Bionic miniature explosive ordnance disposal device used for detonating electronic elements and achieving precise approaching type energy-gathered cutting

Abstract

The invention provides a bionic miniature explosive ordnance disposal device for precise approaching type energy-gathered cutting of detonating electronic elements, and relates to the technical field of bionic unmanned aerial vehicles. According to the device, low-feature hidden approaching is achieved through wave absorption and bionic coating on the surface of a bionic fuselage; determining coordinates of a target element through infrared, satellite and visual multi-mode detection analysis; and the flight control module solves the attitude deviation of the fuselage and issues an alignment and operation instruction, and the attitude adjustment module corrects the attitude through differential deflection of the wings, so that the tail load is accurately aligned with the target. During operation, the telescopic mounting base is controlled to stretch out to build the optimal burst height, and the micro energy-gathered cutting module excites the transient energy generating medium to drive the metal shaped charge cover to turn over to form high-speed metal jet flow. According to the invention, integration of the miniature flight platform and the energy-gathered load is realized, deep cutting and local physical isolation of the core structure of the detonating element can be completed within microsecond-level time, and the explosive-handling safety efficiency and the operation precision are improved.

Description

Technical Field

[0001] This invention relates to the field of biomimetic unmanned aerial vehicle technology, and in particular to a biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components. Background Technology

[0002] In extreme and high-risk special operations scenarios such as counter-terrorism bomb disposal and unexploded ordnance (UXO) emergency response, the rapid and irreversible forced physical blocking of the core detonation electronic components (such as fuse control chips or trigger circuits) of hazardous explosives is a crucial step in preventing accidental detonation and ensuring the safety of bomb disposal personnel. With the evolution of microelectromechanical systems (MEMS) and micro-flying platform technologies, utilizing biomimetic micro-platforms to replace manual labor in concealed approach and bomb disposal intervention tasks within confined and complex spaces has become an important research branch in modern public safety protection. Simultaneously, to completely eliminate the response of explosive anti-disassembly triggering mechanisms during cut-off operations, bomb disposal methods are developing towards microsecond-level ultra-fast penetration and miniaturization, exceeding the speed of electrical signal transmission.

[0003] However, current bomb disposal equipment for these targets typically relies on bulky tracked bomb disposal robots or personnel wearing bomb suits to approach them. These methods have poor spatial mobility and are difficult to deploy flexibly in complex indoor pipelines or confined physical spaces. Furthermore, conventional micro-dismantling methods such as mechanical wire cutting or laser melting have long physical action times (typically milliseconds to seconds), making them highly susceptible to triggering the detonation signals of highly sensitive sensors during operations. On the other hand, currently available biomimetic micro-flying platforms mostly focus on environmental reconnaissance and generally lack miniaturized, high-efficiency physical cutting payloads. While shaped charge cutting technology based on shaped charge liner flipping possesses the characteristics of forming ultra-high-speed metal jets within microseconds, instantly penetrating and cutting through the target's hard structure, its generating devices are usually large and lack system-level integration with microscale biomimetic flying platforms, thus lacking the ability to perform precise, high-speed cutting without physical contact to provide early warning of tiny detonating electronic components. Furthermore, existing miniature bomb disposal load positioning systems mostly rely on single visual detection, which makes it difficult to achieve high-precision locking of the core area of ​​the tiny fuse in complex physical shielding and camouflage environments, directly resulting in low bomb disposal blocking effectiveness. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the purpose of this invention is to provide a biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components. This invention solves the problem in the prior art that it fails to achieve the integrated design of miniature flight platform, multimodal targeted positioning and miniature high-speed shaped charge cutting load, which leads to the inability to balance extremely low flow field disturbance shuttle maneuverability and microsecond-level precise explosive ordnance disposal physical isolation in complex and dangerous environments.

[0005] To achieve the above objectives, the present invention provides the following solution: A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components includes: The bionic fuselage, retractable mounting base, energy supply module, and target positioning module, flight control module, attitude adjustment module, and micro-energy-concentrating cutting module, all connected to the energy supply module; The retractable mounting base is disposed on the bionic body, and the micro-energy-concentrating cutting module is disposed on the retractable mounting base; The energy supply module provides power to the targeting and positioning module, the flight control module, the attitude adjustment module, and the micro-energy-concentrating cutting module. The targeting and positioning module uses multimodal detection technology to perform feature analysis on the target environment, obtain a multimodal target information set, and determine the coordinates of the target components corresponding to the target environment based on the multimodal target information set. The flight control module obtains fuselage attitude deviation data based on the target component coordinates and determines the corresponding alignment adjustment command and end-effector command based on the fuselage attitude deviation data. The attitude adjustment module adjusts the current fuselage tilt angle according to the corresponding alignment adjustment command to align the micro-energy-concentrating cutting module with the target component coordinates. The micro-energy-concentrating cutting module extends and switches the current retractable mounting base according to the corresponding end-effector command to implement directional physical cutting isolation.

