line, and the direction of the sound wave output from the aiming sonar 7 and the high-speed metal jet delivered from the molded glaze 6 If the aiming sonar 7 and the molding glaze 6 cannot be arranged so that the direction is the same direction, for example, as shown in FIG. The glaze axis of the glaze 6 is located on the same straight line so that the direction of the sound wave output from the aiming sonar 7 and the direction of the high-speed metal jet delivered from the molded glaze 6 are opposite to each other by 180 degrees. The aiming sonar 7 and the molding glaze 6 are arranged, or as shown in FIG. 15B, the sonar axis of the aiming sonar 7 and the glaze axis of the molding glaze 6 are orthogonal to each other and output from the aiming sonar 7 Is And wave direction, so that the orientation of the fast metal jets sent from the forming explosive charge 6 are orthogonal, it may be arranged aiming sonar 7 and molded explosive charge 6.
That is, the aiming sonar 7 and the molded glaze are set so that the relative relationship between the direction of the sound wave output from the aiming sonar 7 and the direction of the high-speed metal jet delivered from the shaped glaze 6 has a preset relationship. 6 may be arranged.
Accordingly, as shown in FIGS. 13 and 14, the underwater light 4 housed inside the leg 3, the tilt / pan drive controller 5, the molded glaze 6, the aiming sonar 7, the ignition control device 8, and the sonar control The entire portion composed of the apparatus 9, the TV camera 10, the aiming sonar preamplifier 11 and the like is panned and tilted so that the echo intensity by the aiming sonar 7 becomes highest (that is, by the aiming sonar 7). The direction in which the echo range is the shortest) is found, and the direction is stored in a controller (not shown), for example, and then the direction of the high-speed metal jet delivered from the shaped glaze 6 is directed to that direction. Underwater light 4 housed inside the leg 3, tilt / pan drive control unit 5, molding glaze 6, aiming sonar 7, ignition control device 8, sonar control By simply panning and tilting the entire part composed of the device 9, the TV camera 10, the aiming sonar preamplifier 11, etc., the shooting angle is automatically within a predetermined range (for example, within 10 degrees). ) And the mine 42 can be surely exploded.
Further, the sonar axis of the aiming sonar 7 and the glaze axis of the shaped glaze 6 are positioned on the same straight line, and the direction of the sound wave output from the aiming sonar 7 and the high-speed metal jet delivered from the shaped glaze 6 Since the restriction of directing the direction in the same direction is eased, the underwater light 4 accommodated inside the leg 3, the tilt / pan drive controller 5, the molded glaze 6, the aiming sonar 7, the ignition control The degree of freedom of arrangement (layout) of the device 8, the sonar control device 9, the TV camera 10, the aiming sonar preamplifier 11 and the like can be increased, and the mine treatment device 1 can be miniaturized.

Further, as shown in FIG. 16, the aiming sonar 7 includes a low frequency sonar 7 a that transmits a low-frequency (for example, 50 KHz) sound wave, and a high-frequency sonar 7 b that transmits a high-frequency (for example, 100 KHz to 200 KHz) sound wave. It is more preferable to have The low frequency sonar 7a has a beam width wider than that of the high frequency sonar 7b, and the transmitted sound wave is less likely to attenuate than the sound wave transmitted from the high frequency sonar 7b. Therefore, for example, when the high frequency sonar 7b is buried deeply under the seabed 41 and the echo intensity obtained is too small to grasp the relative position and posture of the mine 42, or the mine 42 buried under the seabed 41 It is preferable to use (utilize) the low frequency sonar 7a when it is desired to grasp the approximate relative position and posture.
Thereby, after grasping the general relative position and posture of the mine 42 buried under the seabed 41 using the low frequency sonar 7a, a more detailed description of the mine 42 buried under the seabed 41 using the high frequency sonar 7b. Since the relative position and posture are grasped, the time required to grasp the relative position and posture of the mine 42 can be shortened, and the working efficiency can be further improved.
Since the beam width is proportional to (wavelength λ / diameter d of the vibrator), the wavelength λ may be selected in consideration of this.

Furthermore, in the above-described embodiment, it is more preferable that the main body 2 includes a position correction mechanism such as a thruster and a crawler.
Thereby, even when the flow of the tide is fast, the mine treatment device 1 can be easily and quickly installed at a desired position, and the working efficiency can be further improved.

