Induction system matched with mixed loading explosive truck and used for initiating explosive devices

Abstract

The invention relates to the technical field of initiating explosive device induction, and discloses an initiating explosive device induction system matched with a mixed loading explosive truck, which comprises a visual detection camera, a visual controller and a trip computer which are arranged on the mixed loading explosive truck, the visual detection camera collects initiating explosive device information on the road condition around the mixed loading explosive truck, the visual detection camera transmits collected data to the visual controller through a data transmission protocol defined by the visual controller, the visual controller carries out algorithm processing, and an early warning signal for the initiating explosive device is obtained. The visual controller transmits an early warning signal to the trip computer through the CAN bus, the trip computer processes the early warning signal and instructs the emergency stop system of the mixed loading explosive truck to start the emergency stop function, so that the mixed loading explosive truck stops rapidly, and the mixed loading explosive truck is prevented from rolling the initiating explosive device. The technical problem that the explosive device is rolled by the vehicle due to site limitation, visual angle blind areas, personnel command errors, driver operation errors and the like of the mixed loading explosive vehicle on the blasting operation site is solved.

Description

Technical Field

[0001] The invention relates to the technical field of induction of explosive devices, in particular to an induction system for explosive devices matched with a mixed explosive vehicle. Background Art

[0002] Pyrotechnics are a general term for disposable components and devices that contain gunpowder or explosives and burn or explode when stimulated by external stimuli to ignite gunpowder, detonate explosives, or perform mechanical work. Pyrotechnics include percussion caps, primers, ignition tubes, delay parts, detonators, detonating tubes, fuses, detonating cords, explosion switches, explosive bolts, starters, cutting cords, etc.

[0003] At the blasting site, due to site limitations, visual blind spots, personnel command errors, driver operating errors, etc., vehicles usually run over pyrotechnics, causing the pyrotechnics to be damaged, fail, or refuse to explode. Therefore, it is necessary to develop a pyrotechnic sensing system that matches a mixed explosive vehicle to avoid the occurrence of mixed explosive vehicles running over pyrotechnics. Summary of the invention

[0004] The present invention provides a sensing system for pyrotechnics matched with a mixed-explosives vehicle. The sensing system can automatically obtain a warning signal for the pyrotechnics, thereby solving the technical problem of the mixed-explosives vehicle crushing the pyrotechnics due to site limitations, visual blind spots, personnel command errors, driver operation errors, etc. at the blasting operation site.

[0005] A pyrotechnics sensing system matched with a mixed explosive vehicle comprises: a visual detection camera installed on the mixed explosive vehicle, a visual controller installed on the mixed explosive vehicle and a driving computer installed on the mixed explosive vehicle;

[0006] The visual detection camera collects information on pyrotechnics on the road conditions around the mixed explosives truck. The visual detection camera transmits the collected data to the visual controller through the data transmission protocol defined by the visual controller. The visual controller performs algorithm processing to obtain a warning signal for the pyrotechnics. The visual controller transmits the warning signal to the on-board computer through the CAN bus. After processing, the on-board computer instructs the emergency stop system of the mixed explosives truck to activate the emergency stop function, so that the mixed explosives truck stops quickly and prevents the mixed explosives truck from crushing the pyrotechnics.

[0007] Preferably, the method for the visual detection camera to obtain transmission data from the visual controller is:

[0008] The visual detection camera selects the first data transmission permission identifier μ s1 ← R Z p * , calculate the second data transmission permission identifier μ s2 = g^μs1 , and the second data transmission permission mark μ s2 Sent to the vision controller;

[0009] The visual controller calculates the third data transmission permission identifier μ of the visual detection camera s3 Auxiliary generation information of γ s3 =[μ s2 ^μ r0 ]×{[H1(ID s )]^μ r0}, and the auxiliary generation information γ s3 Send to the visual inspection camera;

[0010] Visual detection camera calculation third data transmission permission identifier μ s3 =γ s3 ÷[μ r1 ^μ s1 ];

