Rocket blasting path opening method and device

Abstract

The invention relates to the technical field of rocket blasting, and discloses a method and a device for opening up a rocket blasting passage. According to the method, a battlefield environment is scanned in real time through a laser radar to construct an obstacle thermodynamic diagram matrix, hierarchical rocket thrust and flexible blasting cable parameters are calculated in combination with convolution kernel analysis, a two-channel cooperation mechanism is adopted to synchronously release blasting cables, and space coordinates are calibrated; and a dynamic detonation sequence is generated based on barrier density partitions to achieve center opening type blasting, and system parameters are optimized through channel width measurement feedback after three-stage recovery operation is completed. According to the method, intelligent planning and self-adaptive adjustment of the blasting path are realized, the path opening accuracy and the operation efficiency in a complex battlefield environment are remarkably improved, and meanwhile, the equipment loss risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of rocket blasting technology, and in particular to a method and apparatus for creating a rocket blasting path. Background Technology

[0002] Rocket blasting technology is a crucial means of rapidly opening passageways in military and engineering fields, playing a key role, especially in clearing obstacles and paving routes for heavy armored vehicles. However, existing rocket blasting methods have significant shortcomings in terms of efficiency and accuracy in passageway opening. Traditional methods typically employ fixed, preset detonation sequences, failing to dynamically adjust the blasting sequence according to terrain or environment. This results in a lack of regional precision in triggering blasting units, easily leading to insufficient or excessive blasting in certain areas, affecting overall passage safety and uniformity. Furthermore, the post-blast support recovery process is often manual or delayed, failing to respond immediately to the completion of the blast, causing supports to remain or not be recovered in a timely manner, reducing operational efficiency and increasing on-site safety hazards. Simultaneously, existing systems lack a real-time synchronous signal generation mechanism, unable to automatically provide feedback on local blast status and support recovery commands after blasting. This makes it difficult for the command center to dynamically coordinate subsequent actions, further reducing the overall coordination and accuracy of passageway opening. Therefore, there is an urgent need for a method and system capable of dynamic detonation sequence control, rapid post-blast support folding and recovery, and simultaneous generation of multiple signals to improve the efficiency and accuracy of rocket blasting passageway opening. Summary of the Invention

[0003] This invention provides a method and apparatus for opening a rocket blasting passage, which solves the problem of how to efficiently and accurately open a passage by triggering blasting units in different areas according to dynamic detonation sequence commands, immediately folding and retrieving the corresponding area's detachable support after blasting, and simultaneously generating local blasting signals and status commands for the recovered modules during the rocket blasting passage opening process.

[0004] To solve the above-mentioned technical problems, the present invention provides a method for opening a rocket blasting path, comprising: Real-time battlefield environment data is collected, and the three-dimensional coordinates of obstacles are identified by laser radar point cloud scanning. Density values ​​are calculated by dividing the data into one-meter grids, and a color-coded obstacle heat map matrix is ​​generated. The battlefield environment data is collected in real time from the battlefield reconnaissance unit through a data receiving interface. The battlefield reconnaissance unit includes UAV-borne laser radar, millimeter-wave radar, and visible light or infrared imaging equipment. After acquiring the raw sensor data, an obstacle location scanning operation is immediately performed. The operation uses a laser radar point cloud processing algorithm to analyze the collected point cloud data, identify and extract the spatial three-dimensional coordinate information representing obstacles, including anti-tank mines, concrete roadblocks, barbed wire, trench edges, and large craters. The density gradient magnitude is extracted by performing convolution kernel traversal on the obstacle heatmap matrix, and the staged rocket thrust requirement is calculated by combining environmental disturbance compensation. The flexible explosive cable segment length is calculated collaboratively and buffer release parameters are pre-configured to generate ballistic parameters and cable release status. The rocket's flight trajectory is controlled based on ballistic parameters. The explosive cord is released synchronously through a dual-channel collaborative mechanism. After real-time monitoring of tension and path adjustment, UWB tags are deployed to calibrate the spatial coordinates. Extract the spatial coordinates of the blasting unit and match them with the rasterized partition of the obstacle heat map matrix. Calculate the radiation radius according to the centroid of the density partition and construct a layered detonation sequence to generate dynamic detonation timing instructions. According to the dynamic detonation sequence command, the blasting units are triggered in different areas to form a central flowering blasting wave. After the support vibration detection meets the standard, a three-stage recovery operation of electromagnetic unlocking, hydraulic reset, and memory alloy folding is performed. Seven sets of channel widths were measured at 0.5-meter intervals along the blasting cable path. The deviation dataset was generated by comparing the expected values ​​with the thermal map and then feeding back the thrust / tension / length corrections to the scanning resolution and grid accuracy parameters.

[0005] Furthermore, the formation of a central blooming blast wave by regionally triggering blasting units according to dynamic detonation sequence commands includes: The mapping relationship between the partition number and the detonation countdown in the instruction is analyzed by the instruction decoder, and the digital instruction is converted into a physical control signal and transmitted to the distributed detonation controller. Each blasting unit includes a miniature detonator, a high-energy explosive charge, an area positioning chip, and an anti-interference signal receiver. When the target area number matches the area positioning chip code, a countdown timer is activated and the operation is carried out in two stages: the first stage outputs a low-current preheating pulse to bring the miniature detonator to the critical excitation state, and the second stage injects a 24-volt trigger pulse to detonate the charge when the countdown reaches zero.

[0006] Furthermore, the hierarchical control architecture achieves regional triggering in the following way: the main controller sends batch instructions to the regional sub-controllers, and the sub-controllers autonomously schedule the unit-level triggering sequence according to the topological relationship calibrated by spatial coordinates; in the circular obstacle area scenario, the explosive unit of the central partition number A0 detonates at zero time, the unit of the partition number A1 within ten meters of the center detonates with a delay of fifty milliseconds, and the unit of the outer partition number A2 detonates with a delay of one hundred milliseconds, forming a central flower-shaped explosive wave propagation path.

[0007] Furthermore, the process of triggering blasting units in different areas according to the dynamic detonation sequence command to form a central blooming blasting wave, and then performing a three-stage recovery operation of electromagnetic unlocking, hydraulic reset, and shape memory alloy folding after the support vibration detection meets the standard includes: After all the blasting units in a certain area are detonated, the vibration sensor detects the attenuation of the shock wave at a sampling frequency of no less than 5 kHz. When the vibration amplitude drops to 200 meters per square second within 0.5 milliseconds, the blasting is considered complete. The area status monitor sends the coordinates of the blasting area and the deformation compensation of the support structure to the recovery controller.

[0008] Furthermore, the detachable bracket recovery operation is performed in three steps: First, the electromagnetic locking connector is disconnected within three milliseconds after power is cut off; second, the hydraulic actuator adjusts the stroke according to the deformation compensation amount to restore the frame to the reference shape; third, the shape memory alloy hinge is energized and heated to 80 degrees Celsius to trigger the folding characteristic, driving the truss to retract at an angular velocity of 3.5 radians per second.

[0009] Furthermore, the recovery linkage mechanism is achieved by sharing the time base signal of the detonation controller: when the last blasting unit in a certain area is triggered, a dynamic delay timer is started. The delay is calculated based on the area of ​​the density partition. The delay is 10 milliseconds for a small area of ​​5 meters by 5 meters and 25 milliseconds for a large area of ​​10 meters by 10 meters, ensuring precise connection between vibration detection and recovery initiation.

