Mobile biosafety experiment vehicle based on multi-system cooperative control

Abstract

The present application relates to the technical field of multi-system collaborative control, and particularly relates to a mobile biological safety experiment vehicle based on multi-system collaborative control, comprising a multi-physical execution system, a monitoring and sensing system, an analysis and decision system, a collaborative control system and a control execution system; the analysis and decision system calculates a comprehensive protection index and identifies risks, and generates regulation and control requirements; the collaborative control system responds to the requirements, generates a multi-level collaborative instruction set, and based on the protection index recalculated after the execution of the instruction, generates a collaborative operation index and compares the index with a standard threshold value that dynamically changes with the protection target, and the system intelligently decides to upgrade, maintain or downgrade the current control instruction set. The present application solves the problems of isolated operation, slow response and inability to adapt of each system of the traditional mobile laboratory, realizes adaptive closed-loop optimization of biological safety protection, and significantly improves safety, economy and environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of multi-system collaborative control technology, and in particular to a mobile biosafety experimental vehicle based on multi-system collaborative control. Background Technology

[0002] Mobile biosafety laboratories, due to their mobility, flexibility, and rapid deployment, play an irreplaceable role in emergency epidemic monitoring, field pathogen detection, and handling of public health emergencies. Their core value lies in extending the capabilities of laboratories with fixed biosafety levels to the scene of an incident.

[0003] Chinese Patent Publication No. CN115509162A discloses a vehicle-mounted, rapidly mobile biological laboratory. The relevant technical solution mainly addresses the convenience of disinfection during personnel entry and exit, as well as the problem of waste liquid collection. It utilizes separate outer and inner disinfection chambers within the vehicle compartment, employing atomizing nozzles to disinfect personnel twice upon entry and exit. It is also equipped with a tiltable water tank for drainage and a detachable waste liquid tank with wheels. This type of solution focuses on improving the laboratory's auxiliary functions and the mechanization and automation of logistical maintenance. However, the above solution has the following problems:

[0004] The system is complex to manage, requiring operators to monitor and manually adjust multiple parameters simultaneously, which is prone to errors and inefficient. The system lacks self-adaptation and optimization capabilities and cannot automatically adjust the overall operating mode according to different experiments, which can easily lead to rigidity in the safety assurance process. Summary of the Invention

[0005] To address this, the present invention provides a mobile biosafety experimental vehicle based on multi-system collaborative control, which overcomes the problems of existing mobile biosafety experimental vehicles where each core subsystem operates independently, lacks intelligent collaboration, and cannot dynamically adapt to changing tasks and environments.

[0006] To achieve the above objectives, the present invention provides a mobile biosafety laboratory vehicle based on multi-system collaborative control, comprising:

[0007] A multi-physical execution system, which includes at least a ventilation system, an access control interlock system, a disinfection and sterilization system, a temperature control system, and a power supply and distribution system;

[0008] The monitoring and sensing system is used to acquire in real time the operating status parameters of the multi-physical execution system, the platform status parameters of the vehicle body, and the in-vehicle environment parameters;

[0009] The analysis and decision system is used to calculate a first protection effectiveness index characterizing the comprehensive biosafety protection level of the current experimental vehicle and to identify assessment factors affecting biosafety assessment based on several parameters acquired by the monitoring and sensing system. It is also used to determine the control requirements based on the comparison between the first protection effectiveness index and the target protection effectiveness index threshold.

[0010] A collaborative control system that responds to the control requirements to generate a collaborative control instruction set, wherein the collaborative control instruction set includes a basic mode instruction set, a first-level early warning mode instruction set, a second-level alarm mode instruction set, and a third-level emergency mode instruction set;

[0011] A control execution system that responds to the cooperative control instruction set to control the multi-physical execution system to execute a corresponding control strategy;

[0012] The collaborative control system is also used to respond to the control execution system executing the control strategy, determine parameters collected by the monitoring and sensing system within a preset time window to generate a collaborative operation index, and dynamically adjust the collaborative control instruction set based on the comparison between the collaborative operation index and a preset collaborative operation index threshold, wherein the dynamic adjustment includes upgrading or downgrading the collaborative control instruction set.

[0013] Furthermore, the analysis and decision-making system is also used to determine the target protection effectiveness index threshold based on the target mission security level pre-defined for the experimental mission and the evaluation factors.

[0014] Furthermore, the analysis and decision-making system is used to determine whether adjustment is needed based on the comparison result between the first protective effectiveness index and the target protective effectiveness index threshold, wherein,

[0015] If the first protection effectiveness index is greater than or equal to the target protection effectiveness index threshold, it is determined that no adjustment is needed, and the collaborative control system generates the basic mode instruction set.

[0016] If the first protection effectiveness index is less than the target protection effectiveness index threshold, it is determined that adjustment is needed. The collaborative control system generates the collaborative control instruction set based on the effectiveness difference, wherein the effectiveness difference is the difference between the target protection effectiveness index threshold and the first protection effectiveness index.

[0017] Furthermore, the cooperative control system is used to determine the corresponding cooperative control instruction set based on the comparison result between the performance difference and a plurality of preset hierarchical thresholds, wherein,

[0018] If the performance difference is less than or equal to the first grading threshold, the collaborative control instruction set is determined to be the first-level early warning mode instruction set.

[0019] If the performance difference is greater than the first grading threshold and less than or equal to the second grading threshold, the collaborative control instruction set is determined to be the level two alarm mode instruction set.

[0020] If the performance difference is greater than the second classification threshold, the collaborative control instruction set is determined to be the third-level emergency mode instruction set.