[0011] The visual inspection camera registers a data transmission positioning mark κ with the visual controller s0 ← R Z p * , calculate the data transmission identification mark κ s1 =g^κ s0 , and transmit the data identification tag κ s1 Sent to the vision controller;

[0012] The visual controller generates the data transmission positioning number κ of the visual detection camera r0 ← R Z p * , calculate the data transmission identification number κ r1 =g^κ r0 , and transmit the data identification number κ r1 Send to the visual inspection camera;

[0013] The visual detection camera first calculates the data transmission permission information ν s ={[(H2(ID s ))×κ s1 ]^μ s1}×μ s3 , and then calculate the data M s-r Auxiliary positioning identification information ν sM =H0(M s-r- ∥(κ r1 ^κ s0 )), then output data packet P s-r = {ν s , M s-r , ν sM}, and finally the data packet P s-r Sent to the vision controller;

[0014] The visual controller verifies the equation e(ν s , g)=e([H2(ID s )]^κ s1 , μ s2 )×e([H1(ID s ), μ r1 ) is established to verify the data transmission permission information ν s Correctness:

[0015] If the equation does not hold, the data transmission failure mark is output. Otherwise, the calculated data M s-r Auxiliary positioning identification information ν' sM =H0(M s-r- ∥(κ s1 ^κ r0 ));

[0016] If the auxiliary positioning identification information ν' sM With auxiliary positioning identification information ν sM If they are equal, then the visual controller has located and identified the data M. s-r It is the information of pyrotechnics on the road conditions around the mixed explosive truck collected by the visual detection camera. Otherwise, the output data positioning recognition failure mark.

[0017] Preferably, the visual detection cameras include: a visual detection camera I installed at the front of the mixed explosives truck, a visual detection camera II installed at the left side of the mixed explosives truck, a visual detection camera III installed at the right side of the mixed explosives truck, and a visual detection camera IV installed at the rear of the mixed explosives truck.

[0018] Preferably, visual detection camera I collects pyrotechnic information on the road conditions ahead of the mixed explosives truck, visual detection camera II collects pyrotechnic information on the road conditions to the left of the mixed explosives truck, visual detection camera III collects pyrotechnic information on the road conditions to the right of the mixed explosives truck, and visual detection camera IV collects pyrotechnic information on the road conditions to the rear of the mixed explosives truck.

[0019] Preferably, the data collected by the visual detection cameras Ⅰ, Ⅱ, Ⅲ and Ⅳ are uniformly processed by the algorithm by the visual controller.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] The present invention provides a sensing system for pyrotechnics matched with a mixed explosive vehicle. The sensing system can actively identify and locate the pyrotechnics around the mixed explosive vehicle, and quickly stop the mixed explosive vehicle through a driving computer, thereby effectively overcoming the technical problems of the mixed explosive vehicle crushing the pyrotechnics due to site limitations, visual blind spots, personnel command errors, driver operation errors, etc. at the blasting operation site, resulting in damage, failure, and refusal to explode of the pyrotechnics. DETAILED DESCRIPTION

[0022] Embodiment 1:

[0023] A pyrotechnic sensing system matched with a mixed explosive vehicle, comprising: a visual detection camera I installed at the front of the mixed explosive vehicle, a visual detection camera II installed at the left side of the mixed explosive vehicle, a visual detection camera III installed at the right side of the mixed explosive vehicle, a visual detection camera IV installed at the rear of the mixed explosive vehicle, a visual controller installed inside the mixed explosive vehicle, and a driving computer installed inside the mixed explosive vehicle;

[0024] Visual detection camera I collects information about pyrotechnics on the road conditions ahead of the mixed-loaded explosive vehicle, visual detection camera II collects information about pyrotechnics on the road conditions to the left of the mixed-loaded explosive vehicle, visual detection camera III collects information about pyrotechnics on the road conditions to the right of the mixed-loaded explosive vehicle, and visual detection camera IV collects information about pyrotechnics on the road conditions to the rear of the mixed-loaded explosive vehicle;

[0025] The data collected by visual detection cameras Ⅰ, Ⅱ, Ⅲ and Ⅳ are uniformly processed by the vision controller through an algorithm to obtain a warning signal for pyrotechnics. The warning signal is transmitted to the on-board computer through the CAN bus. After processing, the on-board computer instructs the emergency stop system of the mixed explosives truck to activate the emergency stop function, so that the mixed explosives truck stops quickly and avoids the mixed explosives truck from crushing the pyrotechnics.