[0010] Furthermore, the signal synchronization of the dual parallel processing channels includes: the blasting signal generation channel collects the initiation feedback current and shock wave pressure peak of each blasting unit, and generates a signal containing the coordinates of the blasting area, the actual initiation timestamp, and the effective radius when the current pulse and the pressure value exceed 15 MPa; the recovery status monitoring channel records the truss retraction angle through the joint encoder and generates a status command containing the support number, the recovery completion gradient value, and the structural integrity code.

[0011] Furthermore, the signal fusion adopts a spatiotemporal alignment mechanism: taking the moment of blasting completion as the reference point, the corresponding support recovery data is acquired within a 50-millisecond time window, encapsulated into a unified data frame containing head identifier, area number, blasting feature code, recovery status code and check bit, and transmitted to the armored vehicle control terminal via military data link.

[0012] Furthermore, the release of blast energy causes the obstacle to collapse in a directional manner through the superposition effect of shock waves, creating a passageway with a width of not less than 3.5 meters.

[0013] Furthermore, a rocket blasting path opening device, applied to the method described in any of the above, includes: The environmental scanning module performs real-time acquisition of battlefield environmental data to generate an obstacle heatmap matrix; The collaborative computing module performs tasks such as extracting density gradient magnitude to calculate rocket thrust requirements, solving for flexible blasting cable length parameters, and pre-configuring buffer release parameters. The trajectory control module controls the rocket's flight trajectory, adjusts the coverage path of the blasting cable, and calibrates the spatial coordinates. The detonation decision module executes matching blasting unit locations and density partitions to construct a layered detonation sequence and generate dynamic detonation timing instructions. The linkage execution module executes the regionally triggered blasting units to form a central, blooming blasting wave, and coordinates the three-stage recovery operation of the support frame. The closed-loop feedback module generates a deviation dataset by measuring the channel width and then feeds back to correct the scanning resolution and grid accuracy parameters.

[0014] The key innovations of this invention include: (1) Constructing a dynamic regional control mechanism: Based on the blasting path demand and resistance distribution model, dynamic detonation commands are generated through a time-series decomposition function to realize independent triggering control of blasting units divided by spatial regions, ensuring that the detonation sequence matches the channel opening requirements in real time.

[0015] (2) Design of a detachable support self-triggering recovery structure: adopt a folding drive mechanism that couples blast impact sensing with mechanical deformation, so that the support will immediately trigger physical deformation after blasting in the corresponding area, and realize autonomous folding and recovery under no-power conditions.

[0016] (3) Establish a synchronous feedback mechanism for blasting-recovery status: The blasting completion event and the support recovery status are encoded into a joint command stream through a local signal fusion function, generating real-time channel status mapping data to form a closed-loop control basis.

[0017] The following are its main beneficial effects: (1) Improve the accuracy and timeliness of channel opening: This invention transforms the blasting path requirements into time-series instructions that are triggered independently in different regions through a dynamic regional control mechanism. This avoids the problems of uneven channel width or obstacle residue caused by traditional global synchronous blasting, significantly improves the matching accuracy between the opened path and the target passage, and reduces the time spent on secondary cleanup.

[0018] (2) Achieve efficient recovery and safety assurance of operational equipment: The designed self-triggering folding recovery structure starts the support deformation recovery immediately after the blasting impact, without the need for additional power or manual intervention, completely eliminating the risk of traditional support residues obstructing passing vehicles and reducing battlefield exposure time.

[0019] (3) Constructing a closed-loop control capability for the entire process: By integrating local blasting signals and support recovery status through a synchronous feedback mechanism, a channel availability command is generated in real time, enabling the command system to dynamically adjust subsequent blasting strategies or passage commands. This breaks through the response delay bottleneck caused by the separation of "execution-observation-decision" in traditional blasting operations, and significantly improves the efficiency of passage opening and system robustness in complex battlefield environments. Attached Figure Description

[0020] Figure 1A flowchart illustrating a method for opening a rocket blasting path, provided as an embodiment of this application; Figure 2 A structural block diagram of a rocket blasting passage opening device provided in an embodiment of this application; Figure 3 This is a structural block diagram of a rocket detonator provided in an embodiment of this application; Figure 4 This is a cutaway view of the rocket detonator housing provided in an embodiment of this application; Figure 5 This is a diagram of the internal structure of a rocket detonator provided in an embodiment of this application; Figure 6 This is a structural diagram of the control system provided in an embodiment of this application; Figure 7 A diagram illustrating the control marking rope coiling method provided in this application embodiment; Figure 8 This is a diagram showing the warhead deployment configuration provided in an embodiment of this application. Detailed Implementation

[0021] Example 1: Refer to Figure 1 This is a flowchart illustrating a method for creating a rocket blasting path according to an embodiment of the present invention. The process may include at least steps S100-S600: S100: Collects battlefield environmental data in real time, identifies the three-dimensional coordinates of obstacles through lidar point cloud scanning, divides the grid into one-meter grids to calculate density values, and generates a color-coded obstacle heat map matrix.

[0022] S200: Performs convolution kernel traversal on the obstacle heatmap matrix to extract density gradient magnitude, calculates the staged rocket thrust requirements in conjunction with environmental disturbance compensation, collaboratively solves the segment length of the flexible explosive cable and pre-configures buffer release parameters, and generates ballistic parameters and cable release status.

[0023] S300: Controls the rocket's flight trajectory based on ballistic parameters, releases the explosive cable synchronously through a dual-channel collaborative mechanism, and deploys UWB tags to calibrate spatial coordinates after real-time monitoring of tension and path adjustment.

[0024] S400: Extract the spatial coordinates of the blasting unit and match them with the rasterized partitions of the obstacle heat map matrix. Calculate the radiation radius according to the centroid of the density partition and construct a layered detonation sequence to generate dynamic detonation timing instructions.

[0025] S500: The blasting units are triggered in different areas according to the dynamic detonation sequence command to form a central blooming blasting wave. After the support vibration detection meets the standard, a three-stage recovery operation of electromagnetic unlocking, hydraulic reset, and shape memory alloy folding is performed.

[0026] S600: Measure seven sets of channel widths at 0.5-meter intervals along the blasting cable path, compare with the expected values ​​of the heat map to generate a deviation dataset, and integrate the thrust / tension / length corrections to feed back to the scanning resolution and grid accuracy parameters.

[0027] Step S100 includes at least steps S110-S130: S110. Acquire battlefield environment data, perform obstacle location scanning and density calculation, and obtain obstacle distribution data.

[0028] Specifically, when executing the rocket-propelled blasting path opening method, step S110 is first performed to acquire battlefield environment data and generate obstacle distribution data. Battlefield environment data is collected in real-time from a battlefield reconnaissance unit via a data receiving interface. This reconnaissance unit includes an unmanned aerial vehicle (UAV)-borne lidar, millimeter-wave radar, and visible light or infrared imaging equipment. These devices continuously generate raw sensor data streams covering the target path opening area. A reliable data communication link ensures real-time transmission and integrity of the environmental data between the data receiving interface and the reconnaissance unit. Immediately after acquiring the raw sensor data, an obstacle location scanning operation is performed. This operation utilizes lidar point cloud processing algorithms to analyze the acquired point cloud data, identify and extract spatial three-dimensional coordinate information representing obstacles, including anti-tank mines, concrete roadblocks, barbed wire, trench edges, and large craters. Simultaneously, millimeter-wave radar echo signal processing technology is used to cross-validate and supplement the point cloud analysis results, particularly for irregularly shaped obstacles or partially obscured objects, to enhance positioning and significantly improve obstacle positioning accuracy. Each identified obstacle's center point or salient feature point is assigned a unique identifier and precise geographic coordinates, using latitude and longitude or a local coordinate system relative to the launch point. After completing the obstacle location scan, obstacle density calculation is performed. The target clearance area is divided into grid cells with a side length of one meter on the horizontal plane projection. For each grid cell, the number of identified obstacle points within its boundary is counted in parallel. This number is divided by the grid cell area to obtain the areal density value; alternatively, different weights are assigned to obstacles based on their type, and the number of obstacle points is weighted and then divided by the grid cell area to obtain a weighted density value. Landmine-type obstacles have a higher weight than barbed wire obstacles. Finally, the data set containing all grid cell coordinate information, a list of specific obstacle locations within the cell and their unique identifiers, coordinate information, and the calculated areal density value or weighted density value is structured, stored, and output to form obstacle distribution data. This obstacle distribution data serves as the input data source for the subsequent step S120.