[0006] The present invention discloses the following technical effects: This invention provides a biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components. Through a biomimetic fuselage design with a low-feature coating, it achieves low-disturbance, concealed approach in complex and confined spaces, avoiding premature triggering of explosive sensors. It innovatively integrates multimodal positioning with infrared, visual, and spatial data, overcoming the limitations of single-detection methods and achieving high-precision targeted locking of tiny detonating components. It is the first to achieve system-level integration of a miniature shaped charge payload with a flight platform, utilizing a microsecond-level high-speed metal jet to instantly vaporize and cut off the target component. This physical penetration speed far exceeds the conduction speed of the fuse's electrical signal, completely paralyzing the explosive's anti-disassembly mechanism and greatly improving explosive ordnance disposal safety in extreme environments. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1This is a virtual structural diagram of a biomimetic micro explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of an overall design of a biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components, provided as an embodiment of the present invention. Figure 2 (a) is a schematic diagram of the appearance. Figure 2 (b) is an internal diagram.

[0009] Figure label: 1- Bionic fuselage, 2- Retractable mounting base, 3- Energy supply module, 4- Target positioning module, 5- Flight control module, 6- Attitude adjustment module, 7- Miniature focused energy cutting module. Detailed Implementation

[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0012] like Figure 1 As shown, this invention provides a biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components, comprising: The bionic fuselage 1, the retractable mounting base 2, the energy supply module 3, and the targeting and positioning module 4, the flight control module 5, the attitude adjustment module 6, and the micro-energy-concentrating cutting module 7, all of which are connected to the energy supply module 3; The retractable mounting base 2 is disposed on the bionic body 1, and the micro energy-concentrating cutting module 7 is disposed on the retractable mounting base 2; The energy supply module 3 is used to supply power to the targeting and positioning module 4, the flight control module 5, the attitude adjustment module 6, and the micro-energy-concentrating cutting module 7. The targeting and positioning module 4 is used to perform feature analysis on the target environment using multimodal detection technology, obtain a multimodal target information set, and determine the target component coordinates corresponding to the target environment based on the multimodal target information set. The flight control module 5 is used to obtain fuselage attitude deviation data based on the target component coordinates and determine the corresponding alignment adjustment command and end-of-line operation command based on the fuselage attitude deviation data. The attitude adjustment module 6 is used to adjust the current fuselage tilt angle according to the corresponding alignment adjustment command so that the micro-energy-concentrating cutting module 7 is aligned with the target component coordinates. The micro-energy-concentrating cutting module 7 is used to extend and switch the current retractable mounting base 2 according to the corresponding end-of-line operation command to implement directional physical cutting isolation.

[0013] Specifically, in the actual workflow of bomb disposal or emergency physical isolation operations, the specific operating logic of this device is as follows: After the operation is initiated, the energy supply module 3 (such as a high-energy-density micro lithium battery and power management circuit) serves as the power center of the entire system, providing a continuous and regulated standard operating voltage to the targeting module 4, flight control module 5, attitude adjustment module 6, and its micro energy-concentrating cutting module 7. This ensures the high-frequency data processing and mechanical drive requirements of the micro-devices within the complex and confined space. The flight control module 5 drives the bionic fuselage 1 to quietly approach the suspected danger zone with low flow field disturbance.

[0014] Once the device enters the target environment (such as the interior of a confined explosive device or a complex pipeline area), the targeting and positioning module 4 is activated. This module utilizes multimodal detection technology (e.g., simultaneously activating infrared thermal radiation scanning and macro high-definition visual capture) to perform multi-dimensional feature analysis on the dense wiring harnesses and circuit boards within the target environment, extracting a multimodal target information set including abnormal temperature distribution points and chip silkscreen outlines. Subsequently, the system's internal data fusion unit performs spatial coordinate registration on the multimodal target information set, accurately identifying camouflage or interference items, and ultimately determining the absolute three-dimensional spatial coordinates of highly suspicious detonation chips or trigger solder joints on the target environment (e.g., the fuse main control board), thus obtaining the target component coordinates.