[0026] Embodiment 2:

[0027] The visual controller defines the data transmission protocol for each visual detection camera in the sensing system to transmit data. The specific operations are as follows:

[0028] Choose a large prime number p>2 k , k is a safety parameter;

[0029] Set G1 and G T are all multiplicative cyclic groups of order p, and g is a generator of G1;

[0030] Define e to identify a bilinear map G1×G1→G T ;

[0031] Choose a hash function H0: {0,1} * →Z p *={1,2,…p-1};

[0032] Choose two collision-resistant hash functions H1 and H2:

[0033] H1: {0,1} * →G1;

[0034] H2: {0,1} * →G1;

[0035] Select a data location management identifier μ r0 ← R Z p * , calculate the data identification management identifier μ r1 = g^μ r0 ; where μ r0 ← R Z p * Represents a Z from a uniform distribution p * Select element μ from r0 ;

[0036] Set the name of the vision controller in the sensing system DN r ∈{0,1} * ;

[0037] Set the name DN of the visual inspection camera I in the sensing system sⅠ ∈{0,1} * ;

[0038] Computer vision detection camera I identity information ID sⅠ =DN sⅠ ∥DN r ;

[0039] Set the name of the visual inspection camera II in the sensing system DN sⅡ ∈{0,1} * ;

[0040] Computer vision detection camera II identity information ID sⅡ =DN sⅡ ∥DN r ;

[0041] Set the name DN of the visual inspection camera III in the sensing system sⅢ ∈{0,1} * ;

[0042] Computer vision detection camera III identity information ID sⅢ =DN sⅢ ∥DN r ;

[0043] Set the name DN of the visual inspection camera IV in the sensing system sⅣ ∈{0,1} * ;

[0044] Computer vision detection camera IV identity information ID sⅣ =DN sⅣ ∥DN r ;

[0045] Among them, ∥ represents the splicing operation;

[0046] The parameters (e, G1, G T , p, g, H0, H1, H2, μ r1 , ID sⅠ , ID sⅡ , ID sⅢ , ID sⅣ ) is disclosed to each visual detection camera in the sensing system.

[0047] Embodiment three:

[0048] The visual inspection camera I obtains the data transmission permission from the visual controller and transmits data M to the visual controller. s-r-Ⅰ , the specific operations are as follows:

[0049] Visual detection camera I selects the first data transmission authority identifier μ s1Ⅰ ← R Z p * , calculate the second data transmission permission identifier μ s2Ⅰ = g^μ s1Ⅰ , and the second data transmission permission mark μ s2Ⅰ Sent to the vision controller;

[0050] The visual controller calculates the third data transmission permission identifier μ of the visual detection camera I s3Ⅰ Auxiliary generation information of γ s3Ⅰ =[μ s2Ⅰ ^μ r0 ]×{[H1(ID sⅠ )]^μ r0}, and the auxiliary generation information γ s3Ⅰ Send to visual inspection camera Ⅰ;

[0051] Visual detection camera I calculates the third data transmission permission identifier μ s3Ⅰ =γ s3Ⅰ ÷[μ r1 ^μ s1Ⅰ ];

[0052] The visual inspection camera I registers a data transmission positioning mark κ with the visual controller s0Ⅰ ← R Z p * , calculate the data transmission identification mark κ s1Ⅰ =g^κ s0Ⅰ , and transmit the data identification tag κ s1Ⅰ Sent to the vision controller;