[0029] S120. Perform real-time dynamic region division on the obstacle distribution data to generate density zoning information.

[0030] After receiving the obstacle distribution data output in step S110, step S120 is executed to achieve real-time dynamic region division and generate density partitioning information. This process first reads the density value of each grid cell in the obstacle distribution data, and then, based on a preset low density threshold... Medium density threshold and high density threshold The grid cells are initially classified, among which Less than ,and Less than The classification results were then processed using an improved density-based spatial clustering algorithm, which aggregates grid cells with similar densities and spatially adjacent locations into contiguous regions. During clustering, the algorithm's core parameters, including the neighborhood radius and minimum number of points, are adaptively and dynamically adjusted based on the overall obstacle density distribution: a smaller neighborhood radius is automatically used in densely obstacle-prone areas to create fine-grained high-density partitions, while a larger neighborhood radius is used in sparsely obstacle-prone areas to avoid generating fragmented partitions. The clustering results divide the target pathway area into multiple non-overlapping sub-regions. Each sub-region has relatively uniform obstacle density characteristics and is labeled as a low-density, medium-density, or high-density area. For each sub-region, its spatial boundary is recorded, and the precise boundary is determined using the coordinates of all grid cells constituting the region. A unique identifier for the region is generated, and the average density value is calculated based on the arithmetic or weighted average of the density values ​​of all contained grid cells, labeling the region with a density level tag. Furthermore, spatial adjacency topology information between sub-regions is established to describe the relative spatial positions of each partition. Finally, the identifiers, boundary information, average density values, density level labels, and regional topological relationship information of all sub-regions are integrated into structured partition data to form density partition information. This density partition information serves as a key input for the subsequent step S130.

[0031] S130. Based on the density partitioning information, a heat map matrix is ​​constructed to generate an obstacle heat map matrix.

[0032] The heatmap matrix construction in step S130 is performed using the density zoning information output in step S120. First, based on the total size of the target access area in the local Cartesian coordinate system at the launch point, the data structure of the two-dimensional matrix is ​​determined. The number of rows M and columns N correspond to the number of grid cells after discretization of the region along the east-west X-axis and north-south Y-axis at a resolution of 0.5 meters per pixel, forming an M-row, N-column two-dimensional array. The geographic spatial discrete points corresponding to each element in this two-dimensional matrix are traversed, and the density sub-region to which it belongs is determined through spatial inclusion judgment. The average density value of the corresponding sub-region or the standard quantization value mapped according to the density level is assigned to the corresponding element position in the matrix. To enhance visual resolution and subsequent processing efficiency, a color mapping encoding operation is further implemented: different density value ranges are mapped to preset color indices; low density values ​​are mapped to blue (cool tone), medium density values ​​to yellow, and high density values ​​to red (warm tone). The color mapping rules are stored in an independent lookup table or embedded in the matrix data header information. After assigning values ​​and color-coding all matrix elements, a digital matrix—the obstacle heatmap matrix—is generated, intuitively reflecting the spatial distribution characteristics of obstacle density within the target's path-opening area. This matrix's data structure is closely linked to the requirements of subsequent steps: row and column indices directly map to geographic coordinates, element values ​​precisely quantify the obstacle density level at corresponding locations, and embedded color coding supports rapid visual evaluation and zone identification. The final obstacle heatmap matrix, as the core output of step S100, is directly provided to the subsequent step S200 for extracting obstacle density gradient data to calculate rocket thrust requirements, forming a closed-loop data processing flow. The heatmap matrix constructed in this step condenses battlefield obstacle information in a structured, quantifiable, and visual form, laying the data foundation for precise collaborative calculation of ejection parameters.

[0033] Step S200 includes at least steps S210-S230: S210. Extract obstacle density gradient data from the obstacle heat map matrix and calculate rocket thrust requirements.

[0034] The input is the obstacle heatmap matrix generated in step S130, which contains density partitioning information for real-time dynamic region division. The output is a set of rocket thrust requirement parameters, including graded thrust thresholds and corresponding durations. This step performs spatial gradient analysis, specifically: by performing convolution kernel traversal processing on the obstacle heatmap matrix, the rate of change of obstacle density between each partition unit and its neighboring units is calculated. A pixel window of a specific size is used for continuous sliding scans to analyze the density difference between the central unit and its surrounding neighboring units, generating density gradient vectors in both horizontal and vertical dimensions. The two vectors are synthesized to obtain the density gradient amplitude, which characterizes the intensity of abrupt changes in obstacle distribution. This amplitude exhibits a significant peak characteristic in areas of abrupt changes in obstacle properties. Based on the density gradient amplitude, a graded thrust mapping model is constructed: when the density gradient amplitude does not exceed a first preset threshold, a linearly increasing base thrust curve is invoked; when the density gradient amplitude is between the first and second thresholds, an enhanced thrust function with exponential growth characteristics is activated; when the density gradient amplitude exceeds the second threshold, a peak thrust envelope with periodic fluctuations is activated. The dynamic parameters in the aforementioned thrust model are all matched and obtained from a pre-set ballistic coefficient library. A real-time environmental disturbance compensation mechanism is superimposed: environmental disturbance factors are acquired through wind speed sensors; when the horizontal wind speed exceeds a critical value, a compensation term proportional to the square of the wind speed is added to the thrust function at each stage; when vertical turbulence intensity exceeds the limit, the allowable range of thrust fluctuations is dynamically expanded. Finally, a rocket thrust requirement parameter set is generated, including threshold functions and their durations for the basic thrust stage, enhanced thrust stage, and peak thrust stage. This parameter set serves as the core output and is synchronously transmitted to subsequent steps S220 and S230.

[0035] S220. Based on the obstacle density gradient data and thrust requirements, perform a collaborative calculation of the flexible blasting cable length parameter.

[0036] The input consists of the density gradient magnitude and rocket thrust requirement parameter set output from step S210. The output is a flexible blasting cable segment length configuration table, including the core blasting zone extension coefficient and end-of-pipe redundancy configuration. This step is implemented according to a collaborative calculation process: First, the blasting cable extension coefficient is determined based on the density gradient magnitude. This coefficient is jointly determined by the material elasticity compensation factor and the ratio of the gradient magnitude to the maximum threshold. The extension coefficient is multiplied by the nominal cable length to obtain the basic coverage length. Second, the thrust-length coupling optimization mechanism is activated: when the thrust requirement parameters increase significantly or the duration of the peak thrust stage exceeds a critical value, extension compensation calculation is dynamically triggered. This compensation amount is jointly determined by the thrust-deformation conversion coefficient and the integral value of the thrust function exceeding the basic thrust in the corresponding time domain. Finally, the core zone length is the basic coverage length plus the dynamic extension compensation amount. In the end-of-pipe redundancy configuration stage, a safety margin is calculated based on the environmental disturbance factor and the terrain complexity weighting coefficient, and the redundancy segment length is increased bidirectionally based on the core zone length. The output segment length configuration table details three types of segments: the core blasting segment achieves precise coverage of high-density obstacle zones by fusing density gradient magnitude and thrust integral; the front buffer segment and the rear anchoring segment utilize redundancy design to resist initial launch disturbances and suppress landing impact, respectively. This configuration table is directly transmitted to step S230.