[0015] The target positioning module 4 transmits the coordinates of the locked target element to the flight control module 5 (such as a flight control board with a built-in micro high-speed MCU) in real time. The flight control module 5 quickly performs a spatial vector comparison matrix operation between the target element coordinates and the current spatial attitude data of the fuselage to calculate the fuselage attitude deviation data (i.e., the angle and distance difference between the current cutting load orientation and the target coordinates). Based on the fuselage attitude deviation data, the flight control module 5 performs command planning in two ways: on the one hand, it generates three-dimensional alignment adjustment commands to correct the spatial attitude; on the other hand, it calculates and locks the optimal timing and spatial parameters for executing physical cutting, and generates end-effector commands.

[0016] Upon receiving the corresponding alignment adjustment command, the attitude adjustment module 6 immediately drives the micro servo mechanism to dynamically adjust the current fuselage tilt angle through fine-tuning the differential tilt angle of the wing or the rotor speed. This in-flight micro-manipulation process enables the bionic fuselage 1 to complete millimeter-level pitch or yaw corrections within a very small space, ensuring that the energy release axis of the micro energy-concentrating cutting module 7 mounted at the tail is absolutely perpendicular and aligned with the coordinates of the target element, thus constructing the optimal penetration path.

[0017] Once the alignment is complete and the operation triggering conditions are met, the miniature focused energy cutting module 7 receives the corresponding end-effector command. This command first drives the retractable mounting base 2 to extend outward from inside the machine body, bridging the last few millimeters of physical gap, bringing the miniature focused energy cutting module 7 extremely close to the surface of the target component (achieving the preset optimal focused energy blasting distance). Immediately afterwards, the miniature focused energy cutting module 7 triggers the internal transient energy generation medium, releasing a high-speed focused energy metal jet within microseconds. This jet, traveling at speeds far exceeding electrical signal conduction, instantly penetrates the packaging shell of the target electronic component and completely destroys its internal core physical structure. This achieves perfect directional physical cutting and isolation without triggering secondary reactions from surrounding highly sensitive fuses, completely eliminating safety threats.

[0018] Furthermore, the fuselage of this embodiment is integrally molded from high-strength carbon fiber composite material, physically solidifying into a rigid load-bearing shell with a streamlined, miniaturized internal cavity. During functional operation, this fuselage constitutes a sealed internal space and external suspension frame running through the entire device, providing a stable spatial distribution and physical load-bearing benchmark for the target positioning module 4, flight control module 5, attitude adjustment module 6, energy supply module 3, and its miniature shaped charge cutting module 7. The engineering effect is that when the miniature shaped charge cutting module 7 releases a high-speed metal jet in an extremely short time, the high modulus properties of the carbon fiber material and the integrated mechanical conduction structure can instantly absorb and disperse the enormous impact force generated by the targeted detonation, completely eliminating the risk of structural disintegration or load shedding due to overload during close-range physical cutting operations.

[0019] This embodiment features a densely packed nanoscale broadband absorbing coating on the outer surface of the fuselage, physically manifested as an electromagnetic wave attenuation film covering the outer side of a rigid carbon fiber shell. Functionally, this absorbing coating utilizes its internal magnetic loss medium to efficiently absorb and convert into heat energy any radio frequency detection signals or active radar waves from fuses that may be present in the target environment. This significantly reduces the radar detection sensitivity of the fuselage caused by metal components and the carbon fiber itself. The engineering effect of this design is that it endows this embodiment with excellent adaptability to complex electromagnetic environments, ensuring that when passing through a core detonation area densely populated with highly sensitive electromagnetic sensors, it will not prematurely trigger the anti-disassembly radio frequency induction mechanism of the target hazard due to its own electromagnetic inversion signal.

[0020] In this embodiment, a biomimetic coating layer is further attached on top of the absorbing coating. The physical design is manifested as an optically diffuse reflective surface that completely simulates the external texture and color characteristics of organisms in nature. Functionally, this biomimetic coating layer, through specific spectral reflectance control, deeply optically fuses the external visual features of this embodiment with the complex lines or dark background of the target area to obtain environmental visual fusion features. The aforementioned electromagnetic concealment and visual concealment are layered and complementary at the physical boundary, jointly constructing the excellent low-signal signal foundation conditions of this embodiment. Its final engineering effect is to directly support and cooperate with the driving logic of the flight control module 5, enabling this embodiment to perform low-disturbance close-in cruise maneuvers in complex confined spaces with absolute concealment under the strict monitoring of the visual trigger fuse and photoelectric detection matrix, clearing early warning obstacles for the final high-speed energy-focused cutting and bomb disposal.