[0053] The visual controller generates the data transmission positioning number κ of the visual detection camera Ⅰ r0Ⅰ ← R Z p * , calculate the data transmission identification number κ r1Ⅰ =g^κ r0Ⅰ , and transmit the data identification number κ r1Ⅰ Send to visual inspection camera Ⅰ;

[0054] Visual inspection camera I first calculates data transmission permission information ν sⅠ ={[(H2(ID sⅠ ))×κ s1Ⅰ ]^μ s1Ⅰ}×μ s3Ⅰ , and then calculate the data M s-r-Ⅰ Auxiliary positioning identification information ν sM-Ⅰ =H0(M s-r-Ⅰ ∥(κ r1Ⅰ ^κ s0Ⅰ )), then output data packet P s-r-Ⅰ = {ν sⅠ , M s-r-Ⅰ , ν sM-Ⅰ}, and finally the data packet P s-r-Ⅰ Sent to the vision controller;

[0055] The visual controller verifies the data transmission permission information ν by verifying whether equation (1) holds true sⅠ Correctness:

[0056] e(ν sⅠ , g)=e([H2(ID sⅠ )]^κ s1Ⅰ , μ s2Ⅰ )×e([H1(ID sⅠ ), μ r1 ) (1)

[0057] If equation (1) does not hold, the data transmission failure mark is output. Otherwise, the calculated data M s-r-Ⅰ Auxiliary positioning identification information ν' sM-Ⅰ =H0(M s-r-Ⅰ ∥(κs1Ⅰ ^κ r0Ⅰ ));

[0058] If the auxiliary positioning identification information ν' sM-Ⅰ With auxiliary positioning identification information ν sM-Ⅰ If they are equal, then the visual controller has located and identified the data M. s-r-Ⅰ It is the information of pyrotechnics on the road condition ahead of the mixed explosive vehicle collected by the visual detection camera I. Otherwise, the output data positioning recognition failure is marked.

[0059] Embodiment 4:

[0060] The visual inspection camera II obtains the data transmission permission from the visual controller and transmits data M to the visual controller. s-r-Ⅱ , the specific operations are as follows:

[0061] Visual detection camera II selects the first data transmission authority identifier μ s1Ⅱ ← R Z p * , calculate the second data transmission permission identifier μ s2Ⅱ = g^μ s1Ⅱ , and the second data transmission permission mark μ s2Ⅱ Sent to the vision controller;

[0062] The visual controller calculates the third data transmission permission identifier μ of the visual detection camera II s3Ⅱ Auxiliary generation information of γ s3Ⅱ =[μ s2Ⅱ ^μ r0 ]×{[H1(ID sⅡ )]^μ r0}, and the auxiliary generation information γ s3Ⅱ Send to visual inspection camera II;

[0063] Visual detection camera II calculates the third data transmission permission mark μ s3Ⅱ =γ s3Ⅱ ÷[μ r1 ^μ s1Ⅱ ];

[0064] The visual inspection camera II registers a data transmission positioning marker κ with the visual controller s0Ⅱ ← R Z p * , calculate the data transmission identification mark κ s1Ⅱ =g^κ s0Ⅱ , and transmit the data identification tag κ s1Ⅱ Sent to the vision controller;

[0065] The visual controller generates the data transmission positioning number κ of the visual detection camera II r0Ⅱ ← R Z p * , calculate the data transmission identification number κ r1Ⅱ =g^κ r0Ⅱ , and transmit the data identification number κ r1Ⅱ Send to visual inspection camera II;

[0066] Visual inspection camera II first calculates data transmission permission information ν sⅡ ={[(H2(ID sⅡ ))×κ s1Ⅱ ]^μ s1Ⅱ}×μ s3Ⅱ , and then calculate the data M s-r-Ⅱ Auxiliary positioning identification information ν sM-Ⅱ =H0(M s-r-Ⅱ ∥(κ r1Ⅱ ^κ s0Ⅱ )), then output data packet P s-r-Ⅱ = {ν sⅡ , M s-r-Ⅱ , ν sM-Ⅱ}, and finally the data packet P s-r-Ⅱ Sent to the vision controller;