[0021] Furthermore, the cooperative control system is also used to execute cooperative control based on progressively increasing control intensity, wherein,

[0022] The first-level early warning mode instruction set includes, on the basis of the basic mode instruction set, increasing the air volume of the supply and exhaust system and activating the periodic background disinfection function in the disinfection and sterilization system.

[0023] The secondary alarm mode instruction set includes, based on the primary warning mode instruction set, the addition of locking access control for areas identified by assessment factors or specific risk areas, and upgrading the level of the disinfection and sterilization system's readiness status;

[0024] The Level 3 Emergency Mode Command Set includes, based on the Level 2 Alarm Mode Command Set, controlling the ventilation system to switch to maximum power, controlling the access control interlock system to forcibly lock the core and buffer areas, and controlling the power supply and distribution system to cut off non-core loads.

[0025] Furthermore, the collaborative control system is also used to obtain a second protection effectiveness index based on recalculating several parameters within a preset time window, and to determine the change in protection effectiveness index by comparing the second protection effectiveness index with the first protection effectiveness index, and to generate the collaborative operation index based on the change in protection effectiveness index.

[0026] Furthermore, the cooperative control system is also used to dynamically adjust the cooperative control instruction set based on the comparison result between the cooperative operation index and the preset cooperative operation index threshold, wherein,

[0027] If the cooperative operation index is greater than or equal to the preset cooperative operation index threshold, determine whether to downgrade or maintain the current cooperative control instruction set;

[0028] If the collaborative operation index is less than the preset collaborative operation index threshold, it is determined to upgrade the current collaborative control instruction set.

[0029] Furthermore, the collaborative control system is also used to dynamically correct the preset collaborative operation index threshold in real time based on the current target protection effectiveness index threshold;

[0030] The correction magnitude of the collaborative operation index threshold is positively correlated with the target protection effectiveness index threshold.

[0031] Furthermore, the analysis and decision-making system is also used to calculate assessment factors characterizing the impact on biosafety assessment based on the parameters acquired by the monitoring and sensing system, wherein the assessment factors include at least:

[0032] Risk factors used to assess unexpected risk events during the experiment;

[0033] Operational assessment factors used to evaluate the compliance of operational procedures;

[0034] Emergency correction factors used to assess equipment malfunctions or sudden environmental events.

[0035] Furthermore, the collaborative control system is also used to determine several initial operating parameters in the multi-physics execution system corresponding to the basic mode instruction set based on the target task security level.

[0036] Compared with existing technologies, the advantages of this mobile biosafety experimental vehicle based on multi-system collaborative control lie in the fact that the invention calculates a first protection effectiveness index based on monitoring data and identifies evaluation factors through an analysis and decision-making system. This integrates the dispersed multi-physical environmental and equipment status into a single quantitative evaluation index. The index is then compared with a target protection effectiveness index threshold to objectively determine control requirements. The collaborative control system responds to these requirements by generating a corresponding collaborative control command set, which is then executed by the multi-physical execution system driven by the control execution system. After executing the command set, the collaborative control system generates a collaborative operation index based on monitoring data within a new time window and compares it with a preset collaborative operation index threshold, thereby dynamically adjusting the collaborative control command set. Through a collaborative linkage strategy, the multi-systems of the experimental vehicle achieve an orderly transition from normal operation to emergency response, avoiding over- or under-control under a single response mode.

[0037] Furthermore, this invention integrates the dispersed safety experimental environment requirements into a unified first protection effectiveness index through a monitoring and sensing system and an analysis and decision-making system, and introduces an evaluation factor to dynamically correct the feedback adjustment threshold. When a sudden high-risk event occurs during the experiment, the system raises its own protection status standard, while also imposing more stringent evaluation requirements on the recovery rate and stability after adjustment. This forces the system to actively maintain a higher level of protection during the duration of the risk, thereby enhancing the experimental vehicle's adaptability and overall robustness in dealing with continuous or complex risks.

[0038] Furthermore, this invention utilizes a collaborative control system to automatically generate and execute a hierarchical collaborative control instruction set based on performance differences. When risks arise, the system uses a multi-physical execution system to synchronously and collaboratively act according to a preset strategy. It also achieves dynamic optimization through a collaborative operation index feedback adjustment mechanism. The collaborative control system can set corresponding benchmarks based on different levels of task objectives and can automatically downgrade, maintain, or upgrade the response mode during execution based on the collaborative operation index. This enables vehicles to quickly and accurately mitigate risks and automatically switch to a low-energy standby mode after completing high-risk tasks, achieving an optimal balance between safety and economy, as well as excellent adaptability to complex mobile environments.

[0039] Furthermore, this invention achieves dynamic baseline control and intelligent matching of response intensity. The system uses a dynamic target protection effectiveness index threshold determined based on the safety level of the experimental task as the safety baseline. It automatically adjusts the control intensity of response commands at each level. For higher safety level baselines, the increment of control parameters executed for the same level of warning or alarm commands is larger. This ensures that even "slight deviations" under high baseline conditions can be corrected with sufficient force, solving the problem of weak correction in traditional fixed threshold control modes under high-level protection, and demonstrating true intelligent adaptation. Attached Figure Description

[0040] Figure 1 This is a structural block diagram of a mobile biosafety laboratory vehicle based on multi-system collaborative control in an embodiment of the present invention;

[0041] Figure 2 This is a flowchart illustrating the control logic of a mobile biosafety experimental vehicle based on multi-system collaborative control in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the logical decision-making system corresponding to the analysis and decision-making system in this embodiment of the invention;

[0043] Figure 4 This is a schematic diagram of the logic determination and adjustment corresponding to the collaborative control system in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0045] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0046] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0047] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] Please see Figure 1 The diagram shown is a structural block diagram of a mobile biosafety experimental vehicle based on multi-system collaborative control in an embodiment of the present invention. The multi-physical execution system of the present invention is integrated on the experimental vehicle body, including:

[0049] A multi-physical execution system, which includes at least a ventilation system, an access control interlock system, a disinfection and sterilization system, a temperature control system, and a power supply and distribution system;

[0050] The monitoring and sensing system is used to acquire in real time the operating status parameters of the multi-physical execution system, the platform status parameters of the vehicle body, and the parameters of the in-vehicle environment;

[0051] The analysis and decision-making system is used to calculate the first protection effectiveness index, which characterizes the comprehensive biosafety protection level of the current experimental vehicle, and to identify the assessment factors that affect the biosafety assessment based on several parameters obtained by the monitoring and sensing system. It is also used to determine the control requirements based on the comparison between the first protection effectiveness index and the target protection effectiveness index threshold.

[0052] The collaborative control system responds to control requirements to generate a collaborative control instruction set, which includes a basic mode instruction set, a first-level early warning mode instruction set, a second-level alarm mode instruction set, and a third-level emergency mode instruction set.

[0053] The control execution system responds to the cooperative control instruction set to control the multi-physical execution system to execute the corresponding control strategy;

[0054] The collaborative control system is also used to respond to the control execution system to execute control strategies, determine parameters collected by the monitoring and sensing system within a preset time window to generate a collaborative operation index, and dynamically adjust the collaborative control instruction set based on the comparison between the collaborative operation index and a preset collaborative operation index threshold, wherein the dynamic adjustment includes upgrading or downgrading the collaborative control instruction set.

[0055] In one specific embodiment, the air supply and exhaust system typically employs variable frequency fans, high-efficiency air filters (HEPA), air valves, and air ducts to establish and maintain a stable pressure gradient between different functional areas such as the core laboratory and buffer zone inside the experimental vehicle. This ensures that the core laboratory maintains sufficient negative pressure relative to the buffer zone and that the airflow direction is always unidirectional from the low-risk area to the high-risk area, preventing the spread of pollutants.

[0056] Access control interlocking systems are installed in key locations in the core laboratory and buffer zone to ensure that only one door can be opened at a time. This maintains the pressure barrier between critical areas from being broken instantly when personnel or goods enter or exit, serving as an important physical and management barrier to control the spread of pollution.

[0057] The disinfection and sterilization system includes ultraviolet disinfection lamps, aerosol spray disinfection devices, and autoclaves to meet the disinfection needs of different scenarios and ensure that pathogens are inactivated in the air, object surfaces, and experimental waste in the experimental environment.

[0058] The temperature control system uses a precision air conditioning unit to keep the experimental equipment operating within the normal temperature range and maintain the stable operation of the air supply and exhaust system, avoiding the impact of thermal expansion and contraction on air tightness.

[0059] The power supply and distribution system includes mains power interface, vehicle-mounted generator, uninterruptible power supply (UPS) and intelligent distribution cabinet, providing a stable and reliable power supply for all systems.

[0060] In this embodiment, the monitoring and sensing system acquires real-time operating status parameters of the air supply and exhaust system by installing differential pressure sensors, wind speed sensors, and current sensors before and after the air supply and exhaust ducts, fans, and HEPA filters. The system also acquires operating status parameters of the access control and interlocking system via door magnetic sensors. Furthermore, it monitors the operating status parameters of the disinfection equipment, air conditioning, and power distribution cabinet using current / voltage sensors. Additionally, the system acquires platform status parameters of the vehicle using tilt and vibration sensors mounted on the chassis to determine whether the vehicle is operating stably. Finally, the system continuously collects key in-vehicle environmental parameters, such as differential pressure, temperature, humidity, and air cleanliness levels, using differential pressure sensors, temperature and humidity sensors, and air particle counters distributed throughout the functional areas.

[0061] The parameters obtained by the monitoring and sensing system provide data support for intelligent calculation and judgment in the subsequent analysis and decision-making system.

[0062] Please see Figure 2 and Figure 3 As shown, Figure 2 This is a flowchart illustrating the control logic of a mobile biosafety laboratory vehicle based on multi-system collaborative control in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the logical judgment of the analysis and decision-making system in an embodiment of the present invention. Specifically, the analysis and decision-making system, based on preset control logic and executed by embedded software or an industrial control computer, performs real-time fusion, calculation, and logical judgment on multi-source sensor data streams from the monitoring and sensing system.

[0063] Specifically, the analysis and decision-making system first preprocesses the data, filters out transient pulse noise caused by electromagnetic interference, and checks the integrity of the data packets; it then converts the raw physical quantities from different sensors into engineering units using linear calibration parameters stored in the EEPROM.

[0064] Subsequently, the analysis and decision-making system uses a weighted fusion algorithm to comprehensively evaluate key parameters such as pressure difference, airflow direction, air cleanliness, temperature and humidity, energy availability, and online rate of critical equipment, thereby calculating the first protection effectiveness index (PEI) that characterizes the comprehensive protection level of the experimental vehicle.

[0065] Sub-index vector: E = [E1, E2, E3, E4, E5, E6], where,

[0066] E1 represents differential pressure stability, which is comprehensively evaluated by the consistency score Sp between the current real-time differential pressure and the target differential pressure in the core laboratory, and the stability score 1-Vp of the differential pressure readings in the past minute.

[0067] The formula for calculating the differential pressure compliance score Sp is: Sp = 1 - |δPn - δPy| / (0.1·|δPy|), where δPn represents the current differential pressure measurement value and δPy represents the differential pressure threshold of -15Pa;

[0068] The compliance score Sp represents the degree of deviation between the current pressure difference and the target; the larger the pressure difference, the smaller the Sp.