[0021] Specifically, in this embodiment, the microwave-absorbing coating and biomimetic coating layer construct a double-layer composite shielding structure on the outer surface of the fuselage, physically manifested as an electromagnetic attenuation underlayer and an optical diffuse reflection surface layer tightly bonded from the inside out. Regarding the adhesion method and coverage area, this embodiment employs a multi-axis robotic arm micro-spraying process to uniformly adhere high-frequency magnetic loss absorbing material to all exposed surfaces of the carbon fiber shell of the fuselage, except for the heat dissipation micro-holes and optical lenses, forming the first layer of microwave-absorbing coating. Subsequently, a vacuum lamination process is used to tightly attach the biomimetic coating layer with an environmentally adaptive texture to the outside of the microwave-absorbing coating. Functionally, this specific process ensures the density and consistency of the interlayer bonding, and its engineering effect is to completely eliminate electromagnetic scattering abrupt changes and visual reflection blind spots at the coating edges, providing a solid physical foundation for overall stealth performance.

[0022] This embodiment conducts radar cross section (RCS) testing and verification for electromagnetic detection sensitivity under low characteristic signal conditions. Physically, this is implemented as a multi-band electromagnetic echo dynamic sweep measurement process in a microwave anechoic chamber environment. In the functional verification process, this embodiment is placed on a low-scattering turntable made of a wave-transparent material. A vector network analyzer and a broadband horn antenna transmit microwave signals covering the active radar frequency band of a conventional fuze to this embodiment, and echo power data is acquired in real time at all attitude angles (horizontal and elevation). The engineering effect is that, by quantitatively calculating the RCS characteristic values ​​of this embodiment under different detection angles, the electromagnetic wave attenuation performance of the absorbing coating can be accurately evaluated using repeatable industry-standard data. This verifies whether this embodiment meets the hardware requirements for evading highly sensitive radio frequency triggering mechanisms in complex bomb disposal spaces.

[0023] This embodiment verifies the environmental visual fusion characteristics and infrared concealment under low-signal conditions through multispectral contrast testing, physically embodied as a comprehensive optoelectronic background assessment system jointly constructed by a standard illumination environment and an infrared thermal imager. In the functional implementation steps, this embodiment is placed on a test substrate simulating a complex wire harness background surrounding a hazardous target. The visible light reflectance difference between the background and the surface of this embodiment is obtained using a high-resolution multispectral imaging device, and the surface temperature field distribution characteristics of the flight control module 5 and the power unit under full load operation are measured using a cooled infrared thermal imager. The engineering effect of this verification logic is to confirm, with rigorous data indicators, the effective diffuse reflectance of the biomimetic coating layer for visible light and the infrared shielding blocking rate of the double-layer coating for internal heat, ensuring that when this embodiment performs low-disturbance close-in cruise maneuvers, its multi-band optical pixel contrast and infrared radiation temperature difference remain below the sensing threshold of the optoelectronic defense fuse at the bomb disposal site.

[0024] Furthermore, in this embodiment, the front end of the fuselage is constructed as an independently supported head, physically materialized as a rigid polyhedral micro-pod with a forward-facing, unobstructed, large field-of-view window. Functionally, this head, as the physically supported front-end structure, has pre-set high-precision mechanical positioning hard points inside for rigidly mounting the multi-source sensor array in the target positioning module 4, ensuring that the optical axis of the detection unit maintains a strict parallel, collimated, and rigidly bound relationship with the longitudinal axis of the fuselage. The engineering effect achieved by this design is that it completely eliminates the physical obstruction and diffuse reflection interference of the fuselage edge structure on the detection field of view during drastic changes in flight attitude. This allows this embodiment to capture a distortion-free multimodal target information set immediately when approaching complex bomb disposal environments, providing absolutely pure underlying detection data support for the rapid and accurate locking of subsequent micro-detonation elements.

[0025] In this embodiment, the fuselage body is designed as a fully enclosed torso, physically manifested as a composite material pressure-resistant cavity with a self-balancing center of gravity. Functionally, this torso provides a spacious and environmentally isolated enclosure. The flight control module 5, attitude adjustment module 6, and energy supply module 3 are densely nested within a multi-layered damping and shock-absorbing support matrix. The core high-efficiency micro-energy storage battery is precisely positioned on the vertical line of the three-dimensional physical center of gravity of this enclosure. The engineering effect of this structure is that it not only achieves absolute physical isolation and extremely short path transmission for strong and weak electrical signals, but also significantly reduces the fuselage's rotational inertia through a highly concentrated mass distribution. This results in extremely high control agility and absolute stability against external airflow interference when performing three-dimensional attitude adjustment and low-disturbance close-range cruise.

