JP7020892B2 - Mine processing system - Google Patents

Description

The present invention relates to a mine treatment system.

As a mine treatment system, for example, there is a system described in the following Patent Document 1. The system includes a mother ship and an underwater mine handling vessel. The mother ship and the underwater ship for mine disposal can communicate with each other via an optical cable. The mine-handling underwater vessel is equipped with a hull capable of navigating underwater, a self-propelled mechanism for propelling the hull, sonar, an underwater video, and a bomb.

The footage shot in the underwater video of the mine-handling underwater vessel is sent to the mothership via an optical cable. While watching this video, the operator on board the mother ship outputs an operation command to the mine-handling underwater ship and operates the mine-handling underwater ship toward the mine. The self-propelled mechanism of the mine handling underwater vessel is driven according to 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. Upon receiving the ignition command, the mine processing submersible vessel's igniter ignites the bomb. As a result, the mines are destroyed along with the mines processing underwater vessel.

Japanese Patent No. 4486211

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

Therefore, an object of the present invention is to provide a mine treatment system capable of suppressing the mine treatment cost .

The mine treatment system of the first aspect according to the present invention for achieving the said object is
It includes a mine disposal underwater vessel and a mother ship having an underwater vessel storage unit capable of accommodating the mine disposal underwater vessel. The mine processing underwater vessel is a position where an underwater navigator capable of navigating underwater and a position provided on the underwater navigator to maintain a distance between the mine and the underwater navigator in contact with the mine. It is equipped with a fixture. The underwater vehicle includes an explosive storage unit that stores an explosive and an explosive device that detonates the explosive , a mine sensor that detects a mine, a rudder that changes the traveling direction of the underwater vehicle, and a rudder of the rudder. A rudder drive that changes direction, a navigation control unit that controls the operation of the rudder drive so as to approach the mine detected by the mine sensor, a storage unit that stores position information of the mine, and the above. It has a storage communication device that can communicate with the mother ship while being stored in the underwater ship storage unit. The mother ship is a storage unit for storing the position information of the mine, and the mine processing submersible ship in which the position information stored in the storage unit of the mother ship is stored in the underwater ship storage unit. The storage communication device to be sent to the storage communication device, the first speed sensor for detecting the first relative velocity which is the relative velocity of the mother ship to the bottom of the water, and the relative speed of the mother ship to the fluid in which the mine is present. From the second speed sensor that detects the second relative speed, the discharger that can discharge the lightning processing underwater ship into the water from the underwater ship storage unit, and the first relative speed and the second relative speed, the said From the third relative velocity calculation unit that obtains the third relative velocity, which is the relative velocity of the fluid with respect to the bottom of the water, the first relative velocity, the third relative velocity, and the position information, the mine treatment from the underwater ship storage unit. The release timing calculation unit that obtains the release timing to release the submersible ship into the water and the discharger are driven when the release timing is reached, and the discharger drives the underwater ship for lightning treatment from the underwater ship storage unit. It has a discharger indicator and a discharger indicator. Upon receiving the position information from the storage communication device of the mother ship, the storage communication device of the mine processing submersible ship stores the position information in the storage unit of the mine processing submersible ship. The navigation control unit operates the steering drive so as to approach the position indicated by the position information stored in the storage unit of the mine processing submersible ship until the mine is detected by the mine sensor. When the mine is detected by the mine sensor, the operation of the steering drive is controlled so as to approach the mine detected by the mine sensor.
The mine treatment system of the second aspect according to the present invention for achieving the above object is
It includes a mine disposal underwater vessel and a mother ship having an underwater vessel storage unit capable of accommodating the mine disposal underwater vessel. The mine processing underwater vessel is a position where an underwater navigator capable of navigating underwater and a position provided on the underwater navigator to maintain a distance between the mine and the underwater navigator in contact with the mine. It is equipped with a fixture. The underwater vehicle has an explosive storage unit for accommodating an explosive and a detonator for detonating the explosive. The mother ship includes a mine type sensor that detects the type of mine, a discharger that can selectively release a plurality of the mine processing submersible vessels housed in the underwater ship storage unit into the water, and the mine type. According to the type of the mine detected by the sensor, among the plurality of the mine processing underwater vessels stored in the underwater vessel storage unit, the mine processing underwater vessel corresponding to the mine type is selected as the underwater vessel. It has a discharger instruction unit that discharges water from the ship storage unit by the discharger .