[0037] S230, combining rocket thrust requirements and blasting cable length parameters, executes buffer release device pre-configuration, generating ballistic parameters and cable release status.

[0038] The input consists of the thrust requirement parameter set from step S210 and the segment length configuration table from step S220. The output includes a ballistic parameter vector and a cable release state matrix. The implementation process is achieved through a three-level joint control mechanism: the ballistic parameter generation stage calculates the minimum launch elevation angle based on the peak thrust threshold in the thrust requirement parameter set, combined with the load mass and friction coefficient; the ideal ballistic parabola is calculated based on the core blasting section length and the launch elevation angle to determine the initial launch velocity that meets the coverage requirements; the azimuth angle is derived from the centroid coordinates of the high-density region in the obstacle heatmap matrix. The buffer release pre-configuration stage sets a multi-level tension threshold sequence: the initial segment tension threshold is associated with the basic thrust stage to ensure rapid cable straightening; the climb segment threshold matches the enhanced thrust stage to achieve mid-course acceleration coordination; the dive segment threshold corresponds to the peak thrust stage to effectively suppress terminal impact. The release rate control establishes a mapping relationship with the thrust change gradient, and the release rate is dynamically adjusted with thrust changes through a coupling coefficient. The anti-entanglement mechanism activates the spiral release mode when the total length of the explosive cable exceeds a safety threshold, using angular velocity control to unfold the cable along a spiral trajectory. The final output ballistic parameter vector clearly defines the launch elevation angle, azimuth angle, and initial velocity; the cable release state matrix defines in detail the tension threshold, dynamic release rate, and special control commands for each release stage. This output directly drives subsequent rocket propulsion control and tension monitoring.

[0039] Step S300 includes at least steps S310-S330: S310. Based on the ballistic parameters, control the launch trajectory of the rocket booster and perform a synchronous release operation of the flexible blasting cable.

[0040] Step S310, based on the ballistic parameters and cable release status generated in S230, executes trajectory control of the rocket booster and synchronous release of the flexible blasting cable. First, it receives a set of ballistic parameters from S230, including the rocket launch elevation angle, initial velocity vector, flight altitude curve, and terminal coordinate positioning data. The rocket booster's attitude control unit analyzes the launch elevation angle and initial velocity vector from the ballistic parameters, driving the servo motor to adjust the booster launcher's pitch angle to a preset error range of ±0.5°. When the rocket booster ignition procedure is initiated, simultaneously with the propellant combustion generating thrust, the first end of the flexible blasting cable is fixed to the rocket tail fin connecting ring via a traction coupling mechanism. The synchronized release operation is achieved through a dual-channel collaborative mechanism: the first channel is controlled by the rocket flight trajectory real-time feedback system, which continuously collects triaxial acceleration and angular velocity data through an inertial measurement unit installed at the tail of the thruster, and combines this with latitude and longitude coordinates updated 200 times per second by the GPS positioning module to correct trajectory deviations in real time; the second channel is the explosive cable release rate control system, which controls the on / off cycle of the electromagnetic clutch of the buffer release device according to the pre-configured cable length-time correspondence table in the cable release state (this table is generated by the collaborative calculation results of S220). When the rocket's flight altitude reaches the release threshold defined by S230, the tension trigger switch in the release device automatically releases the mechanical lock, and the explosive cable drum releases the explosive cable at a linear velocity of 1.5m / s ± 0.2m / s under the drive of the constant tension winch, ensuring that the cable unfolding process dynamically matches the rocket's flight trajectory. The input data source for this step is the ballistic parameters (including the sequence of three-dimensional coordinate trajectory points) generated by S230 and the cable release status (including the length of the blasting cable and the release acceleration curve); the output product is the preliminary spatial topology of the deployed flexible blasting cable, and its spatial coverage forms a preliminary spatial mapping relationship with the high-density area in the obstacle heat map matrix generated by S130.

[0041] S320. Monitor the release tension in real time according to the release state of the cable and adjust the coverage path of the blasting cable.

[0042] After the initial release of the blasting cable in S310, step S320 is executed for real-time monitoring of release tension and path adjustment. The core processing unit is a distributed tension sensor array, which consists of miniature pressure sensors spaced 3 meters apart along the blasting cable. Each sensor node transmits tension data to the central control module via the Zigbee wireless protocol at a sampling rate of 100Hz. The central control module performs dynamic adjustment decisions based on the theoretical tension threshold range in the cable release state generated in S230 (this range is determined collaboratively by the rocket thrust requirements of S210 and the blasting cable length parameters of S220). When the measured tension values ​​of 5 consecutive sensor nodes exceed the theoretical threshold range by 15%, it is determined as a path deviation event (especially in areas where the obstacle density gradient change rate is greater than 0.35 / m, and this gradient data comes from the obstacle density gradient data extracted in S210), and the system automatically triggers the path correction mechanism. The cable tension is altered by adjusting the opening of the hydraulic damper in the buffer release device. When an excessive tension is detected in a certain section, the electromagnetic proportional valve is controlled to increase the damper opening by 8%-12%, causing the blasting cable to form a new suspension curve under gravity. The rocket thruster's vector nozzle is simultaneously fine-tuned according to the tension distribution, with the nozzle deflection angle controlled within ±3° to achieve trajectory coordination. Real-time obstacle position update data, sourced from the same origin as the S110 battlefield environment scan data, is used to dynamically insert obstacle avoidance nodes into the blasting cable path planning algorithm. Each newly added node generates new control point coordinates, and the spatial curve of the blasting cable is reconstructed using a cubic spline interpolation algorithm, ensuring spatial alignment between the path optimization results and the density zoning information generated by S120. The input data for this step are the preliminary spatial topology of the blasting cable output from S310 and the cable release state parameters from S230; the output product is the optimized spatial path coordinate set of the blasting cable.

[0043] S330. Spatial coordinate calibration is performed on the adjusted blasting cable coverage path to generate the spatial coordinates of the flexible blasting cable.

[0044] Based on the adjusted blasting cable coverage path in S320, step S330 performs spatial coordinate calibration. UWB positioning tags are deployed at key nodes of the blasting cable, with the tag spacing set to 5 meters according to the flexible blasting cable length parameters calculated in S220, forming a positioning node network. A multi-source fusion positioning system is constructed using a TDOA positioning network composed of ground mobile base stations (base station locations are bound to geographic reference points in the battlefield environment data acquired in S110) and a laser ranging module at the rocket's tail. The coordinate calibration process first performs raw data acquisition: the UWB positioning tags broadcast pulse signals at a frequency of 50Hz; after at least three ground base stations receive the signals, the arrival time difference is calculated to generate the tag's two-dimensional planar coordinates (X, Y); simultaneously, the laser ranging module projects a 905nm band laser onto the blasting cable, obtaining the cable's height above the ground (Z) using the time-of-flight method. Each set of (X, Y, Z) coordinates is appended with a millisecond-level timestamp to form an initial spatial point cloud. Subsequently, a coordinate system transformation is performed: using the geofence vertices in the S120 density zoning information as reference control points, the UWB local coordinates are transformed to the global coordinate system (which is consistent with the coordinate system used when constructing the obstacle heatmap matrix in S130) through an affine transformation matrix. Height data is compensated using a terrain elevation model-based algorithm to eliminate undulation errors. Finally, spatial topology modeling is implemented: based on the rigid connection constraints formed between adjacent positioning tags, the spatial morphology of the cable body is fitted using a piecewise catenary equation, and the center point coordinates of each blasting unit are generated based on the length parameters calculated in S220. The output includes three types of structured data: a blasting cable node coordinate set recording the three-dimensional coordinates of all tags; a blasting unit position mapping table marking the precise position of each blasting unit in the global coordinate system; and a spatial topology relation matrix describing the geometric connection relationships between nodes. The input data for this step are the blasting cable spatial path optimized by S320 and the battlefield environment geographic reference points of S110; the output product is the blasting unit position information that can be directly called by S410.