[0026] In this embodiment, the rear end of the fuselage is formed into a high-strength tail section, which is physically solidified as a rear anchoring node that is integrally formed with the torso and has directional impact-resistant reinforcing ribs embedded inside. In terms of functional load-bearing logic, this tail section serves as the rear structure of the entire device. Its end face is precision-machined with axial guide grooves and fastening interfaces for high-rigidity connection with the retractable mounting base 2. Using this as a physical reference, the axial extension and retraction of the micro-energy-concentrating cutting module 7 is strictly constrained to the preset energy penetration path. The engineering effect of this tail section physical load-bearing reference is that when the micro-energy-concentrating cutting module 7 excites the transient energy medium and generates a high-pressure shock wave at the extreme moment, the violent reverse mechanical recoil force can be rapidly transmitted along the tail reinforcing ribs and evenly dissipated throughout the fuselage body. This completely eliminates the axial deformation or displacement of the mounting base when performing bomb disposal and cutting operations, ensuring the absolute accuracy of the microsecond-level high-speed metal jet strike.

[0027] Specifically, in this embodiment, the head, torso, and tail employ a modular assembly architecture using miniature titanium alloy fasteners and stepped labyrinth sealing buckles. A quick-access maintenance window equipped with a high-strength carbon fiber cover is physically formed on the torso sidewall. In terms of functional description and internal space allocation logic, the docking section between the head and torso is pre-installed with a foolproof, pluggable low-voltage signal blind-plug matrix. The internal space of the torso is precisely divided into a power harness routing area and a high-frequency detection signal processing area by crisscrossing ultra-thin electromagnetic shielding partitions. During routine maintenance or frontline emergency support, maintenance personnel can remove the miniature titanium alloy fasteners around the quick-access maintenance window on the sidewall to remove and replace the flight control module 5 and its associated energy supply module 3 as a whole by sliding them out using a drawer-type guide rail. The engineering effect of the above-mentioned assembly layout is that it not only achieves absolute physical isolation between the high-current drive circuit and the high-sensitivity detection signal in an extremely miniaturized physical space, but also gives this embodiment the ability to perform minute-level rapid load reset and non-destructive plugging and unplugging of faulty modules in complex front-line environments, thereby greatly improving the continuous operation and turnover rate of the bomb disposal equipment and the dustproof and explosion-proof sealing reliability of the multi-section connection parts.

[0028] Furthermore, in this embodiment, the retractable mounting base 2 is physically materialized as a nested high-modulus carbon fiber slide rail assembly. Its fixed connection end is rigidly fixed to the tail end face of the bionic body 1 through a high-strength flange surface, and its interior is precisely machined with a linear guide dovetail groove with a surface roughness of micron level. The axial telescopic actuator end, which is movably connected to it, has a self-lubricating carbon fiber slider formed on its outer surface that perfectly matches the linear guide dovetail groove. In the functional action description, the fixed connection end uses this high-precision dovetail groove structure to provide the axial telescopic actuator end with a guide reference and omnidirectional physical support that is strictly constrained along the longitudinal axis of the bionic body 1, strictly limiting the degree of freedom of the micro-energy-concentrating cutting module 7 to a single axial translational plane. The engineering effect of this carbon fiber nested guide structure is that it matches the ultra-high yield strength requirement of the body body to withstand transient high-pressure impact with an extremely light structural dead weight, and completely eliminates radial runout and jamming failure of the actuator end during rapid extension, laying an absolutely stable and unbiased mechanical base for ultra-fast cutting operations.

[0029] In this embodiment, the axial extension actuator equipped with the miniature energy-concentrating cutting module 7 is physically integrated with a miniature electromagnetic direct-drive linear motor and a rigid push rod transmission mechanism. During functional operation, once the miniature energy-concentrating cutting module 7 receives the end-operation command, it immediately activates the stator coil of the miniature electromagnetic direct-drive linear motor, generating a strong extension driving force using transient electromagnetic repulsion. The axial extension actuator then responds to this zero-delay extension driving force, overcoming initial static friction and producing a smooth and extremely rapid outward axial displacement along the guide reference of the fixed connection end. The engineering effect of this physical response and driving logic is that, within the extremely confined bomb disposal core area, the actuator carrying the high-speed bomb disposal load can be pushed out of the compartment from a concealed and safe initial storage state at millisecond speeds, perfectly and seamlessly completing the extension switch, significantly reducing the mechanical exposure and physical response time of the miniature working load in the hazardous area.