In this embodiment, since the position fixing device is provided, even if the position fixing device is not provided, when the position fixing device comes into contact with the mine, the underwater vehicle is not swept by the tidal current or the like, and the mine and the underwater vehicle are not washed away. The distance between and can be maintained. Therefore, in this embodiment, the explosive stored in the underwater vehicle can be detonated while the distance between the mine and the underwater vehicle is maintained at an appropriate distance. As described above, in this embodiment, the distance between the mine and the underwater vehicle can be maintained at an appropriate distance even if the propulsion device is not provided, so that the mine disposal cost can be suppressed.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the first aspect or the second aspect , the position fixer is configured to maintain the relative posture of the underwater vehicle with respect to the mine.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the first or second aspect, the position fixer is a magnet.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the first or second aspect, the position fixing device is a gripping machine that grips at least a part of the mine.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine handling system of the first or second aspect , the position fixer is a net.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine treatment system of any one of the above aspects, the underwater vehicle is
An detonation indicator that issues an explosion instruction to explode the explosive stored in the explosive storage unit, and a detonation control unit that activates the detonator of the explosive when the detonation indicator issues the explosion instruction. , Have.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the embodiment having the detonation control unit, the underwater vehicle has an underwater communication device capable of communicating with the outside underwater. The underwater communication device is the detonation indicator that issues the explosion instruction to the detonation control unit when an instruction to explode the explosive stored in the explosive storage unit is received from the outside.

In this embodiment, the explosive stored in the underwater vehicle can be detonated by an instruction from the outside of the mine disposal underwater vessel.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the embodiment having the detonation control unit, the detonation indicator is used when a predetermined time elapses after the position fixing device comes into contact with the mine, or when the underwater vehicle is in the mine laying water area. It is a timer that issues the explosion instruction to the detonation control unit when a predetermined time elapses after being released to the detonation control unit.

In this embodiment, the explosive stored in the underwater vehicle can be detonated without any instruction from the outside of the mine disposal underwater vessel.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of the second aspect , the underwater vehicle includes a mine sensor that detects a mine, a rudder that changes the traveling direction of the underwater vehicle, and a rudder drive that changes the direction of the rudder. And a navigation control unit that controls the operation of the rudder drive so as to approach the mine detected by the mine sensor.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system having the mine control unit, the underwater vehicle has a storage unit for storing the position information of the mine. The navigation control unit controls the operation of the rudder drive so as to approach the position indicated by the position information stored in the storage unit until the mine is detected by the mine sensor, and the mine sensor. When the mine is detected, the operation of the rudder drive is controlled so as to approach the mine detected by the mine sensor.

In this embodiment, for example, even if the depth of the mine is deep and the mine sensor of the underwater vehicle cannot detect the mine, the underwater vehicle can travel to a position that can be detected by the mine sensor.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system in which the underwater vehicle has the storage unit, the mine processing underwater ship has a storage communication device capable of communicating with the mother ship while being stored in the underwater ship storage unit. .. The mother ship has a storage unit in which the position information of the mine is stored and the position information stored in the storage unit of the mother ship of the mine processing underwater ship in which the position information is stored in the underwater ship storage unit. It has a storage communication device to be sent to the storage communication device. Upon receiving the position information from the storage communication device of the mother ship, the storage communication device of the mine processing submersible ship stores the position information in the storage unit of the mine processing submersible ship.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system in which each of the mine processing underwater ship and the mother ship has the retractable communication device, the mine position sensor detects the position of the mine and the mine position sensor detects the mother ship. It has a position information creating unit that creates the position information using the information of the mine and stores the position information in the storage unit of the mother ship.

Another aspect of the mine treatment system according to the present invention for achieving the above object is
In the mine processing system of each of the above embodiments in which the underwater vehicle has the storage unit, the mother ship has a first speed sensor that detects the first relative velocity, which is the relative velocity of the mother ship to the bottom of the water, and the mine. A second speed sensor that detects the second relative velocity, which is the relative velocity of the mother ship with respect to the existing fluid, and a discharger that can discharge the lightning-treating underwater ship into the water from the underwater ship storage unit, and the first relative. The third relative velocity calculation unit for obtaining the third relative velocity, which is the relative velocity of the fluid with respect to the water bottom, from the velocity and the second relative velocity, the first relative velocity, the third relative velocity, and the position information. Therefore, the release timing calculation unit for obtaining the release timing for discharging the lightning-treating underwater ship into the water from the underwater ship storage unit, and the discharger are driven when the release timing is reached, and the underwater ship is driven by the discharger. It has a discharger instruction unit for discharging the lightning-treating underwater vessel into the water from the storage unit.

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

It is explanatory drawing which shows the structure of the underwater ship for mine processing in 1st Embodiment of this invention. It is explanatory drawing which shows the structure of the mother ship in 1st Embodiment of this invention. It is explanatory drawing which shows the structure of the underwater ship for mine processing in the 2nd Embodiment of this invention. It is explanatory drawing which shows the structure of the underwater ship for mine processing in the 3rd Embodiment of this invention.

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

"First embodiment"
The mine treatment system according to the first embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the mine processing system of the present embodiment includes a mine processing submersible ship 10 and a mother ship 50 capable of accommodating a plurality of mine processing submersible ships 10.