[0045] Step S400 includes at least steps S410-S430: S410. Extract the blasting unit position information from the spatial coordinates of the flexible blasting cable and match it with the density partition of the obstacle heat map matrix.

[0046] After receiving the spatial coordinate data of the flexible blasting cable output in step S330, the extraction operation of the blasting unit location information is performed. By parsing the three-dimensional location attributes (including longitude, latitude, and elevation values) of each data point in the spatial coordinates, a spatial clustering algorithm based on Euclidean distance is used to identify the spatial identifier of each blasting unit. Each blasting unit generates a 12-digit hexadecimal unique identifier code through its physically integrated radio frequency positioning tag. This identifier code establishes a bidirectional mapping relationship with the longitude and latitude values ​​in the corresponding spatial coordinates, forming a discrete blasting unit location information set.

[0047] The location information set is input into the obstacle heatmap matrix matching module. The obstacle heatmap matrix is ​​generated in step S130, and its matrix element values ​​are mapped to obstacle density values ​​through a gradient from red to blue. The row and column numbers of the matrix index position correspond to the actual geographic coordinate offset. The matching process first performs spatial rasterization processing on the heatmap matrix: using 0.1000 square meters as the basic raster unit, discrete density partitions labeled DZ-001 to DZ-200 are generated in row and column order. Using a ray collision detection algorithm, the three-dimensional coordinates of each blasting unit are projected onto the rasterized matrix plane, and the spatial inclusion relationship between the coordinate points and the raster boundaries is calculated. When the coordinates of a blasting unit fall into the high-density red raster labeled DZ-083, the unit is marked as a high-density blasting unit and bound to the DZ-083 partition attribute. Finally, a structured matching relationship mapping table is output, and each record contains the blasting unit identifier code, latitude and longitude elevation coordinate values, and the associated density partition label.

[0048] S420. Calculate the central blooming detonation sequence based on the correspondence between density zoning and the location of blasting units.

[0049] Based on the matching relationship mapping table output by S410, the central blooming detonation sequence calculation is performed. First, the blasting units are grouped according to density zoning labels, forming a set of groups that correspond one-to-one with the density zoning of the heat map. For each cluster, a density gradient-driven detonation strategy is implemented: the coordinates of all blasting units within the high-density zone (density value greater than or equal to 0.8 units per square meter) are extracted, and the geometric centroid coordinates of the cluster are calculated using a weighted average algorithm and set as the detonation core point. Using this core point as the center, the dynamic radiation radius is calculated according to the formula (zoning obstacle density value × baseline radius coefficient), where the radiation radius decreases by 5% for every 0.1 unit increase in density. Based on the radiation radius, the blasting units are divided into three layers: a core layer (radius less than or equal to 30% of the dynamic radiation radius), an intermediate layer (radius between 30% and 70%), and an edge layer (radius greater than 70%).

[0050] The detonation sequence is constructed using a layered, progressive triggering mechanism: the first stage activates all blasting units within the core layer, forming an initial blasting cavity at the detonation core point; the second stage triggers intermediate layer units sequentially at 0.5-second intervals, increasing by 50-meter increments, to achieve directional shock wave diffusion; the final stage detonates edge layer units to clear the zoning boundaries. When the spatial overlap between adjacent density zones exceeds 5%, a boundary buffer algorithm adds a 50-millisecond delay to the detonation timestamp of the overlapping units. Finally, a three-dimensional decision matrix for the detonation sequence is generated. The first dimension stores the blasting unit identifier code, the second dimension records the relative detonation timestamp in milliseconds, and the third dimension indicates the corresponding layer number (the core layer is marked with first priority).

[0051] S430: Generate dynamic detonation timing instructions based on the detonation sequence calculation results.

[0052] Based on the three-dimensional decision matrix of the detonation sequence output by the S420, dynamic detonation timing commands are generated. First, a standard UTC time reference is obtained through the BeiDou-3 satellite timing module, converting the millisecond-level relative detonation timestamps in the decision matrix into ISO8601 standard absolute time. For example, a relative timestamp +1250ms is encoded as 2023-05-12T08:00:00.000Z at the reference time 2023-05-12T08:00:01.250Z.

[0053] The instruction encapsulation adopts a three-level structure: the first-level instruction body contains a 16-bit detonation unit identifier code, a 16-bit AES encrypted detonation password, and an 8-byte absolute detonation time field; the second-level checksum includes a 4-byte CRC cyclic redundancy check code and a 3-byte density partition cluster identifier code; the third-level transmission frame uses a time-division multiple access mechanism to allocate communication time slots, each time slot being 20 milliseconds wide and ordered according to the detonation time. Considering the high-speed motion characteristics of the rocket carrier, the electromagnetic wave transmission delay compensation is calculated by real-time measurement of the carrier's three-dimensional velocity vector (Vx, Vy, Vz), and this compensation is superimposed on the original detonation timestamp. Finally, a dynamic detonation instruction set carrying spatiotemporal calibration parameters is generated and transmitted to the receiving end of each detonation unit via an anti-jamming radio with a frequency hopping period of five milliseconds.

[0054] Step 500 includes at least steps S510-S530: S510. Trigger the blasting units in different areas according to the dynamic detonation timing command to perform channel expansion operation.

[0055] Based on the dynamic detonation timing command generated by S430, the system uses a command decoder to parse the mapping relationship between the partition number and the detonation countdown in the command. Each partition number is associated with a density partition in S410 based on obstacle heatmap matrix matching. The decoder converts the digital command into a physical control signal, which is transmitted via a high-speed bus to the distributed detonation controller on the flexible blasting cable. Each blasting unit includes a miniature detonator, a high-energy explosive charge, a zone positioning chip, and an anti-interference signal receiver. When the target zone number in the command matches the zone positioning chip code (this chip code is bound to the spatial coordinates calibrated by S330), the detonation countdown timer is activated and performs a two-stage operation: in the first stage, the receiver outputs a low-current preheating pulse to bring the miniature detonator to a critical excitation state; in the second stage, a 24-volt trigger pulse is injected to detonate the charge when the countdown reaches zero.

[0056] A hierarchical control architecture enables zoned triggering: the main controller sends batch commands to zone-level sub-controllers, which autonomously schedule the unit-level triggering sequence based on the spatial topology determined by S330. In a circular obstacle zone scenario, the explosive unit in the central zone A0 detonates at zero time, the unit in zone A1, located ten meters from the center, detonates with a 50-millisecond delay, and the unit in the outer zone A2 detonates with a 100-millisecond delay, forming a central, blossoming explosive wave propagation path. After the explosive energy is released, the obstacle collapses directionally due to the shock wave superposition effect, generating a passage with a width of not less than 3.5 meters.

[0057] S520: Immediately after the blasting of a single area is completed, the detachable support frame of the corresponding area is folded and retrieved.

[0058] After all the blasting units in a certain area of ​​S510 are detonated, vibration sensors deployed at the joints of the support structure detect the attenuation of the shock wave at a sampling frequency of no less than 5 kHz. The system is set to determine that the blasting is complete when the vibration amplitude drops to the threshold of 200 meters per square second within 0.5 milliseconds. The area status monitor then sends the coordinates of the blasting area (derived from the S330 spatial coordinates) and the deformation compensation amount of the support structure (calculated based on the strain gauge records before the blasting) to the support recovery controller.