[0069] The stability score (1-Vp) is calculated using the normalized value: Vp = Var(P) / (δPy) 2 Where Var(P) represents the variance of the differential pressure sample value; Vp is restricted to the interval [0,1], indicating that the smaller Vp is, the higher the stability.

[0070] E1 is the weighted sum of the two, E1 = 0.7·Sp + 0.3·(1-Vp); where 0.7 is weighted towards "whether the standard is met" and 0.3 is weighted towards "whether it is stable".

[0071] E2 represents the airflow direction assurance, which is determined by monitoring the pressure difference relationship on both sides of the critical barrier: the core laboratory maintains a negative pressure of Pc-Pb < -10Pa to the buffer zone, the buffer zone maintains a negative pressure of Pb-Po < -5Pa to the outside, and the airflow velocity on the biosafety cabinet surface meets the standard of ≥0.5m / s; where Pc is the core area pressure, Pb is the buffer zone pressure, and Po is the outside pressure; E2 strictly ensures the directionality of airflow, and E2 is 1 when all conditions are met simultaneously, otherwise it is 0.

[0072] E3 represents air cleanliness, which is determined by real-time monitoring of the concentration Cn of particulate matter ≥0.5μm in the air using a particle counter. The calculation formula is: E3=min(1,Ct / Cn), where Ct is the upper limit of the cleanliness standard required for the corresponding biosafety level. This means that when the actual concentration is lower than the standard, a full score of 1 is obtained, and the higher the concentration, the lower the score is proportionally.

[0073] E4 represents temperature and humidity stability, which calculates the degree of compliance of temperature T and humidity H with respect to their target thresholds, respectively.

[0074] The formula for calculating the temperature compliance score St is: St=1-|Tn-Ty| / (0.1·Ty), where Tn represents the current measured ambient temperature and Ty represents the ambient temperature threshold of 22℃;

[0075] The formula for calculating the humidity compliance score Sh is: Sh = 1 - |Hn - Hy| / (0.1·Hy), where Hn represents the current measured ambient humidity value, and Hy represents the ambient humidity threshold of 50%.

[0076] E4, expressed by the formula E4=St·Sh, characterizes the stability of temperature and humidity in the current experimental environment; both must be met simultaneously.

[0077] E5 represents the critical equipment uptime rate, which is the ratio of the number of devices in normal condition to the total number of critical devices, serving as a reliability indicator for the hardware foundation.

[0078] E6 represents the energy security level. It is assigned a value based on the current power supply status and the remaining power (SOC) of the uninterruptible power supply (UPS) through a predefined rule table. The value is 1.0 when the mains power is normal, 0.9 when the generator is the only power source, and E6 is calculated according to the formula: E6 = 0.8 * (SOC / 100) when the UPS is the only power source.

[0079] After obtaining the real-time values ​​of each sub-index Ei, the analysis and decision-making system synthesizes them using a preset weight vector Wi to obtain the first protection effectiveness index, where PEI = 100·Σ(Wi·Ei); in this embodiment, the weight vector is set as Wi = [0.30, 0.25, 0.15, 0.10, 0.10, 0.10].

[0080] The analysis and decision-making system calculates the final first protection effectiveness index and quantifies it into a value between 0 and 100 to objectively characterize the current comprehensive biosafety protection level of the experimental vehicle. At the same time, it is normalized during weighting to unify the dimensions.

[0081] In one specific embodiment, the analysis and decision-making system continuously monitors the data stream to identify specific risk events, assigns a quantitative score to each type of event to calculate the evaluation factor EF = R + V + E, and achieves an adaptive response to real-time sudden risks based on the evaluation factor value EF.

[0082] When the on-site rapid detection equipment in the experimental vehicle analyzes the message content and finds preset high-risk keywords such as "target gene Ct value less than 25" or "positive for highly pathogenic pathogen antigen," the system immediately generates a preset risk factor R of the corresponding level. This ensures that if a highly infectious suspected or confirmed sample is found during the experiment, the system will automatically raise the overall risk assessment level.

[0083] The analysis and decision-making system identifies violations and generates an operation evaluation factor V with a cumulative effect by comparing the operation sequence with the preset safety operation procedures in real time. This factor includes at least violations of interlock door sequence and violations of material transfer.

[0084] When the analysis and decision-making system acquires abnormal platform data such as continuous vehicle tilting or severe vibration, this indicates an abnormality in the airtightness of the vehicle compartment. Therefore, an emergency correction factor E needs to be generated. This emergency correction factor E directly reflects the impact of the inherent risks of the mobile platform on the biosafety foundation, and its value is set to provide emergency compensation for this.

[0085] If the vehicle attitude angle sensor reading continues to exceed the safety threshold, it indicates that the vehicle body may be in a non-level state, and its sealing performance and equipment stability will be reduced. At this time, the system will immediately generate an emergency correction factor E of the corresponding preset level.

[0086] If the root mean square value of the acceleration of the vehicle-mounted triaxial vibration sensor continues to exceed the preset threshold for a short period of time, it indicates that the vehicle may be experiencing severe bumps, which will directly affect the operation of precision instruments and may damage the dynamic seal. At this time, the system immediately generates an emergency correction factor E of the preset corresponding level.

[0087] In one specific embodiment, before the start of the experimental task, the operator sets the target task safety level Q corresponding to this task through the vehicle-mounted human-machine interface or by receiving remote instructions, and determines the corresponding target protection effectiveness index threshold TPEI. The target task safety level Q is predetermined based on the degree of biological hazard of the sample to be operated and the type of experiment. In this embodiment, it can be divided into Q1, Q2 and Q3 levels.