The underwater vessel 10 for mine processing (hereinafter, simply referred to as an underwater vessel 10) includes an underwater vehicle 11 and a position fixing device 40. The underwater navigation body 11 includes a hull 12, an underwater communication device 16, a retractable communication device 17, a mine sensor 19, a rudder 26, a rudder drive machine 28, a controller 30, and a power supply circuit 35. Be prepared. The underwater communication device 16, the retractable communication device 17, the mine sensor 19, the rudder 26, the rudder drive 28, and the controller 30 are all provided on the hull 12.

The underwater communication device 16 is a communication device capable of communicating with the outside underwater, such as an acoustic communication device. The underwater communication device 16 may be wireless or wired as long as it can communicate with the outside underwater. 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 arranged so as to face from the outside of the hull 12 by opening the connector door 18a forming 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 includes, for example, an underwater camera. The mine sensor 19 may be an underwater camera, a magnetic sensor, a chemical sensor, an acoustic sensor, or a combination thereof. The mine M includes a mine in which a specific chemical substance flows out from the inside of the mine M. A chemical sensor is a sensor that detects such a chemical substance.

The hull 12 has an explosive storage unit 13 and a buoyancy material storage unit 14. The explosive storage unit 13 is a space that can store the explosive 45 and the detonator 46 that detonates the explosive 45. The buoyancy material storage unit 14 is a space that can store the buoyancy material 47 such as Styrofoam. The hull 12 is provided with a storage door 15 for loading and unloading the explosive 45 with respect to the explosive storage portion 13 and for loading and unloading the buoyancy material 47 with respect to the buoyancy material storage portion 14. The rudder 26 has a first rudder 26a and a second rudder 26b. Both the first rudder 26a and the second rudder 26b are provided at the stern. The first rudder 26a can swing about the first axis 27a perpendicular to the stern direction. The second rudder 26b can swing about the second shaft 27b perpendicular to the stern direction and the first shaft 27a. The swing angles of the first rudder 26a and the second rudder 26b are changed by the rudder drive 28.

The controller 30 is, for example, a computer. The controller 30 has a control unit 31 composed of an arithmetic circuit such as a CPU and a storage unit 34 composed of a memory or the like. Functionally, the control unit 31 includes a navigation control unit 32 that controls the operation of the rudder drive 28, and a detonator control unit 33 that controls the operation of the detonator 46 housed in the explosive storage unit 13. Has.

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

The position fixer 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 part thereof protrudes from the hull 12.

As described above, the underwater vehicle 11 of the present embodiment does not include a propulsion device. Therefore, 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 retractable communication device 57, a mine sensor 69, a first speed sensor 67, a second speed sensor 68, and a discharger. A 61, a self-propelled device 64, and a controller 70 are provided.

The underwater communication device 56 is a communication device capable of communicating with the outside underwater, such as an acoustic communication device. 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 ship communication connector 58. The underwater ship communication connector 58 can be connected to the mother ship communication connector 18 of the underwater ship 10. The mother ship 50 further has an external communication connector 59 for communicating with an external computer or the like. The mine sensor (mine position sensor, mine type sensor) 69 is a sensor that detects the position and shape of the mine M. The mine sensor 69 includes, for example, 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 self-supporting underwater vehicle for searching for mines that can be separated from or released from the mother ship 50. In this case, the data obtained by the mine sensor 69 is sent from the self-supporting underwater vehicle for mine search to the mother ship 50 by the underwater communication device. The first speed sensor 67 detects the first relative speed, which is the relative speed of the mother ship 50 with respect to the seabed (water bottom). The second speed sensor 68 detects the second relative speed, which is the relative speed of the mother ship 50 with respect to seawater (fluid).

The hull 52 has an underwater ship storage unit 53. The underwater ship storage unit 53 is a space that can store a plurality of underwater ships 10. This space is partitioned into a plurality of single storage spaces 54 by a partition wall or 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 that separates the single storage space 54 from the outboard motor for each of the plurality of single storage spaces 54. The discharge door 62 opens and closes by driving the door driving machine 63. The discharger 61 includes a discharge door 62 and a door drive device 63 for each of a plurality of single storage spaces 54. The underwater ship 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 includes a propulsion device 65 having a screw or the like, and a direction changing machine 66 that changes the direction of the hull 52. The direction changing machine 66 is, for example, a rudder. The direction changing machine 66 does not have to be a rudder. For example, when a plurality of propulsion devices are provided, the direction of the hull 52 is changed by adjusting the propulsive force of each of the plurality of propulsion devices. It may be a thing.