[0067] The visual controller verifies the data transmission permission information ν by verifying whether equation (1) holds true sⅡ Correctness:

[0068] e(ν sⅡ , g)=e([H2(ID sⅡ )]^κ s1Ⅱ , μ s2Ⅱ )×e([H1(ID sⅡ ), μ r1 ) (2)

[0069] If equation (2) does not hold, the data transmission failure mark is output. Otherwise, the calculated data M s-r-Ⅱ Auxiliary positioning identification information ν' sM-Ⅱ =H0(M s-r-Ⅱ ∥(κ s1Ⅱ ^κ r0Ⅱ ));

[0070] If the auxiliary positioning identification information ν' sM-Ⅱ With auxiliary positioning identification information ν sM-Ⅱ If they are equal, then the visual controller has located and identified the data M. s-r-Ⅱ It is the information of pyrotechnics on the left side of the road condition of the mixed explosive truck collected by the visual detection camera II. Otherwise, the output data positioning recognition failure mark.

[0071] Embodiment five:

[0072] The visual inspection camera III obtains the data transmission permission from the visual controller and transmits data M to the visual controller. s-r-Ⅲ , the specific operations are as follows:

[0073] Visual detection camera III selects the first data transmission authority identifier μ s1Ⅲ ← R Z p * , calculate the second data transmission permission identifier μ s2Ⅲ = g^μ s1Ⅲ , and the second data transmission permission mark μ s2Ⅲ Sent to the vision controller;

[0074] The visual controller calculates the third data transmission permission identifier μ of the visual detection camera III s3Ⅲ Auxiliary generation information of γ s3Ⅲ =[μ s2Ⅲ ^μ r0 ]×{[H1(ID sⅢ )]^μ r0}, and the auxiliary generation information γ s3Ⅲ Send to visual inspection camera III;

[0075] Visual detection camera III calculates the third data transmission permission mark μ s3Ⅲ =γ s3Ⅲ ÷[μ r1 ^μ s1Ⅲ ];

[0076] The visual inspection camera III registers a data transmission positioning mark κ with the visual controller s0Ⅲ ← R Z p * , calculate the data transmission identification mark κ s1Ⅲ =g^κ s0Ⅲ , and transmit the data identification tag κ s1Ⅲ Sent to the vision controller;

[0077] The visual controller generates the data transmission positioning number κ of the visual detection camera III r0Ⅲ ← R Z p * , calculate the data transmission identification number κ r1Ⅲ =g^κ r0Ⅲ , and transmit the data identification number κ r1Ⅲ Send to visual inspection camera III;

[0078] Visual detection camera III first calculates data transmission permission information ν sⅢ ={[(H2(ID sⅢ ))×κ s1Ⅲ ]^μ s1Ⅲ}×μ s3Ⅲ , and then calculate the data M s-r-Ⅲ Auxiliary positioning identification information ν sM-Ⅲ =H0(M s-r-Ⅲ ∥(κ r1Ⅲ ^κ s0Ⅲ )), then output data packet P s-r-Ⅲ = {ν sⅢ , M s-r-Ⅲ , ν sM-Ⅲ}, and finally the data packet P s-r-Ⅲ Sent to the vision controller;

[0079] The visual controller verifies the data transmission permission information ν by verifying whether equation (1) holds true sⅢ Correctness:

[0080] e(ν sⅢ , g)=e([H2(ID sⅢ )]^κ s1Ⅲ , μ s2Ⅲ )×e([H1(ID sⅢ ), μ r1 ) (3)

[0081] If equation (3) does not hold, the data transmission failure mark is output. Otherwise, the calculated data M s-r-Ⅲ Auxiliary positioning identification information ν' sM-Ⅲ =H0(M s-r-Ⅲ ∥(κ s1Ⅲ ^κ r0Ⅲ ));

[0082] If the auxiliary positioning identification information ν' sM-Ⅲ With auxiliary positioning identification information ν sM-Ⅲ If they are equal, then the visual controller has located and identified the data M. s-r-Ⅲ It is the information of pyrotechnics on the right side of the road condition of the mixed explosive truck collected by the visual detection camera III. Otherwise, the output data positioning recognition failure mark.