[0088] The target mission security level Q directly determines the system's initial protection baseline, i.e., the basic target protection effectiveness index threshold TPEIb:

[0089] When the target mission security level Q is set to Q1, the corresponding basic target protection effectiveness index threshold TPEIb is 80.

[0090] When the target mission security level Q is set to Q2, the corresponding basic target protection effectiveness index threshold TPEIb is 85;

[0091] When the target mission security level Q is set to Q3, the corresponding basic target protection effectiveness index threshold TPEIb is 90.

[0092] Meanwhile, the analysis and decision-making system dynamically corrects the basic target protection effectiveness index threshold based on the evaluation factor EF calculated in real time: TPEI=TPEIb+λ·EF, where λ is the preset risk sensitivity coefficient, in this embodiment λ=5, and TPEI is the dynamically corrected target protection effectiveness index threshold.

[0093] The higher the risk identified during the experiment (the larger the absolute value of EF), the higher the standard required for the system's own protection status (the larger the TPEI), thereby forcing the system to operate under a larger safety margin.

[0094] In one specific embodiment, the analysis and decision-making system continuously compares the first protection effectiveness index (PEI) calculated in real time with the target protection effectiveness index threshold (TPEI) to complete the protection status assessment and trigger corresponding control requirements.

[0095] Specifically, the analysis and decision-making system compares the real-time First Protection Effectiveness Index (PEI) with the dynamic Target Protection Effectiveness Index (TPEI) threshold, and outputs control decision signals based on the comparison results.

[0096] When PEI≥TPEI, the system determines that the overall biosafety protection level of the current experimental vehicle meets or exceeds the dynamic benchmark requirements, generates a decision signal that does not require adjustment, and sends it to the collaborative control system. The collaborative control system generates a basic mode instruction set to enable each physical execution subsystem to work collaboratively under the initial operating parameters.

[0097] When PEI < TPEI, the system determines that the current protection level is insufficient and generates a decision signal that needs to be adjusted. At the same time, the analysis and decision system calculates the effectiveness difference ΔP between the target protection effectiveness index threshold TPEI and the first protection effectiveness index PEI. The calculation formula is: ΔP = TPEI - PEI. The magnitude of the effectiveness difference ΔP directly quantifies the severity of the protection level gap. The larger the ΔP value, the further the actual state deviates from the safety benchmark, and the stronger the adjustment measures that need to be taken.

[0098] Please see Figure 4 As shown, this is a schematic diagram of the logic judgment and adjustment corresponding to the collaborative control system in an embodiment of the present invention. Specifically, after the analysis and decision-making system completes the calculation and judgment, it generates the decision signal that needs to be adjusted and sends it to the collaborative control system in real time.

[0099] The collaborative control system uses an independent industrial controller as its core, continuously receiving data signals from the analysis and decision-making system, and generating a collaborative control instruction set according to preset logic.

[0100] If a control signal that does not require adjustment is received, the cooperative control system directly generates a basic mode instruction set.

[0101] If a control signal requiring adjustment is received, the collaborative control system receives the performance difference value ΔP and provides graded early warning based on the graded threshold.

[0102] Specifically, if ΔP≤0, the collaborative control instruction set generated by the collaborative control system is determined to be the basic mode instruction set; if 0<ΔP≤10, the collaborative control instruction set generated by the collaborative control system is determined to be the first-level early warning mode instruction set; if 10<ΔP≤25, the collaborative control instruction set generated by the collaborative control system is determined to be the second-level alarm mode instruction set; and if ΔP>25, the collaborative control instruction set generated by the collaborative control system is determined to be the third-level emergency mode instruction set.

[0103] In this embodiment, if the target mission safety level is set to Q3, the corresponding basic target threshold TPEIb=90; if the vehicle encounters a sudden bump, the emergency correction factor is set to E=2, the risk factor is R=0, and the operation evaluation factor is V=0, then the evaluation factor EF=2, and the dynamically corrected target protection effectiveness index threshold is determined to be TPEI=100.

[0104] If the detected pressure difference δPn = -12Pa, the pressure difference variance Var(P) = 4Pa² over the past minute, the detected Pc-Pb = -8Pa, Pb-Po = -3Pa, the surface wind speed of the biosafety cabinet is 0.4m / s; Cn = 1200 particles / liter; Tn = 23.5℃, humidity Hn = 45%; all critical equipment is online and currently powered by mains electricity; therefore, we can obtain: E1≈0.295, E2=0, E3=0.833, E4≈0.318, E5=1.0, E6=1.0; from this, we can calculate: PEI = 41.35 < TPEI = 100, the system determines that the current protection level is insufficient, then calculate ΔP = TPEI - PEI = 58.65 > 25, and determine that the current collaborative control command set is the Level 3 emergency mode command set.

[0105] Specifically, the cooperative control system, based on the required cooperative control instruction set level and the target task safety level Q, retrieves the corresponding enhancement strategy from the database to dynamically enhance the initial operating parameters of the corresponding multi-physics execution system. For the same instruction set level, the higher the target task safety level Q, the greater the enhancement of its control parameters, and the enhancement magnitude is positively correlated with the target task safety level Q. The database includes the initial operating parameters Pbase of each unit of the multi-physics execution system determined by the target task safety level Q and the cooperative control instruction set level, and calculates the enhanced control parameter template set Pe using the following correlation formula, which serves as the enhancement strategy for the current cooperative control instruction set.

[0106] In this embodiment, the cooperative control system calculates the enhanced control parameter template set Pe using the correlation formula: Pe = Pbase·(1+Ki·W), where Pbase corresponds to the initial operating parameters of the current instruction set level and security level; Ki is the baseline enhancement coefficient set according to the instruction set level, including K1=0.1, K2=0.25, K3=0.5; W is the level weight coefficient corresponding to each security level, including W=1.0 for Q1 level, W=1.2 for Q2 level, and W=1.5 for Q3 level.