[0030] In this embodiment, the axial telescopic actuator is physically equipped with a high-strength energy-absorbing pad and a rigid mechanical limiting step at the end of its maximum axial displacement stroke. During the functional spatial distance setting process, the aforementioned extension switching action is not unlimited, but is precisely stopped by the rigid impact of the internal slider and the rigid mechanical limiting step. This forces the miniature energy-focusing cutting module 7 mounted on the axial telescopic actuator to precisely hover and be extremely close to the physical surface corresponding to the target component's coordinates, thereby establishing the preset energy focusing distance required for energy-focusing cutting between the bottom surface of the metal shaped charge liner and the target's rigid shell. The ultimate engineering effect of this extreme spatial distance setting mechanism is that the absolute reliability of purely mechanical positioning locks in the extremely stringent optimal explosive height physical parameters in armor-piercing dynamics, ensuring that the metal jet formed by the transient high-pressure shock wave can complete optimal stretching and energy focusing before touching the target surface, thereby achieving deep cutting of the target's internal physical structure and avoiding energy dissipation or penetration attenuation caused by proximity distance deviation.

[0031] Specifically, in this embodiment, the guiding reference between the fixed connection end and the axial telescopic actuator end is physically materialized as a composite structure of a miniature precision linear ball guide and a miniature ball screw transmission mechanism, or alternatively, a nested mechanical form of miniature gear rack and carbon fiber sleeve. In terms of functional operation, the fixed connection end in this embodiment uses the aforementioned miniature precision linear ball guide as the guiding reference, and utilizes the miniature ball screw to convert the rotational torque of the miniature servo drive unit into high-precision axial translation of the axial telescopic actuator end. The engineering effect of this design is that it achieves zero-backlash rigid power transmission within the extremely limited miniature space of explosive ordnance disposal, completely overcoming the nonlinear frictional jitter during the extension process, and constructing an absolutely stable physical acceleration platform for the subsequent high-speed metal jet.

[0032] This embodiment employs a dual limit monitoring component—a high-resolution absolute magnetic encoder and a miniature travel switch—to physically control the axial displacement. Functionally, the high-resolution absolute magnetic encoder dynamically acquires the extension displacement data of the axial extension actuator in real time and provides closed-loop feedback to the flight control module 5. Simultaneously, a miniature travel switch is deployed at the extreme point of the guide reference to construct a second layer of contact-type hard limit power-off protection. The engineering advantage of this dual limit design is that it provides this embodiment with flexible closed-loop control of the extension stroke with millimeter-level precision in complex environments, while completely eliminating motor stalling and mechanical overrun damage caused by control signal interference from the physical level, ensuring absolute safety and controllability of the extension switching action.

[0033] In this embodiment, the acquisition of the preset energy focusing distance relies on the jet forming calibration parameter table stored inside the flight control module 5 and the closed-loop laser ranging probe integrated into the front end of the retractable mounting base 2. In the functional data processing chain, this embodiment first acquires the instantaneous relative spatial distance between the current micro-shaped charge cutting module 7 and the hard shell surface of the target element in real time through the closed-loop laser ranging probe. Then, it calls the optimal energy focusing distance constant corresponding to the metal shaped charge material and diameter in the calibration parameter table to perform dynamic difference calculation, and obtains the absolute extension amount to be executed to accurately match the preset energy focusing distance. The engineering effect of the above acquisition method is that it cleverly eliminates the unavoidable static position drift error during the micro-operation stage of hovering bomb disposal in the air in this embodiment, and ensures that the shaped charge metal jet is always in the optimal stretching and converging state with the strongest penetration force at the moment of contact with the target surface by means of dynamic data closed loop.

[0034] Furthermore, in this embodiment, the micro energy storage battery is physically materialized as a high-rate solid-state lithium battery pack adapted to the irregularly shaped internal structure of the fuselage. Functionally, this micro energy storage battery is used for high-density storage of initial electrical energy and has asymmetrical dual-output characteristics. One output provides a continuous and stable low-power current to maintain flight and detection operations, while the other is dedicated to releasing a high-rate transient pulse current to the power management unit during cutting operations. The engineering effect is that this combination of physical form and high-rate discharge characteristics not only perfectly integrates the high-density power core into the absolute three-dimensional physical center of gravity of the micro flight platform to improve flight flexibility, but also fundamentally ensures that the overall bus voltage will not experience a blinding drop under extreme high-power consumption conditions that stimulate transient energy generation media, ensuring the absolute power safety and online communication of the micro bomb disposal device during critical operations.