[0083] Embodiment six:

[0084] The visual inspection camera IV obtains the data transmission permission from the visual controller and transmits data M to the visual controller. s-r-Ⅳ , the specific operations are as follows:

[0085] Visual detection camera IV selects the first data transmission authority identifier μ s1Ⅳ ←R Z p * , calculate the second data transmission permission identifier μ s2Ⅳ = g^μ s1Ⅳ , and the second data transmission permission mark μ s2Ⅳ Sent to the vision controller;

[0086] The visual controller calculates the third data transmission permission identifier μ of the visual detection camera IV s3Ⅳ Auxiliary generation information of γ s3Ⅳ =[μ s2Ⅳ ^μ r0 ]×{[H1(ID sⅣ )]^μ r0}, and the auxiliary generation information γ s3Ⅳ Send to visual inspection camera IV;

[0087] Visual detection camera IV calculates the third data transmission authority identifier μ s3Ⅳ =γ s3Ⅳ ÷[μ r1 ^μ s1Ⅳ ];

[0088] The visual inspection camera IV registers a data transmission positioning marker κ with the visual controller s0Ⅳ ← R Z p * , calculate the data transmission identification mark κ s1Ⅳ =g^κ s0Ⅳ , and transmit the data identification tag κ s1Ⅳ Sent to the vision controller;

[0089] The visual controller generates the data transmission positioning number κ of the visual detection camera IV r0Ⅳ ← R Z p * , calculate the data transmission identification number κ r1Ⅳ =g^κ r0Ⅳ , and transmit the data identification number κ r1Ⅳ Send to visual inspection camera IV;

[0090] The visual inspection camera IV first calculates the data transmission permission information ν sⅣ ={[(H2(ID sⅣ ))×κ s1Ⅳ ]^μ s1Ⅳ}×μ s3Ⅳ , and then calculate the data M s-r-Ⅳ Auxiliary positioning identification information ν sM-Ⅳ =H0(M s-r-Ⅳ ∥(κ r1Ⅳ ^κs0Ⅳ )), then output data packet P s-r-Ⅳ = {ν sⅣ , M s-r-Ⅳ , ν sM-Ⅳ}, and finally the data packet P s-r-Ⅳ Sent to the vision controller;

[0091] The visual controller verifies the data transmission permission information ν by verifying whether equation (4) holds true sⅣ Correctness:

[0092] e(ν sⅣ , g)=e([H2(ID sⅣ )]^κ s1Ⅳ , μ s2Ⅳ )×e([H1(ID sⅣ ), μ r1 ) (4)

[0093] If equation (1) does not hold, then the data transmission failure mark is output, otherwise the calculated data M s-r-Ⅳ Auxiliary positioning identification information ν' sM-Ⅳ =H0(M s-r-Ⅳ ∥(κ s1Ⅳ ^κ r0Ⅳ ));

[0094] If the auxiliary positioning identification information ν' sM--Ⅳ With auxiliary positioning identification information ν sM-Ⅳ If they are equal, then the visual controller has located and identified the data M. s-r-Ⅳ It is the information of pyrotechnics on the rear road condition of the mixed explosive truck collected by the visual detection camera IV. Otherwise, the output data positioning recognition failure is marked.