The controller 70 is, for example, a computer. The controller 70 has a control unit 71 composed of an arithmetic circuit such as a CPU and a storage unit 78 composed of a memory or the like. Functionally, the control unit 71 includes a detonation management unit 72, a position information creation unit 73, a third relative velocity calculation unit 74, a release timing calculation unit 75, a discharger instruction unit 76, and a self-propelled control unit. 77 and.

The detonation control unit 72 sends an instruction from the underwater communication device 56 to the underwater vessel 10 to explode the explosive 45. The position information creating unit 73 creates position information indicating the position of the mine M by using the signal from the mine sensor 69. The third relative velocity calculation unit 74 obtains the third relative velocity, which is the relative velocity of the tidal current (fluid) with respect to the sea bottom (water bottom), from the first relative velocity and the second relative velocity. The release timing calculation unit 75 uses the third relative velocity to obtain the release timing of the underwater vessel 10. The discharger instruction unit 76 drives a specific door drive machine 63 among the plurality of door drive machines 63, and discharges the underwater ship 10 corresponding to the specific door drive machine 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 work before releasing the mother ship 50 into the sea area where the mine is laid. The disposer or the like stores the explosive 45 and the detonator 46 in each of the explosive storage units 13 of the plurality of underwater vessels 10. At this time, explosives 45 having different explosive amounts are stored in the explosive storage portions 13 of the plurality of underwater vessels 10. Specifically, an appropriate amount of explosive 45 is stored for removing some types of mines M that are supposed to be laid in the sea area. Further, the buoyancy material 47 is stored in each of the buoyancy material storage portions 14 of the plurality of underwater vessels 10 in consideration of the amount of explosives and the like. The disposer or the like stores a plurality of underwater vessels 10 in which the explosives 45 are stored in the underwater vessel storage section 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 to the external communication connector 59. Then, by operating a computer, the amount of explosives mounted on the underwater vessel 10 stored in the single storage space 54 is sent to the controller 70 of the mother ship 50 in association with the identification number of the single storage space 54. This information is stored in the storage unit 78 of the controller 70. When the above work is completed, the disposer or the like releases the mother ship 50 into the minelaying sea area.

The mother ship 50 investigates the mine M by the mine sensor 69 while navigating on the sea. The signal from the mine sensor 69 is sent to the position information creating unit 73 and the ejector indicating unit 76 of the controller 70. When the position information creating unit 73 recognizes the existence of the mine M by the signal from the mine sensor 69, the position information creating 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 the absolute position indicating the position of the mine M with respect to the seabed. Further, when the ejector indicating unit 76 recognizes the existence of the mine M by the signal from the mine sensor (mine position sensor, mine type sensor) 69, the discharger indicating unit 76 identifies the type of the mine M from the shape of the mine M and the like. Subsequently, the ejector indicating unit 76 is a single unit in which the underwater vessel 10 carrying an appropriate amount of explosive 45 for removing the specified type of mine M is stored in the plurality of single storage spaces 54. The storage space 54 is selected.

The third relative velocity calculation unit 74 of the controller 70 refers to the first relative velocity of the mother ship 50 with respect to the sea bottom (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, the third relative velocity, which is the relative velocity of the tidal current (fluid) with respect to the sea bottom (water bottom), is obtained. The release timing calculation unit 75 obtains the release position of the underwater vessel 10 by using the first relative velocity, the third relative velocity, and the position information. The release timing calculation unit 75 obtains the time when the underwater vessel 10 is released from this release position. This release timing is the time when the underwater vessel 10 is released. The position information creating unit 73 sends the position information of the mine M to the submersible ship 10 via the submersible ship communication connector 58 of the mother ship 50 and the mother ship communication connector 18 of the submersible ship 10. This 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 information on the relative position of the mine M with respect to the discharge position of the underwater vessel 10.

When the discharger indicator 76 of the controller 70 recognizes that the release timing of the specific submersible ship 10 has been reached among the plurality of submersible ships 10, first, the submersible 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 discharger instruction unit 76 drives the door drive device 63 for the single storage space 54 in which the specific underwater vessel 10 is housed, opens the release door 62, and puts the specific underwater vessel 10 into the sea. discharge.

The controller 70 of the mother ship 50 repeats the above processing every time the mine sensor 69 recognizes the existence of the mine M after the mother ship 50 is released into the sea area where the mine is laid. When the release of the underwater vessel 10 to all the mines M detected by the mine sensor 69 is completed, the self-propelled control unit 77 of the mother ship 50 moves away from the danger zone for all the mines M detected by the mine sensor 69. Controls the running device 64.

When released from the mother ship 50, the navigation control unit 32 of the submersible ship 10 controls the operation of the rudder drive 28 so that the submersible ship 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. Further, the navigation control unit 32 starts accepting a signal from the mine sensor 19 when it is released from the mother ship 50.