[0035] In this embodiment, the filtering circuit within the power management unit is physically implemented as a high-frequency decoupling hardware module conformally encapsulated within a high-strength electromagnetic shielding enclosure, consisting of a multi-stage inductor-capacitor low-pass filter array and a transient voltage suppression component. At the functional data and power flow level, this embodiment utilizes this filtering circuit to perform deep voltage fluctuation filtering on the received initial power, bidirectionally blocking high-frequency back EMF crosstalk generated by the high-speed operation of the micro-drive motor and broadband electromagnetic radiation interference from complex and high-risk external environments, thereby filtering and extracting smooth power with minimal ripple. The engineering effect of this precision filtering design is that it completely cuts off the electrical path of mechanical transmission noise from inside the machine to highly sensitive electronic components, providing a highly pure underlying electrical environment for the multi-source sensor array of the target positioning module 4, ensuring that the acquisition and coordinate calculation of multi-modal target information sets do not produce any fatal drift induced by power supply noise.

[0036] In this embodiment, the voltage regulator circuit within the power management unit is physically implemented as a miniature low-dropout linear regulator with a multi-channel electrically isolated topology and a high-frequency DC-DC converter chipset. In the functional power distribution logic, this embodiment utilizes the voltage regulator circuit to perform multi-path independent voltage regulation and conversion of the smoothed power, calculating and outputting standard operating voltages that strictly match the impedance characteristics of each load. These standard operating voltages are then continuously output to the targeting module 4, flight control module 5, attitude adjustment module 6, and its miniature energy-concentrating cutting module 7 via mutually shielded independent copper traces. The final engineering effect of this multi-path independent voltage regulation and physical distribution architecture is that it achieves absolute electrical isolation between the high-frequency digital logic processing unit, the high-current inductive motor load, and the high-voltage excitation circuit within a miniature space. This completely eliminates the ground loop coupling potential difference between modules, and fundamentally eliminates the extreme risk of accidental detonation of the miniature energy-concentrating cutting module 7 due to sudden voltage changes in adjacent modules.

[0037] Specifically, in this embodiment, the micro energy storage battery and power management unit are physically embodied as a high-energy-density lithium polymer cell and a highly integrated multi-channel power dispatch chip assembly. Regarding the functional voltage level division and power consumption allocation, this embodiment utilizes the multi-channel power dispatch chip to clearly divide the regulated standard operating voltage into a high-voltage, high-power path supplying the micro drive motor, a medium-voltage sensing path supplying the targeting and positioning module 4, and a low-voltage, low-power logic path supplying the trigger control unit. The engineering effect of this precise hierarchical power supply architecture is that, by strictly matching the power consumption budget constraints of each load, ranging from tens of milliwatts to several watts, energy utilization is maximized within an extremely miniaturized battery capacity, completely eliminating the risk of global voltage drop-induced blindness caused by transient startup of high-energy-consuming components.

[0038] The power management unit in this embodiment integrates a safety monitoring circuit consisting of a high-precision current sampling resistor, a miniature thermistor, and a hardware-level comparator. In the functional overload protection logic, this embodiment relies on the aforementioned monitoring circuit to perform microsecond-level continuous status checks on all output branches. When it is determined that a certain output current is overloaded or the internal ambient temperature exceeds a preset safety limit, it immediately and autonomously triggers hardware-level overcurrent and overtemperature blocking actions to isolate the faulty branch. The engineering effect of this underlying safety defense mechanism is that it effectively avoids the fatal hidden danger of rotor stalling caused by external foreign objects in complex bomb disposal spaces, which could lead to thermal runaway of the airborne lithium battery. This ensures the absolute electrical stability of the entire unit under extreme high-voltage operation conditions.

[0039] In this embodiment, the energy supply module 3 is physically connected in series with a miniature solid-state switch and a hardware-level watchdog fuse unit, independent of conventional control commands, in the power and triggering main circuit. At the functional emergency power-off logic level, once this embodiment encounters an irreversible external mechanical impact or is determined to have caused strong electromagnetic blindness due to the target environment, resulting in control deadlock, the hardware-level watchdog fuse unit will forcibly bypass all conventional processes, instantly and completely cutting off all energy release paths to the miniature energy-concentrating cutting module 7 and the flight control module 5. The ultimate engineering effect of this emergency power-off physical isolation design is that it endows the miniature bomb disposal equipment with absolute fault-oriented safety capability when facing a complete loss of control, completely locking down any possibility of accidentally triggering transient energy generation media from the underlying physical hardware link, greatly improving the fault tolerance bottom line of special close-range operations.