Claims

1. A pyrotechnic induction system matched with a mixed explosive vehicle, characterized in that: include: A visual inspection camera installed on the mixed explosives truck, a visual controller installed on the mixed explosives truck, and a driving computer installed on the mixed explosives truck; The visual detection camera collects information on pyrotechnics on the road conditions around the mixed explosives truck. The visual detection camera transmits the collected data to the visual controller through the data transmission protocol defined by the visual controller. The visual controller performs algorithm processing to obtain a warning signal for the pyrotechnics. The visual controller transmits the warning signal to the on-board computer through the CAN bus. After processing, the on-board computer instructs the emergency stop system of the mixed explosives truck to activate the emergency stop function, so that the mixed explosives truck stops quickly and prevents the mixed explosives truck from crushing the pyrotechnics.

2. The induction system for explosives matched with a mixed explosive vehicle according to claim 1, characterized in that: The method for the visual inspection camera to obtain transmission data from the visual controller is: The visual detection camera selects the first data transmission permission identifier μ s1 ← R Z p * , calculate the second data transmission permission identifier μ s2 = g^μ s1 , and the second data transmission permission mark μ s2 Sent to the vision controller; The visual controller calculates the third data transmission permission identifier μ of the visual detection camera s3 Auxiliary generation information of γ s3 =[μ s2 ^μ r0 ]×{[H1(ID s )]^μ r0 }, and the auxiliary generation information γ s3 Send to the visual inspection camera; Visual detection camera calculation third data transmission permission identifier μ s3 =γ s3 ÷[μ r1 ^μ s1 ]; The visual inspection camera registers a data transmission positioning mark κ with the visual controller s0 ← R Z p * , calculate the data transmission identification mark κ s1 =g^κ s0 , and transmit the data identification tag κ s1 Sent to the vision controller; The visual controller generates the data transmission positioning number κ of the visual detection camera r0 ← R Z p * , calculate the data transmission identification number κ r1 =g^κ r0 , and transmit the data identification number κ r1 Send to the visual inspection camera; The visual detection camera first calculates the data transmission permission information ν s ={[(H2(ID s ))×κ s1 ]^μ s1 }×μ s3 , and then calculate the data M s-r Auxiliary positioning identification information ν sM =H0(M s-r- ∥(κ r1 ^κ s0 )), then output data packet P s-r = { s , M s-r , ν sM }, and finally the data packet P s-r Sent to the vision controller; The visual controller verifies the equation e(ν s , g)=e([H2(ID s )]^κ s1 , μ s2 )×e([H1(ID s ), μ r1 ) is established to verify the data transmission permission information ν s Correctness: If the equation does not hold, the data transmission failure mark is output. Otherwise, the calculated data M s-r Auxiliary positioning identification information ν' sM =H0(M s-r- ∥(κ s1 ^κ r0 )); If the auxiliary positioning identification information ν' sM and auxiliary positioning identification information ν sM If they are equal, then the visual controller has located and identified the data M. s-r It is the information of pyrotechnics on the road conditions around the mixed explosive truck collected by the visual detection camera. Otherwise, the output data positioning recognition failure mark.

3. The induction system for explosives matched with a mixed explosive vehicle according to claim 1, characterized in that: The visual detection cameras include: visual detection camera I installed on the front of the mixed explosives truck, visual detection camera II installed on the left side of the mixed explosives truck, visual detection camera III installed on the right side of the mixed explosives truck and visual detection camera IV installed on the rear of the mixed explosives truck.

4. The induction system for explosives matched with a mixed explosive vehicle according to claim 3 is characterized in that: Visual detection camera I collects information on pyrotechnics on the road conditions ahead of the mixed explosives truck, visual detection camera II collects information on pyrotechnics on the road conditions to the left of the mixed explosives truck, visual detection camera III collects information on pyrotechnics on the road conditions to the right of the mixed explosives truck, and visual detection camera IV collects information on pyrotechnics on the road conditions behind the mixed explosives truck.

5. The induction system for explosives matched with a mixed explosive vehicle according to claim 4, characterized in that: The data collected by visual inspection cameras Ⅰ, Ⅱ, Ⅲ and Ⅳ are uniformly processed by the algorithm of the visual controller.