When the underwater vessel 10 approaches the mine M indicated by the position information to some extent, the navigation control unit 32 can recognize the existence of the mine M by the signal from the mine sensor 19 of the underwater vessel 10. Upon recognizing the existence of the mine M, the cruising control unit 32 drives the rudder drive 28 so as to approach the mine M. Specifically, the navigation control unit 32 obtains, for example, the relative position of the mine M with respect to the underwater vessel 10 by using the signal from the mine sensor 19 that is input from moment to moment, and sequentially updates this relative position. The cruising control unit 32 drives the rudder drive 28 so as to approach the obtained relative position.

When the underwater vessel 10 approaches the mine M and the position fixing device 40 of the underwater vessel 10 comes into contact with the mine M, the magnetic force of the position fixing device 40 maintains the contact between the position fixing device 40 and the mine M, and the contact between the position fixing device 40 and the mine M is maintained. The relative position of the ship 10 is substantially fixed. When the detonation control unit 33 keeps the state in which the relative position of the underwater vessel 10 with respect to the mine M is substantially fixed for a predetermined time (for example, 5 seconds), the underwater communication device 16 causes the underwater vessel 10 to move to the mine M. A contact signal indicating the contact with the mother ship 50 is transmitted to the mother ship 50.

When the underwater communication device 56 of the mother ship 50 receives the contact signal, the detonation management unit 72 recognizes that the underwater ship 10 has come into contact with the mine M. The detonation management unit 72 sends an detonation signal indicating that the explosive 45 is detonated from the underwater communication device 56 to the underwater vessel 10 when the predetermined detonation conditions are satisfied. Here, the blast conditions are, for example, that the contact signal from the underwater vessel 10 released into the sea was received, and the underwater vessel 10 that sent the contact signal and the mine M in contact with the underwater vessel 10 exploded. Occasionally, the mothership 50 is out of the danger zone where the mothership 50 can be damaged. When a plurality of underwater vessels 10 are released into the sea, the blast conditions are that the contact signals from all the underwater vessels 10 released into the sea are received, and that all the underwater vessels 10 and the contact signals are sent are received. When the mine M in contact with each underwater vessel 10 explodes, the mother vessel 50 is removed from the danger zone where the mother vessel 50 can be damaged.

When the underwater communication device 16 of the underwater ship 10 receives the detonation signal from the mother ship 50, the underwater communication device (detonation indicator) 16 issues an explosion instruction to the detonation control unit 33. Upon receiving this explosion instruction, the detonation control unit 33 activates the detonator 46 stored in the underwater vessel 10 and detonates the explosive 45 stored in the submersible vessel 10. Along with the explosion of the underwater vessel 10, the mine M that was in contact with the underwater vessel 10 also exploded, and this mine M is disposed of. When a plurality of underwater vessels 10 are released into the sea, the underwater communication device 56 of the mother ship 50 simultaneously transmits an detonation signal to the plurality of underwater vessels 10. As a result, all the underwater vessels 10 released into the sea and the mines M in contact with each underwater vessel 10 explode substantially at the same time.

As described above, although the underwater vessel 10 of the present embodiment is an underwater glider not provided with the propulsion device 65, it is provided with the position fixing device 40. Therefore, when the position fixing device 40 comes into contact with the mine M, water is generated. The medium navigator 11 can maintain the distance between the mine M and the underwater navigator 11 without being swept away by the tidal current. Therefore, the underwater vessel 10 of the present embodiment explodes 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 vessel 10 of the present embodiment can maintain the distance between the mine M and the underwater vehicle 11 at an appropriate distance even if it is not provided with the propulsion device, so that the mine M disposal cost can be suppressed. Can be done.

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

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

"Second embodiment"
The mine treatment system according to the second embodiment will be described with reference to FIG.

The mine treatment system of the present embodiment also includes a mine treatment submersible ship and a mother ship, similar to the mine treatment system of the first embodiment. However, although the mother ship of the present embodiment and the mother ship 50 of the first embodiment are the same, the mine treatment submersible ship of the present embodiment and the mine treatment submersible ship of the first embodiment are different. Therefore, in the following, the submersible ship for mine treatment of the present embodiment will be mainly described.

As shown in FIG. 3, the mine treatment underwater vessel 10a of the present embodiment also has the underwater vehicle 11 and the position fixing device as shown in FIG. 3, like the mine treatment submersible vessel 10 of the first embodiment. 40a and. 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 the present embodiment and the position fixing device 40 of the first embodiment are different.

The position fixing device 40a 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 gripping machine control unit 33a uses a signal from the mine sensor 19 to change the gripping machine 40a of the mining M parts to the gripping machine 40a. Judge whether or not it is within the operating range of. When the gripping machine control unit 33a determines that the grippable portion of the mine M is within the operating range of the gripping machine 40a, the gripping machine control unit 33a operates the gripping machine 40a to grip the grippable portion 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 with respect to the mine M is substantially fixed. Similar to the first embodiment, the detonation control unit 33 is an underwater communication device when the relative position of the underwater vehicle 11 with respect to the mine M is substantially fixed for a predetermined time (for example, 5 seconds). 16 transmits a contact signal to the mother ship 50.