[0107] For the supply and exhaust ventilation system when the target mission safety level Q is Q1, the supply and exhaust air volume in the initial operating parameters of the basic mode instruction set is preferably 1200m³ / h. Its value depends on the vehicle design, cabin volume, target air change rate and fan model. The reference air volume for Q2 and Q3 levels is increased by 15% and 30% respectively based on this level.

[0108] Under the Level 1 warning mode instruction set, the corresponding supply and exhaust air volume is increased by 10%, 12%, and 15% of the baseline supply and exhaust air volume, respectively.

[0109] Similarly, for the Level 2 alarm mode, the corresponding supply and exhaust air volume increases by 25%, 30%, and 37.5% of the baseline supply and exhaust air volume, respectively.

[0110] Similarly, for the three-level alarm mode, the corresponding supply and exhaust air volume is increased to 50%, 60%, and 75% of the baseline supply and exhaust air volume, respectively.

[0111] The collaborative control system, while maintaining a basic biosafety barrier, dynamically increases access restrictions based on risk levels by controlling the access control interlock system.

[0112] For the basic mode instruction set, the control core laboratory door and the adjacent buffer room door cannot be opened simultaneously to ensure that the single destruction of the pressure gradient is minimized.

[0113] For the Level 1 early warning mode instruction set, in addition to the basic mode, electronic lock management of material transfer windows is added. All transfer operations must be unlocked after secondary confirmation on the system interface, and the operation log must be recorded.

[0114] For the Level 2 alarm mode instruction set, based on the Level 1 warning mode, a temporary lock is implemented for access control systems associated with specific risk areas identified by assessment factors, prohibiting unauthorized personnel from entering. Simultaneously, a delay time is added to the opening of all access control systems to strengthen personnel entry and exit management.

[0115] For the Level 3 Emergency Mode instruction set, in addition to the Level 2 Alarm Mode, a full-domain mandatory interlock is implemented. All access control systems leading to the core laboratory and main buffer zone are locked, and emergency unlocking can only be performed via the central control console.

[0116] The collaborative control system dynamically adjusts the frequency, intensity, and scope of disinfection in the disinfection and sterilization system.

[0117] For the basic mode instruction set, ultraviolet cyclic irradiation of the background area is performed according to the preset schedule, and the high-pressure sterilization procedure is initiated for experimental waste.

[0118] For the Level 1 warning mode instruction set, a periodic background disinfection function is added on the basis of the basic mode. Specifically, the frequency of ultraviolet disinfection is increased, and aerosol spray disinfection is added to the surfaces of objects that are frequently in contact with objects.

[0119] For the Level 2 alert mode instruction set, based on the Level 1 warning mode, the frequency of continuous operation of air disinfection devices will be increased; the frequency of surface disinfection in high-risk areas will be increased; and emergency disinfection reagents will be prepared.

[0120] For the Level 3 emergency mode instruction set, based on the Level 2 alarm mode, the highest intensity emergency disinfection plan is activated; after the emergency evacuation of personnel, the full-area aerosol terminal disinfection of the core laboratory is automatically triggered; the power supply and distribution system is controlled to provide uninterrupted power supply for the autoclave, and all high-risk wastes are given priority in treatment.

[0121] The collaborative control system controls the temperature control system to ensure equipment operation and cabin airtightness.

[0122] For the basic mode instruction set, the temperature control system controls the precision air conditioning unit to maintain the temperature in the core experimental area within the target range of 22±2℃ and the humidity within 50%±10%.

[0123] For the Level 1 warning mode instruction set, based on the basic mode, the temperature and humidity control bandwidth is narrowed, and the control target is adjusted to a temperature of 22±1℃ and a humidity of 50%±5% to provide a more stable experimental environment.

[0124] For the Level 2 alarm mode instruction set, a temperature gradient maintenance strategy is added on top of the Level 1 warning mode. When the system detects local overheating caused by disinfection or equipment heating, it automatically adjusts the supply air temperature of different areas to ensure priority cooling of critical equipment areas and prevent thermal stress from affecting the sealing performance of the cabin or HEPA filter.

[0125] For the Level 3 emergency mode instruction set, based on the Level 2 alarm mode, the temperature control system switches to a safety priority mode. It automatically reduces the temperature control accuracy requirements in non-core areas, and concentrates cooling capacity to ensure heat dissipation of core components of the supply and exhaust ventilation system, preventing them from shutting down due to overheating. Simultaneously, it continuously monitors the temperature at critical seams of the cabin to prevent deformation from compromising airtightness.

[0126] The collaborative control system controls the power supply and distribution system to ensure the reliability of power supply to critical loads.

[0127] For the basic mode instruction set, the intelligent power distribution cabinet supplies power to all loads according to the preset priority, with the main power source being the mains power or the vehicle-mounted generator, and the uninterruptible power supply in a floating standby state.

[0128] For the Level 1 early warning mode instruction set, based on the basic mode, the UPS is instructed to switch from standby mode to online interactive mode to improve the response speed to power grid quality fluctuations. Simultaneously, the power supply and distribution system checks and confirms that the generator is in hot standby mode.

[0129] For the Level 2 alarm mode instruction set, load-level monitoring is implemented based on the Level 1 early warning mode. The power supply and distribution system monitors the current of each branch in real time, provides power consumption warnings for non-critical loads, and prepares for flexible power rationing when necessary.