[0059] The modular truss structure with a detachable support includes a titanium alloy main frame, electromagnetic locking joints, shape memory alloy hinges, and a hydraulic folding actuator. The recovery operation is executed in three steps: First, the electromagnetic locking joints disconnect within three milliseconds of receiving a power-off command; second, the hydraulic actuator adjusts its stroke according to deformation compensation to restore the frame to its baseline shape; third, the shape memory alloy hinges are energized and heated to 80 degrees Celsius to trigger the folding characteristic, driving the truss to retract at an angular velocity of 3.5 radians per second. The key linkage mechanism is achieved by sharing the detonation controller time base signal from the S510: a dynamic delay timer is immediately activated after the last explosive unit in a certain area is triggered. This delay is calculated based on the density zone area of ​​the S120 (e.g., a 10-millisecond delay for a small 5-meter by 5-meter area, and a 25-millisecond delay for a large 10-meter by 10-meter area), ensuring precise synchronization between vibration detection and recovery initiation. During recovery, the support positioning module continuously sends coordinates until the armored vehicle's recovery compartment captures the folded body.

[0060] S530, synchronously generates local blasting signals and status instructions for recovered modules.

[0061] The system achieves signal synchronization through dual parallel processing channels: the blasting signal generation channel collects the initiation feedback current (accuracy ±0.1 mA) and the peak value of the shock wave pressure of each blasting unit (obtained by the piezoelectric sensor in the S510 area). When a current pulse is detected and the pressure value exceeds 15 MPa, a signal containing the following elements is generated: blasting area coordinates (consistent with S330 coordinates), actual initiation timestamp (relative timing command deviation not greater than 0.8 ms), and effective radius of action (calculated based on the pressure decay curve).

[0062] The recovery status monitoring channel records the truss retraction angle through a joint encoder. When the truss retraction reaches half a π arc, it is determined to be in a semi-recovery state; when it reaches π arc, it is determined to be in a full recovery state. A status command is generated, which includes the support number (bound to the S230 buffer release device), the recovery completion gradient value, and the structural integrity code.

[0063] Signal fusion employs a spatiotemporal alignment mechanism: using the moment of detonation completion as a reference point, corresponding support recovery data is acquired within a 50-millisecond time window. All signals are encapsulated into a unified data frame containing a head identifier, area number, detonation feature code (integrating detonation timestamp and effective radius), recovery status code (including folding angle and structural integrity), and checksum. The joint signal is transmitted in real-time to the armored vehicle control terminal via a military data link and provides input for S610 effectiveness verification.

[0064] Step S600 includes at least steps S610-S630: S610. Obtain the width data of the passage after the blast, and compare it with the expected coverage area of ​​the obstacle heat map matrix.

[0065] After receiving the local blasting signal from S530, the performance verification module activates a stereo vision sensor array deployed around the blasting area. This array consists of multiple binocular depth camera units, acquiring 3D point cloud data of the post-blasting passage at a rate of 30 frames per second. The point cloud processing includes feature matching and coordinate registration of point clouds acquired by adjacent camera units, and fusing multi-view point clouds into a 3D reconstruction model in a unified coordinate system using an iterative nearest-point algorithm. In the reconstruction model, a measurement section is set every 0.5 meters along the centerline of the flexible blasting cable path calibrated by S330. Seven sets of width data are extracted from each section (center point and points spaced 3.5 meters apart on the left and right). Width measurement uses the minimum bounding box algorithm to calculate the maximum lateral span of the unobstructed space on each section. Simultaneously, the longitudinal continuous length and minimum net width between each section are recorded.

[0066] The expected coverage data from the obstacle heatmap matrix generated by S130 is retrieved. This data includes the ideal channel width threshold (3.5 meters for low-density areas, 4 meters for medium-density areas, and 4.5 meters for high-density areas) and contour boundary coordinates for each density zone. The comparison operation executes the following steps: the seven sets of actual measured width data are compared point-by-point with the expected width values ​​of the corresponding spatial grids in the heatmap matrix, and the absolute deviation value is calculated; simultaneously, polygon overlap analysis is performed on the actual channel contour boundary and the expected boundary to calculate the area overlap percentage. A spatial indexing algorithm is used to accurately map the measured cross-section to the corresponding grid position in the heatmap matrix, ultimately generating a structured comprehensive deviation dataset containing a width deviation matrix (recording the absolute deviation value of each measurement point), continuity status codes (marking the continuity interruption positions), and boundary compliance percentages.

[0067] S620: Calculate the ballistic parameter correction amount and buffer release adjustment amount based on the comparison deviation.

[0068] The parameter correction calculation engine is launched based on the comprehensive deviation dataset. When the width deviation matrix shows that the actual value of more than 60% of the measurement points is lower than one-fifth of the expected value, it is determined to be a global coverage deficiency. The system backtracks the rocket booster flight trajectory data recorded by S310 and extracts the thrust sensor readings within the last ten milliseconds. If the average thrust is lower than 10% of the value required by S210, a thrust correction amount is generated (increasing the base thrust by 0.5% for every 1% coverage deficiency); if the trajectory yaw angle deviates from the S230 set value by more than 0.3 radians, the azimuth compensation amount is calculated (compensating 0.05 radians for every 0.1 radian deviation).

[0069] When a continuity interruption is detected at a specific location indicated by the continuity status code, the S330 coordinate system locates the 52nd node of the flexible rupture cable. The historical tension monitoring curve at this node is retrieved from the S320. If a sudden drop in tension of more than 30% is observed 3.5 seconds after the rupture cable release, it is determined to be a local tension failure. The tension threshold correction amount for the buffer release device (increasing the preset threshold by 50% of the sudden drop) and the release rate compensation (increasing the release rate by 0.2 meters per second in the corresponding time period) are calculated. If the boundary conformity analysis shows that the overall profile uniformly shrinks inward by 10% and this is not due to insufficient thrust, the rupture cable length compensation amount is calculated (increasing the length by 2% for every 5% shrinkage). This value is then fed back to the collaborative calculation module of the S220.

[0070] S630, by combining ballistic parameter corrections and buffer release adjustments, generates correction coefficients, which are then fed back into the obstacle scanning data acquisition process.

[0071] A multi-dimensional correction vector is established, receiving the following inputs: thrust correction percentage, azimuth compensation in radians, tension threshold adjustment in Newtons, release rate correction percentage, and detonation cable length compensation in meters. Parameter integration is performed through a weighted fusion engine: thrust correction weight is 0.5 (global influence factor), tension correction weight is 0.3 (local morphology factor), length compensation weight is 0.2 (basic parameter factor), and other correction terms share a weight of 0.1. Normalization is used to convert each physical quantity into dimensionless values ​​in the range of 0 to 100, and then these values ​​are linearly superimposed according to their weights to finally generate system correction coefficients ranging from 0 to 100.

[0072] The correction coefficient is fed back to the obstacle scanning process of S110 in real time via the data bus. Specifically, it adjusts the lidar scanning resolution (each 10-unit increase in the correction coefficient improves resolution by 0.2 cm) and optimizes the millimeter-wave radar's recognition sensitivity (sub-millimeter echo resolution is enabled when the coefficient exceeds 50). During the density calculation phase, a conservative mode is activated when the correction coefficient exceeds 70: the grid division accuracy is increased from one meter to 0.5 meters; the obstacle weight coefficient is increased by 15% (the original barbed wire weight is increased from 0.8 to 0.92). The historical database synchronously records the correction coefficient and environmental feature codes (including terrain coding, meteorological markers, and obstacle type distribution) for subsequent optimization of preset parameters in similar battlefields. The feedback link forms a closed-loop control: when a new round of S110 scanning uses the correction parameters, the generated obstacle heatmap matrix will carry the correction imprint (e.g., the grid size field is marked as R0.5, indicating a 0.5-meter correction), directly affecting the accuracy of parameter collaborative calculations in subsequent S200-S500 stages.