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

The position fixer 40 of the first embodiment is a magnet. Therefore, at least when the surface of the mine M is not formed of a ferromagnetic material, in the position fixing device 40 of the first embodiment, the distance between the mine M and the underwater vehicle 11 even if it comes into contact with the mine M. Cannot be maintained. As described above, the position fixing device 40a of the present embodiment is a gripping machine that grips at least a part of the mine M. Therefore, 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 gripping machine grips a part of the mine M, so that the mine M and the underwater navigation body are gripped. The distance to 11 and the relative attitude of the underwater vehicle 11 to the mine M can be maintained.

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

The hull 12 of the mine processing underwater vessel 10a of the present embodiment does not have a gripping machine accommodating portion for accommodating the gripping machine 40a. However, the hull 12 of the mine processing underwater vessel 10a may have a gripping machine accommodating portion for accommodating the gripping machine 40a.

"Third embodiment"
The mine treatment system according to the third embodiment will be described with reference to FIG.

The mine treatment system of the present embodiment also includes a mine treatment submersible ship and a mother ship, similar to the mine treatment 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 mine treatment submersible ship of the present embodiment and the mine treatment submersible ship of the first embodiment are different. Therefore, in the following, the submersible ship for mine treatment of the present embodiment will be mainly described.

As shown in FIG. 4, the mine processing submersible ship 10b of the present embodiment also includes an underwater navigation body 11b and a position fixer 40b, like the mine processing submersible ship 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 fixer 40b of the present embodiment and the position fixer 40 of the first embodiment are different.

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

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

When the mine processing submersible vessel 10b approaches the mine M, the net ejector control unit 33b uses a signal from the mine sensor 19 to determine whether or not the mine siege range is within the range in which the mine M can be wrapped by the net 40b. Judge. When the net ejector control unit 33b determines that the mine M has entered the mine siege range, it operates the net ejector 38 to discharge the net 40b from the net storage unit 37. When the net 40b is discharged from the net storage portion 37, the net 40b encloses the mine M. As a result, the contact between the position fixer 40b and the mine M is maintained, and the relative position of the underwater vehicle 11b with respect to the mine M is substantially fixed. Similar to the first embodiment, the detonation control unit 33 is an underwater communication device when the relative position of the underwater vehicle 11b with respect to the mine M is substantially fixed for a predetermined time (for example, 5 seconds). 16 transmits a contact signal to the mother ship 50.

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

The position fixer 40 of the first embodiment is a magnet. Therefore, at least when the surface of the mine M is not formed of a ferromagnetic material, in the position fixing device 40 of the first embodiment, the distance between the mine M and the underwater vehicle 11 even if it comes into contact with the mine M. Cannot be maintained. As described above, the position fixing device 40b of the present embodiment is a net that wraps the mine M. Therefore, in the position fixing device 40b of the present embodiment, even if the surface of the mine M is not formed of a ferromagnetic material, the net 40b wraps the mine M between the mine M and the underwater vehicle 11b. Can maintain the distance.

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

"Various variants"
In each of the above embodiments, the specific embodiment of the position fixing device has been exemplified, but the specific embodiment of the position fixing device is not limited to the exemplified one. That is, the position fixing device may be any device as long as it is in contact with the mine M and can maintain the distance between the mine M and the underwater vehicle, and may be, for example, a suction cup or the like.

The detonation indicator in each of the above embodiments is an underwater communication device 16 of an underwater ship. However, the detonation indicator is not limited to the underwater communication device 16. The detonation indicator may be, for example, a timer 36, as shown in FIG. The timer 36 issues an explosion instruction to the detonation control unit 33 when a predetermined time elapses after the position fixing device comes into contact with the mine M. Alternatively, the timer 36 issues an explosion instruction to the detonation control unit 33 when a predetermined time has elapsed after the underwater ship was released into the minelaying sea area. When releasing a plurality of underwater vessels into the sea, it is preferable to lengthen each of the above predetermined times.

The blasting conditions in each of the above embodiments are that the contact signal from the underwater ship released into the sea is received, that the mother ship 50 is out of the dangerous area, and the like. However, the underwater vessel released into the sea does not always come into contact with the mine M. Therefore, for example, when a plurality of underwater vessels are released into the sea and a contact signal is not transmitted from one unit to the mother ship 50, even if all the remaining underwater vessels transmit contact signals to the mother ship 50, all the remaining ones. Mines M cannot be blown up by an underwater ship. Therefore, the blasting conditions may be that a predetermined time has passed since the underwater ship was released into the sea, and that the mother ship 50 is out of the danger zone. In this case, the predetermined time is considered to be a sufficient time from the release of the underwater vessel into the sea to the arrival of the mine M. Further, when a plurality of underwater vessels are released into the sea, the blasting conditions are that a predetermined time has passed from the time of release and that the mother ship 50 is out of the danger zone for all of the plurality of underwater vessels.