[0130] For the Level 3 emergency mode instruction set, a critical load protection strategy is implemented based on the Level 2 alarm mode. The power supply and distribution system is controlled to cut off power to non-core loads. Simultaneously, in conjunction with the UPS, a dual protection mechanism is formed to ensure absolute power continuity for the ventilation system, core biosafety cabinets, critical monitoring and communication equipment, and core units of the disinfection system. The system power distribution interface will clearly display the status of the power protection circuits.

[0131] In one specific embodiment, the control execution system is centered on an industrial IoT controller, which is responsible for converting the collaborative control instruction set decisions generated by the collaborative control system into physical control actions for each specific device in the multi-physical execution system and sending them synchronously to the corresponding actuator drive unit.

[0132] The industrial IoT controller parses the instruction set into device-level control signals according to a preset communication protocol, driving the coordinated operation of units such as air conditioning unit inverters, electric damper actuators, and smart circuit breakers. The feedback status of each actuator is transmitted back in real time, forming a closed-loop control system to ensure the accuracy of instruction execution and the timeliness of response.

[0133] In this embodiment, the cooperative control system is also used to respond to the control execution system executing the corresponding control strategy, determine the parameters collected by the monitoring and sensing system within a preset time window to generate a cooperative operation index; and dynamically adjust the cooperative control instruction set based on the comparison between the cooperative operation index and a preset cooperative operation index threshold, including upgrading, downgrading or maintaining the current cooperative control instruction set.

[0134] Specifically, the formula for calculating the Collaborative Operation Index (CRI) is as follows: ;

[0135] In this embodiment, after generating and issuing the collaborative control instruction set, the collaborative control system immediately starts the dynamic evaluation and adaptive adjustment cycle. Within the preset time window Tadj, the collaborative control system continuously receives the first protection effectiveness index PEI recalculated from the analysis and decision system and calculates the collaborative operation index, thereby characterizing the rate and sufficiency of the first protection effectiveness index recovering to the target value after the collaborative control instruction set is executed.

[0136] Wherein, PEIend is the PEI value at the end of the preset time window; PEIstart is the PEI value at the start of the preset time window; TPEI is the target protection effectiveness index threshold; Tadj represents the preset time window, which is set to 120s for example; Tend is the actual recovery time within the preset time window: the time it takes for the real-time first protection effectiveness index PEI to first reach or exceed the current target protection effectiveness index threshold TPEI from the start of the preset time window. If PEI does not reach TPEI within the entire Tadj period, then Tend = Tadj.

[0137] The Recovery Instruction (CRI) comprehensively evaluates the quality and effectiveness of the recovery process. A CRI > 1 indicates that the multi-physics execution system (MPS) not only completed the recovery within the preset time window but also completed it faster than expected, demonstrating excellent performance and rapid response from the current collaborative control instruction set. A CRI = 1 indicates that the MPS reached the target protection state exactly at the end of the preset time window, indicating that the control effect basically meets the requirements. A CRI < 1 indicates that the MPS failed to fully or quickly restore the protection state. This may be due to insufficient recovery (i.e., PEIend < TPEI), or achieving the target but taking too long, indicating insufficient performance or slow response from the current instruction set.

[0138] In one specific embodiment, the collaborative control system synchronously calculates the collaborative operation index threshold, which indicates that when the experimental vehicle faces higher safety protection requirements, the requirement for the recovery rate of protection effectiveness must also be increased accordingly, thereby forcing the experimental vehicle to maintain a higher level of protection during higher risk periods and avoiding premature degradation.

[0139] The collaborative control system establishes a direct proportional relationship between the collaborative operation index threshold and the current target protection effectiveness index threshold, and its calculation method adopts a linear relationship model: ;

[0140] Wherein, TPEIstart is the initial value of the current target protection effectiveness index threshold; TPEI is the target protection effectiveness index threshold; K1 is the proportional coefficient; K0 represents the basic threshold constant, which can be set to 0.8 for example. Its value ensures that when TPEI increases dynamically due to sudden risks, CRIth will also increase dynamically, preventing premature downgrading under high-risk conditions due to acceptable performance, thereby ensuring necessary safety redundancy.

[0141] The cooperative control system uses the comparison result between the cooperative operation index threshold and the cooperative operation index to dynamically adjust the cooperative control instruction set. At the end of each preset time window Tadj, the cooperative control system compares the calculated cooperative operation index CRI with the cooperative operation index threshold CRIth in real time, and dynamically adjusts the cooperative control instruction set based on the comparison result.

[0142] If CRI ≥ CRIth, it indicates that the control effect of the current cooperative control instruction set has met or exceeded the requirements of the current risk level. If the current cooperative control instruction set is a non-basic mode instruction set, the cooperative control system can initiate a safety degradation process to a lower-level instruction set. If the current cooperative control instruction set is a basic mode instruction set, the basic mode instruction set will be maintained.

[0143] If CRI < CRIth, it indicates that the current instruction set control effect is insufficient and cannot raise the protection level of the multi-physical execution system to the minimum requirement. Therefore, it is necessary to upgrade the current collaborative control instruction set to address risks with stronger control capabilities.

[0144] Preferably, to avoid frequent switching of instruction sets at threshold boundaries, the cooperative control system incorporates a hysteresis interval as a transition period for verification. Degradation is only performed when CRI is greater than CRIth for two consecutive cycles, and the final switch is completed only after the state is confirmed to be stable.

[0145] All technologies not mentioned in the above embodiments are existing technologies. It is understood that no specific limitation is made to any preset parameter or critical parameter in the embodiments of the present invention, and the above values ​​are not limited thereto. Those skilled in the art can adjust the preset parameters or critical parameters accordingly based on actual needs, analysis of historical data, or equipment usage.