[0073] Example 2: Figure 2 A structural block diagram of a rocket blasting passage opening device according to an embodiment of the present invention is shown. Figure 2 As shown, the structure may include: The environmental scanning module 10 performs real-time acquisition of battlefield environmental data to generate an obstacle heat map matrix. This module performs a network scan of the battlefield surface using a multispectral imaging radar array and an infrared thermal imager, acquiring real-time surface elevation data, rock distribution density, and thermal radiation characteristics of metallic obstacles. These data are then fused to generate a three-dimensional rasterized obstacle heat map matrix. The matrix cell value represents the comprehensive threat coefficient of obstacles within a 0.5m × 0.5m grid, and millimeter-wave radar is used to dynamically calibrate the impact of environmental humidity on scanning accuracy.

[0074] The collaborative computing module 20 performs tasks such as extracting density gradient amplitudes to calculate rocket thrust requirements, solving for flexible blasting cable length parameters, and pre-configuring buffer release parameters. Specifically, it extracts obstacle density gradient amplitudes from a heatmap matrix, calculates the maximum rate of change of the gradient direction using the Sobel operator, and uses this to calculate the rocket engine's staged thrust requirement curve. Simultaneously, it identifies critical blasting regions based on gradient amplitude mutation thresholds, calculates flexible blasting cable segment length parameters in conjunction with the rocket's payload capacity, and pre-sets buffer release parameters for the electromagnetic clutch under specific overload acceleration thresholds.

[0075] The trajectory control module 30 controls the rocket's flight trajectory, adjusts the blasting cable coverage path, and calibrates spatial coordinates. The trajectory control module receives thrust requirement parameters output by the collaborative computing module, drives the rocket's vector nozzle to dynamically adjust pitch / yaw angles, and controls the rocket to fly with a predetermined heading angle of ±2° accuracy. During the terminal phase of flight, it uses a combination of BeiDou differential positioning and inertial navigation guidance to adjust the deviation between the blasting cable coverage path and the preset nominal path to be less than 1.5 meters, and calibrates the geospatial coordinates of the blasting unit in real time, writing them into the military coordinate system.

[0076] The detonation decision module 40 executes the matching of blasting unit locations and density zones to construct a layered detonation sequence and generate dynamic detonation timing commands. The detonation decision module performs topological matching between the spatial coordinates of the blasting units and the density zone map, identifying high-density areas (>8 obstacles / ㎡) using a center-detonation mode, medium-density areas (3-8 obstacles / ㎡) using a wave-like advancement mode, and low-density areas (<3 obstacles / ㎡) using a single-point clearing mode. A 10ms-level dynamic delay compensation mechanism is introduced when constructing the layered detonation sequence to generate encrypted detonation timing commands resistant to electromagnetic interference.

[0077] The linkage execution module 50 executes zone-triggered blasting units to form a central, blooming blast wave, and coordinates with the support for a three-stage recovery operation. The linkage execution module executes zone-triggered blasting units according to the detonation sequence command. In the high-density zone, shaped charge explosives are detonated synchronously to form a central, blooming blast wave, while in the medium-density zone, a chain detonation is implemented at 200ms intervals. After blasting, the linkage hydraulic support performs a three-stage recovery operation: first, it releases buffer airbags to absorb 70% of the impact energy; second, it deploys folding wings to increase wind resistance; and third, it activates the anchor hook device to lock the end of the recovery cable.

[0078] The closed-loop feedback module 60 executes the measurement channel width to generate a deviation dataset, and provides feedback to correct the scanning resolution and grid accuracy parameters. The closed-loop feedback module collects actual channel width data using a multispectral measuring instrument mounted on a UAV, generating a deviation dataset from the designed width (including width deviation ΔW and flatness variance σ²). Based on the deviation analysis, it provides feedback to correct the scanning resolution parameters (dynamically adjusted from 0.1m to 0.3m) and heatmap grid accuracy parameters (grid size optimized from 0.5m × 0.5m to 0.2m × 0.2m).

[0079] Figure 3 This is a structural block diagram of a rocket detonator provided in an embodiment of this application; Figure 4 This is a cutaway view of the rocket detonator housing provided in an embodiment of this application; Figure 5 This is a diagram of the internal structure of a rocket detonator provided in an embodiment of this application; Figure 6 This is a structural diagram of the control system provided in an embodiment of this application; Figure 7 A diagram illustrating the control marking rope coiling method provided in this application embodiment; Figure 8 This is a diagram showing the warhead deployment configuration provided in an embodiment of this application.

[0080] This invention designs a rocket-propelled demolition device for clearing pathways for heavy armored vehicles. It can not only quickly clear mines protecting heavy armored vehicles, but also remove concrete obstacles such as track embankments and triangular cones. The rocket-propelled demolition device consists of the following components: rocket engine, traction cable, head connector, warhead unit, tail connector, fuse, control system, and storage and launch container. Figure 3 As shown. The storage and launch container of the aforementioned rocket detonator system is cut open at one end, and the connection method of each component is as follows. Figure 4 As shown; the storage and transportation container is concealed, and its internal structure is as follows. Figure 5 As shown. The control system structure is as follows. Figure 6 As shown, it includes control marker rope, control marker rope packaging box, and partition paper; the structure of the control marker rope is as follows: Figure 7 As shown, it includes nylon rope, canvas sleeve, pull rope, and rope end pulley.

[0081] The rocket engine's tail section is connected to one end of a traction steel cable loop, while the other end of the traction steel cable loop is connected to a head connector. The head connector is mounted on the head of the warhead unit. The warhead unit's tail section is connected to a tail connector, which holds two fuses. These fuses are connected to the firing cord on the control marking rope of the control system. A tail loop on the tail connector is connected to a loop at one end of the control marking rope. The warhead unit's deployment method is as follows: Figure 8As shown; the control marking rope coiling method is as follows Figure 7 As shown. The spatial arrangement of the various components in a rocket detonator, as follows. Figure 5 As shown, the entire assembly is then stored in a transport container, as follows. Figure 3 As shown. At this point, all the components of the rocket detonator have been connected end to end, forming a complete and independent mine-clearing explosive device.

[0082] When the aforementioned rocket demolition devices are used to clear a path, the following tactical objectives can be achieved: Mine clearance depth: ≥80 meters; Minesweeping width: ≥4.5 meters; Rocket engine launch distance: ≥250 meters.

[0083] Specifically, the workflow includes: rocket engine ignition, which ignites the propellant grain within the engine. The high-pressure gas generated by the combustion of the propellant grain is ejected from the nozzle at the engine's tail, propelling the rocket engine into the air at a designated angle. Pulled by a traction cable, the warhead unit flies directly above the target area along with the rocket engine. As the tail of the warhead is pulled into the air from a stationary state by the engine's traction, the fuze is activated under the traction force, entering its operational state and beginning its delay. At the end of the rocket engine's stroke, the engine falls to the ground under gravity. The control indicator cable in the control system straightens and pulls the tail of the warhead unit, causing the warhead to straighten in the air and fall to the ground along with the engine. When the fuze delay ends, the fuze activates, igniting the explosive in the warhead unit. The explosion generates a shock wave, clearing various obstacles on both sides of the warhead.