The position fixing device of the plurality of underwater vessels mounted on the mother ship 50 in each of the above embodiments is one type. However, in order to accommodate various mines M, the position fixtures of the plurality of underwater vessels may be different from each other. In this case, when the discharger indicator 76 of the mother ship 50 specifies 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 specified type of mine M. A single storage space 54 in which an underwater vessel equipped with an appropriate position fixture for contact with the mine M is housed is selected.

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, the passenger of the mother ship 50 may issue an explosion instruction to the underwater ship using the underwater communication device 56. Further, 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 the airplane is equipped with a communication buoy or the like.

10, 10a, 10b: Underwater ship for mine processing 11, 11b: Underwater navigation body 12, 12b: Hull 13: Explosive storage unit 14: Buoyancy material storage unit 15: Storage door 16: Underwater communication device (detonation indicator)
17: Storage communication device 18: Mother ship communication connector 18a: Connector door 19: Lightning sensor 26: Rudder 26a: First rudder 26b: Second rudder 27a: First axis 27b: Second axis 28: Rudder drive machine 30: Control Instrument 31: Control unit 32: Navigation control unit 33: Explosion control unit 33a: Gripping machine control unit 33b: Net releaser control unit 34: Storage unit 35: Power supply circuit 36: Timer (explosion indicator)
37: Net storage 38: Net ejector 40: Position fixer (magnet)
40a: Position fixer (grasping machine)
40b: Position fixer (net)
41: Net body 42: Weight 45: Explosive 46: Detonator 47: Buoyancy material 50: Mother ship 52: Ship body 53: Underwater ship storage 54: Single storage space 56: Underwater communication device 57: Storage communication device 58: Underwater ship Communication connector 59: External communication connector 61: Discharger 62: Discharge door 63: Door drive device 64: Self-propelled device 65: Propulsion device 66: Direction changer 67: First speed sensor 68: Second speed sensor 69: Mine sensor (Mine position sensor, mine type sensor)
70: Controller 71: Control unit 72: Explosion management unit 73: Position information creation unit 74: Third relative speed calculation unit 75: Release timing calculation unit 76: Discharger instruction unit 77: Self-propelled control unit 78: Storage unit M :mine

Claims (14)