Furthermore, in the above-described embodiment, components other than the main body 2, that is, the leg 3, the underwater light 4, the tilt / pan drive control unit 5, the molding glaze 6, the aiming sonar 7, the ignition control device 8, and the sonar control Although the apparatus 9, the TV camera 10, the aiming sonar preamplifier 11, etc. remain on the seabed 41, the present invention is not limited to this, and at least the molding glaze 6, the ignition control device 8, the aiming sonar 7. Only the pan mechanism and the tilt mechanism are left on the seabed 41, and the underwater light 4, the tilt / pan drive control unit 5, the sonar control device 9, the TV camera 10, the aiming sonar preamplifier 11 and the like can be collected together with the main body 2. It can also be configured as follows.
Thereby, the disposal cost can be further reduced.

  Furthermore, in the above-described embodiment, the method of blasting the mine 42 buried under the seabed 41 has been described. However, the present invention is not limited to such a method, and as shown in FIG. The present invention is also applicable to a case where a mine (for example, a manta-type mine) 51 laid on 41 is blown up.

DESCRIPTION OF SYMBOLS 1 Mine treatment apparatus 2 Main body 3 Leg part 6 Molding glaze 7 Aiming sonar 7a Low frequency sonar 7b High frequency sonar 8 Ignition control device 21 Suspension cable 22 Underwater vehicle 23 Lifting / unwinding device 31 Leg separation mechanism 41 Submarine 42 Mine 51 Mine

Claims (8)

A mine treatment device for blasting mines laid on the seabed or buried under the seabed,
A main body suspended from the underwater vehicle via a suspension cable, and a leg portion detachably attached to the lower side of the main body via a leg separation mechanism attached to the lower surface of the main body;
Consists of a molded glaze that generates a high-speed metal jet, an ignition control device that ignites the detonator of the molded glaze, an aiming sonar that detects the mine, and these shaped glaze, ignition control device, and aiming sonar A mine treatment apparatus, wherein a pan mechanism for panning the entire part with respect to the leg portion and a tilt mechanism for tilting the molded glaze with respect to the leg portion are attached to the leg portion.   The sonar axis of the aiming sonar and the glaze axis of the molded glaze are located on the same straight line, the direction of the sound wave output from the aiming sonar, and the direction of the high-speed metal jet delivered from the molded glaze The mine treatment apparatus according to claim 1, wherein the aiming sonar and the molded glaze are arranged so that they face in the same direction.   The aiming sonar and the molded glaze are such that the relative relationship between the direction of the sound wave output from the aiming sonar and the direction of the high-speed metal jet delivered from the shaped glaze has a preset relationship. The mine disposal device according to claim 1, wherein the mine disposal device is arranged.   4. The mine treatment apparatus according to claim 1, wherein the aiming sonar includes a low-frequency sonar that transmits a low-frequency sound wave and a high-frequency sonar that transmits a high-frequency sound wave. 5. .   The mine treatment apparatus according to any one of claims 1 to 4, wherein the main body includes a position correction mechanism such as a thruster and a crawler.   An underwater vehicle comprising the mine treatment device according to any one of claims 1 to 5 and a hoisting and lowering device for winding and unwinding the suspension cable. A mine treatment method for blasting a mine laid on the seabed or buried under the seabed,
A main body suspended from the underwater vehicle via a suspension cable, and a leg portion detachably attached to the lower side of the main body via a leg separation mechanism attached to the lower surface of the main body;
Consists of a molded glaze that generates a high-speed metal jet, an ignition control device that ignites the detonator of the molded glaze, an aiming sonar that detects the mine, and these shaped glaze, ignition control device, and aiming sonar A panning mechanism for panning the entire part with respect to the leg and a tilting mechanism for tilting the molded glaze with respect to the leg are provided with a mine treatment device attached to the leg in the vicinity of the mine. And
While capturing the mine with the aiming sonar, grasping the attitude of the mine, and using the pan mechanism and the tilt mechanism, adjust the direction of the molded glaze,
After actuating the leg separation mechanism to separate the underwater vehicle and the main body from the place to a safe place,
A mine disposal method, wherein the ignition control device is operated to explode the mine. The aiming sonar includes a low-frequency sonar that sends out low-frequency sound waves, and a high-frequency sonar that sends out high-frequency sound waves,
After grasping an approximate relative position and attitude of the mine buried under the seabed using the low frequency sonar, a more detailed relative position of the mine buried under the seabed using the high frequency sonar and 8. The mine disposal method according to claim 7, wherein the posture is grasped.

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