[0084] This embodiment has the following characteristics: (1) The warhead unit adopts a high-yield continuous charge method, with passivated RDX filling the entire warhead. Except for the detonating cord, the cylindrical space within the skin of the warhead unit is filled with passivated RDX. This type of warhead unit can not only clear anti-tank mines, but also concrete obstacles such as track rock and triangular cones, and can open up a continuous passage for heavy armored vehicles.

[0085] (2) The arrangement of the warhead unit, the arrangement of the control system, and the spatial arrangement of the components maximize the use of space. Under the premise of ensuring the function of the rocket detonator, this unique structural form compresses the equipment space to a minimum.

[0086] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A method for opening a rocket blasting path, characterized in that, include: Real-time battlefield environment data is collected, and the three-dimensional coordinates of obstacles are identified by laser radar point cloud scanning. Density values ​​are calculated by dividing the data into one-meter grids, and a color-coded obstacle heat map matrix is ​​generated. The battlefield environment data is collected in real time from the battlefield reconnaissance unit through a data receiving interface. The battlefield reconnaissance unit includes UAV-borne laser radar, millimeter-wave radar, and visible light or infrared imaging equipment. After acquiring the raw sensor data, an obstacle location scanning operation is immediately performed. The operation uses a laser radar point cloud processing algorithm to analyze the collected point cloud data, identify and extract the spatial three-dimensional coordinate information representing obstacles, including anti-tank mines, concrete roadblocks, barbed wire, trench edges, and large craters. The density gradient magnitude is extracted by performing convolution kernel traversal on the obstacle heatmap matrix, and the staged rocket thrust requirement is calculated by combining environmental disturbance compensation. The flexible explosive cable segment length is calculated collaboratively and buffer release parameters are pre-configured to generate ballistic parameters and cable release status. The rocket's flight trajectory is controlled based on ballistic parameters. The explosive cord is released synchronously through a dual-channel collaborative mechanism. After real-time monitoring of tension and path adjustment, UWB tags are deployed to calibrate the spatial coordinates. Extract the spatial coordinates of the blasting unit and match them with the rasterized partition of the obstacle heat map matrix. Calculate the radiation radius according to the centroid of the density partition and construct a layered detonation sequence to generate dynamic detonation timing instructions. According to the dynamic detonation sequence command, the blasting units are triggered in different areas to form a central flowering blasting wave. After the support vibration detection meets the standard, a three-stage recovery operation of electromagnetic unlocking, hydraulic reset, and memory alloy folding is performed. Seven sets of channel widths were measured at 0.5-meter intervals along the blasting cable path. The deviation dataset was generated by comparing the expected values ​​with the thermal map and then feeding back the thrust / tension / length corrections to the scanning resolution and grid accuracy parameters.

2. The method for opening a rocket blasting path according to claim 1, characterized in that, According to the dynamic detonation timing command, the blasting units are triggered in different zones to form a central blooming blast wave, including: The mapping relationship between the partition number and the detonation countdown in the instruction is analyzed by the instruction decoder, and the digital instruction is converted into a physical control signal and transmitted to the distributed detonation controller. Each blasting unit includes a miniature detonator, a high-energy explosive charge, an area positioning chip, and an anti-interference signal receiver. When the target area number matches the area positioning chip code, a countdown timer is activated and the operation is carried out in two stages: the first stage outputs a low-current preheating pulse to bring the miniature detonator to the critical excitation state, and the second stage injects a 24-volt trigger pulse to detonate the charge when the countdown reaches zero.

3. The method for opening a rocket blasting path according to claim 2, characterized in that, The hierarchical control architecture achieves regional triggering as follows: the main controller sends batch instructions to the regional sub-controllers, and the sub-controllers autonomously schedule the unit-level triggering sequence according to the topological relationship calibrated by spatial coordinates; in the circular obstacle area scenario, the explosive unit in the central partition number A0 detonates at zero time, the unit in the partition number A1 within ten meters of the center detonates with a delay of fifty milliseconds, and the unit in the outer partition number A2 detonates with a delay of one hundred milliseconds, forming a central flower-shaped explosive wave propagation path.

4. The method for opening a rocket blasting path according to claim 1, characterized in that, The process of triggering blasting units in different areas according to the dynamic detonation sequence command to form a central blooming blast wave, and performing a three-stage recovery operation of electromagnetic unlocking, hydraulic reset, and shape memory alloy folding after the support vibration detection meets the standard includes: After all the blasting units in a certain area are detonated, the vibration sensor detects the attenuation of the shock wave at a sampling frequency of no less than 5 kHz. When the vibration amplitude drops to 200 meters per square second within 0.5 milliseconds, the blasting is considered complete. The area status monitor sends the coordinates of the blasting area and the deformation compensation of the support structure to the recovery controller.

5. The method for opening a rocket blasting path according to claim 4, characterized in that, The detachable bracket recovery operation is performed in three steps: First, the electromagnetic locking joint is disconnected within three milliseconds after power is cut off; second, the hydraulic actuator adjusts the stroke according to the deformation compensation amount to restore the frame to the reference shape; third, the shape memory alloy hinge is energized and heated to 80 degrees Celsius to trigger the folding characteristic, driving the truss to retract at an angular velocity of 3.5 radians per second.

6. The method for opening a rocket blasting path according to claim 5, characterized in that, The recovery linkage mechanism is achieved by sharing the time base signal of the detonation controller: when the last blasting unit in a certain area is triggered, a dynamic delay timer is started. The delay is calculated based on the area of ​​the density partition. The delay is 10 milliseconds for a small area of ​​5 meters by 5 meters and 25 milliseconds for a large area of ​​10 meters by 10 meters, ensuring precise connection between vibration detection and recovery initiation.

7. The method for opening a rocket blasting path according to claim 1, characterized in that, The signal synchronization of the dual parallel processing channels includes: the blasting signal generation channel collects the initiation feedback current and shock wave pressure peak of each blasting unit, and generates a signal containing the coordinates of the blasting area, the actual initiation timestamp, and the effective radius when the current pulse and the pressure value exceed 15 MPa; the recovery status monitoring channel records the truss retraction angle through the joint encoder and generates a status command containing the support number, the recovery completion gradient value, and the structural integrity code.

8. The method for opening a rocket blasting path according to claim 7, characterized in that, The signal fusion adopts a spatiotemporal alignment mechanism: taking the moment of blasting completion as the reference point, the corresponding support recovery data is acquired within a 50-millisecond time window, encapsulated into a unified data frame containing head identifier, area number, blasting feature code, recovery status code and check bit, and transmitted to the armored vehicle control terminal via military data link.

9. The method for opening a rocket blasting path according to claim 1, characterized in that, The release of explosive energy causes obstacles to collapse in a directional manner through the superposition effect of shock waves, creating a passage with a width of not less than 3.5 meters.

10. A rocket blasting path opening device, applied to the method according to any one of claims 1-9, characterized in that, include: The environmental scanning module performs real-time acquisition of battlefield environmental data to generate an obstacle heatmap matrix; The collaborative computing module performs tasks such as extracting density gradient magnitude to calculate rocket thrust requirements, solving for flexible blasting cable length parameters, and pre-configuring buffer release parameters. The trajectory control module controls the rocket's flight trajectory, adjusts the coverage path of the blasting cable, and calibrates the spatial coordinates. The detonation decision module executes matching blasting unit locations and density partitions to construct a layered detonation sequence and generate dynamic detonation timing instructions. The linkage execution module executes the regionally triggered blasting units to form a central, blooming blasting wave, and coordinates the three-stage recovery operation of the support frame. The closed-loop feedback module generates a deviation dataset by measuring the channel width and then feeds back to correct the scanning resolution and grid accuracy parameters.

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