Underwater vessels for mine disposal and
A mother ship having an underwater ship storage unit capable of storing the mine disposal underwater ship, and
Equipped with
The mine processing underwater vessel is a position where an underwater navigator capable of navigating underwater and a position provided on the underwater navigator to maintain a distance between the mine and the underwater navigator in contact with the mine. Equipped with a fixture,
The underwater vehicle includes an explosive storage unit that stores an explosive and an explosive device that detonates the explosive, a mine sensor that detects a mine, a rudder that changes the traveling direction of the underwater vehicle, and a rudder of the rudder. A rudder drive that changes direction, a navigation control unit that controls the operation of the rudder drive so as to approach the mine detected by the mine sensor, a storage unit that stores position information of the mine, and the above. It has a storage communication device that can communicate with the mother ship while being stored in the underwater ship storage unit.
The mother ship is a storage unit for storing the position information of the mine, and the mine processing submersible ship in which the position information stored in the storage unit of the mother ship is stored in the underwater ship storage unit. The storage communication device to be sent to the storage communication device, the first speed sensor for detecting the first relative velocity which is the relative velocity of the mother ship to the bottom of the water, and the relative speed of the mother ship to the fluid in which the mine is present. From the second speed sensor that detects the second relative speed, the discharger that can discharge the lightning processing underwater ship into the water from the underwater ship storage unit, and the first relative speed and the second relative speed, the said From the third relative velocity calculation unit that obtains the third relative velocity, which is the relative velocity of the fluid with respect to the bottom of the water, the first relative velocity, the third relative velocity, and the position information, the mine treatment from the underwater ship storage unit. The release timing calculation unit that obtains the release timing to release the submersible ship into the water and the discharger are driven when the release timing is reached, and the discharger drives the underwater ship for lightning treatment from the underwater ship storage unit. Has a discharger indicator, which discharges to
Upon receiving the position information from the storage communication device of the mother ship, the storage communication device of the mine processing submersible ship stores the position information in the storage unit of the mine processing submersible ship.
The navigation control unit operates the steering drive so as to approach the position indicated by the position information stored in the storage unit of the mine processing submersible ship until the mine is detected by the mine sensor. When the mine is detected by the mine sensor, the operation of the steering drive is controlled so as to approach the mine detected by the mine sensor.
Mine processing system. Underwater vessels for mine disposal and
A mother ship having an underwater ship storage unit that can store multiple submersible ships for mine disposal, and
Equipped with
The mine processing underwater vessel is a position where an underwater navigator capable of navigating underwater and a position provided on the underwater navigator to maintain a distance between the mine and the underwater navigator in contact with the mine. Equipped with a fixture,
The underwater vehicle has an explosive storage unit for accommodating an explosive and a detonator for detonating the explosive.
The mother ship includes a mine type sensor that detects the type of the mine, a discharger that can selectively release a plurality of the mine processing submersible vessels housed in the underwater ship storage unit into the water, and the mine type. According to the type of the mine detected by the sensor, among the plurality of the mine processing underwater vessels stored in the underwater vessel storage unit, the mine processing underwater vessel corresponding to the mine type is selected as the underwater vessel. A discharger instruction unit that discharges water from the ship storage unit by the discharger,
Have,
Mine processing system. In the mine treatment system according to claim 2,
The underwater vehicle includes a mine sensor that detects a mine, a rudder that changes the traveling direction of the underwater vehicle, a rudder drive that changes the direction of the rudder, and the mine detected by the mine sensor. It has a navigation control unit that controls the operation of the rudder drive so as to approach.
Mine processing system. In the mine treatment system according to claim 3,
The underwater vehicle has a storage unit for storing the position information of the mine.
The navigation control unit controls the operation of the rudder drive so as to approach the position indicated by the position information stored in the storage unit until the mine is detected by the mine sensor, and the mine sensor. When the mine is detected, the operation of the rudder drive is controlled so as to approach the mine detected by the mine sensor.
Mine processing system. In the mine treatment system according to claim 4,
The mine processing underwater vessel has a storage communication device capable of communicating with the mother ship while being housed in the underwater vessel storage unit.
The mother ship has a storage unit in which the position information of the mine is stored, and the position information stored in the storage unit of the mother ship is stored in the underwater ship storage unit. With a storage communication device to send to the storage communication device,
Upon receiving the position information from the storage communication device of the mother ship, the storage communication device of the mine processing submersible ship stores the position information in the storage unit of the mine processing submersible ship.
Mine processing system. In the mine treatment system according to claim 5,
The mother ship
Position information that creates the position information using the mine position sensor that detects the position of the mine and the information of the mine detected by the mine position sensor, and stores the position information in the storage unit of the mother ship. Has a creator,
Mine processing system. In the mine treatment system according to claim 5 or 6.
The mother ship has a first speed sensor that detects the first relative speed, which is the relative speed of the mother ship with respect to the bottom of the water, and a second speed that detects the second relative speed, which is the relative speed of the mother ship with respect to the fluid in which the mine is present. From the sensor, the discharger capable of discharging the lightning-treating underwater ship from the underwater ship storage unit into the water, and the first relative velocity and the second relative velocity, the relative velocity of the fluid with respect to the water bottom. From the third relative velocity calculation unit for obtaining the three relative velocities, the first relative velocity, the third relative velocity, and the position information, the release timing at which the underwater vessel for lightning processing is discharged from the underwater vessel storage unit into the water. The discharge timing calculation unit for obtaining the release timing, and the discharger instruction unit that drives the discharger when the release timing is reached and discharges the lightning-treating submersible ship into the water from the submersible ship storage unit by the discharger. Have,
Mine processing system. In the mine treatment system according to any one of claims 1 to 7.
The position fixer is configured to maintain the relative attitude of the underwater vehicle with respect to the mine.
Mine processing system. In the mine treatment system according to any one of claims 1 to 8.
The position fixer is a magnet,
Mine processing system. In the mine treatment system according to any one of claims 1 to 8.
The position fixer is a gripper that grips at least a portion of the mine.
Mine processing system. In the mine treatment system according to any one of claims 1 to 7.
The position fixer is a net,
Mine processing system. In the mine treatment system according to any one of claims 1 to 11.
The underwater vehicle is
An detonation indicator that issues an explosion instruction to explode the explosive stored in the explosive storage unit, and
When the detonation indicator issues the detonation instruction, the detonator control unit that activates the detonator of the explosive, and the detonation control unit.
Have,
Mine processing system. In the mine treatment system according to claim 12,
The underwater vehicle has an underwater communication device capable of communicating with the outside underwater.
The underwater communication device is the detonation indicator that issues the explosion instruction to the detonation control unit when an instruction to explode the explosive stored in the explosive storage unit is received from the outside.
Mine processing system. In the mine treatment system according to claim 12,
The detonation indicator is said to be said when a predetermined time has elapsed since the position fixing device came into contact with the mine, or when a predetermined time has elapsed since the underwater vehicle was released into the minelaying water area. A timer that issues the explosion instruction to the explosion control unit.
Mine processing system.

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