[0146] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A mobile biosafety laboratory vehicle based on multi-system collaborative control, characterized in that, include: A multi-physical execution system, which includes at least a ventilation system, an access control interlock system, a disinfection and sterilization system, a temperature control system, and a power supply and distribution system; The monitoring and sensing system is used to acquire in real time the operating status parameters of the multi-physical execution system, the platform status parameters of the vehicle body, and the in-vehicle environment parameters; The analysis and decision system is used to calculate a first protection effectiveness index characterizing the comprehensive biosafety protection level of the current experimental vehicle and to identify assessment factors affecting biosafety assessment based on several parameters acquired by the monitoring and sensing system. It is also used to determine the control requirements based on the comparison between the first protection effectiveness index and the target protection effectiveness index threshold. A collaborative control system that responds to the control requirements to generate a collaborative control instruction set, wherein the collaborative control instruction set includes a basic mode instruction set, a first-level early warning mode instruction set, a second-level alarm mode instruction set, and a third-level emergency mode instruction set; A control execution system that responds to the cooperative control instruction set to control the multi-physical execution system to execute a corresponding control strategy; The collaborative control system is also used to respond to the control execution system executing the control strategy, determine parameters collected by the monitoring and sensing system within a preset time window to generate a collaborative operation index, and dynamically adjust the collaborative control instruction set based on the comparison between the collaborative operation index and a preset collaborative operation index threshold, wherein the dynamic adjustment includes upgrading or downgrading the collaborative control instruction set. The analysis and decision system is used to determine whether adjustment is needed based on the comparison result between the first protection effectiveness index and the target protection effectiveness index threshold. If the first protection effectiveness index is greater than or equal to the target protection effectiveness index threshold, it is determined that no adjustment is needed, and the collaborative control system generates the basic mode instruction set. If the first protection effectiveness index is less than the target protection effectiveness index threshold, it is determined that adjustment is needed. The collaborative control system generates the collaborative control instruction set based on the effectiveness difference, wherein the effectiveness difference is the difference between the target protection effectiveness index threshold and the first protection effectiveness index. The collaborative control system is also used to obtain a second protection effectiveness index based on recalculating several parameters within a preset time window, and to determine the change in protection effectiveness index by comparing the second protection effectiveness index with the first protection effectiveness index, and to generate the collaborative operation index based on the change in protection effectiveness index. The collaborative control system is also used to dynamically adjust the collaborative control instruction set based on the comparison result between the collaborative operation index and the preset collaborative operation index threshold, wherein, If the cooperative operation index is greater than or equal to the preset cooperative operation index threshold, determine whether to downgrade or maintain the current cooperative control instruction set; If the collaborative operation index is less than the preset collaborative operation index threshold, it is determined to upgrade the current collaborative control instruction set. The collaborative control system is also used to obtain the first protection effectiveness index at the start time and the first protection effectiveness index at the end time of the preset time window, and to obtain the actual recovery time experienced when the first protection effectiveness index is greater than or equal to the target protection effectiveness index threshold for the first time within the preset time window. The collaborative control system further generates the collaborative operation index based on the difference between the target protection effectiveness index threshold and the first protection effectiveness index at the start time, the difference between the first protection effectiveness index at the end time and the first protection effectiveness index at the start time, and the ratio of the preset time window to the actual recovery time.

2. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 1, characterized in that, The analysis and decision system is also used to determine the target protection effectiveness index threshold based on the target mission security level pre-defined for the experimental mission and the evaluation factors.

3. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 1, characterized in that, The collaborative control system is used to determine the corresponding collaborative control instruction set based on the comparison results between the performance difference and multiple preset hierarchical thresholds, wherein, If the performance difference is less than or equal to the first classification threshold, the collaborative control instruction set is determined to be the first-level early warning mode instruction set. If the performance difference is greater than the first grading threshold and less than or equal to the second grading threshold, the collaborative control instruction set is determined to be the level two alarm mode instruction set. If the performance difference is greater than the second classification threshold, the collaborative control instruction set is determined to be the third-level emergency mode instruction set.

4. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 3, characterized in that, The cooperative control system is also used to execute cooperative control based on progressively increasing control intensity, wherein, The first-level early warning mode instruction set includes, on the basis of the basic mode instruction set, increasing the air volume of the supply and exhaust system and activating the periodic background disinfection function in the disinfection and sterilization system. The secondary alarm mode instruction set includes, based on the primary warning mode instruction set, the addition of locking access control for areas identified by assessment factors or specific risk areas, and upgrading the level of the disinfection and sterilization system's readiness status; The Level 3 Emergency Mode Command Set includes, based on the Level 2 Alarm Mode Command Set, controlling the ventilation system to switch to maximum power, controlling the access control interlock system to forcibly lock the core and buffer areas, and controlling the power supply and distribution system to cut off non-core loads.

5. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 1, characterized in that, The collaborative control system is also used to dynamically correct the preset collaborative operation index threshold in real time based on the current target protection effectiveness index threshold. The correction magnitude of the collaborative operation index threshold is positively correlated with the target protection effectiveness index threshold.

6. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 1, characterized in that, The analysis and decision-making system is also used to calculate assessment factors characterizing the impact on biosafety assessment based on the parameters acquired by the monitoring and sensing system, wherein the assessment factors include at least: Risk factors used to assess unexpected risk events during the experiment; Operational assessment factors used to evaluate the compliance of operational procedures; Emergency correction factors used to assess equipment malfunctions or sudden environmental events.

7. The mobile biosafety experimental vehicle based on multi-system collaborative control according to claim 2, characterized in that, The collaborative control system is also used to determine, based on the target task security level, several initial operating parameters in the multi-physics execution system corresponding to the basic mode instruction set.

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