[0040] Furthermore, in this embodiment, the target positioning module 4 is physically materialized at the underlying hardware level as a composite sensing front-end integrating a miniature multi-band satellite receiving antenna and an uncooled microbolometer focal plane array. In the functional detection logic, this embodiment relies on the miniature multi-band satellite receiving antenna to acquire high-precision macroscopic spatial location data of the target environment, while simultaneously utilizing the uncooled microbolometer focal plane array to collect real-time two-dimensional thermal radiation distribution data of the target environment. Based on a preset abnormal heating threshold for components, digital image segmentation calculations are performed to accurately filter out candidate target areas with abnormal heating characteristics. The engineering effect of this sensing mechanism is that it enables this embodiment to be completely unaffected by visible light illuminance in complex bomb disposal sites with dim lighting or physical camouflage, rapidly framing the active core area of ​​high-risk detonation components from a wide-area environment with extremely low computational overhead, greatly reducing the invalid search target area for subsequent high-frequency visual analysis.

[0041] In this embodiment, the visual recognition unit is physically embodied as a high-frame-rate complementary metal-oxide-semiconductor image sensor with a global shutter and a tensor processing computing core carrying a lightweight visual recognition model. In the functional image feature extraction description, this embodiment guides the image sensor to perform high-frequency photoelectric sampling on the aforementioned selected candidate target region to obtain clear external image feature data. Subsequently, the tensor processing computing core runs depthwise separable convolution operation logic to dynamically extract complex bomb disposal background noise from the external image feature data and extract the core contour information of the physical edge of the target fuse element. The engineering effect of this visual resolution architecture is that it completely overcomes the optical jelly effect caused by mechanical micro-vibrations when a miniature fuselage hovers in a confined space, achieving pixel-level sharp locking of extremely small and textureless explosive triggering structures under stringent milliwatt-level power consumption constraints.

[0042] In this embodiment, the data fusion processing unit is physically materialized as a heterogeneous multi-core microprocessor motherboard with a high-bandwidth internal data throughput bus. In the functional spatial coordinate registration execution step, this embodiment constructs a multimodal target information set by combining the aforementioned extracted macroscopic spatial location data, thermal radiation distribution data, and core contour information in the underlying memory block. Subsequently, it rigorously utilizes pre-programmed multi-sensor intrinsic and extrinsic parameter matrices to perform multi-dimensional feature alignment and three-dimensional spatial transformation operations on the multimodal target information set. This accurately projects and reconstructs the core contour information on the two-dimensional pixel plane into a three-dimensional absolute spatial coordinate system established based on the macroscopic spatial location data, thereby uniquely calculating the target element coordinates. The ultimate engineering effect of this deep data fusion mechanism is that it completely breaks through the detection bottleneck of a single sensor under limited field of view or physical obstruction. By using a highly robust method of cross-verification of multi-source physical features, it suppresses the spatial three-dimensional positioning error to the sub-millimeter level, providing an absolute penetration reference point without deviation for the ultra-fast metal jet of the micro-energy-concentrating cutting module 7.

[0043] Specifically, in this embodiment, the infrared detection unit and the visual recognition unit are physically and conformally mounted on a high-rigidity optical reference platform at the nose of the fuselage. In the functional sensor assembly and time synchronization architecture, this embodiment sets the optical axes of the infrared detection unit and the visual recognition unit to a strictly parallel forward-looking down-tilted array distribution. Simultaneously, relying on the hardware-level high-frequency trigger bus built into the data fusion processing unit, global synchronization clock pulses are periodically forced to be sent to the aforementioned multimodal sensing units. The engineering effect of this conformal orientation assembly and hardware hard synchronization architecture is that it completely eliminates the spatial tearing error of heterogeneous images caused by the time difference in the shutter response of each detector when the micro-flying device is subjected to severe maneuvering or interference from airflow in a confined space. This ensures that the collected thermal radiation distribution data and external image feature data are absolutely aligned in both time and space.

[0044] This embodiment physically constructs a rigid spatial mathematical transformation architecture encompassing the world coordinate system, the body coordinate system, and the camera coordinate system before multi-source data spatial coordinate registration. In the functional coordinate system definition and mapping logic, this embodiment uses the absolute position obtained from satellite positioning as the static world coordinate system reference, establishes a body coordinate system that follows the deflection based on the three-dimensional physical center of gravity of the main body, and establishes the camera coordinate system based on the center of the optical lens of the visual recognition unit. The engineering effect based on the above-mentioned precise coordinate system division design is that it is possible to use the translation and rotation extrinsic parameter matrix embedded in the underlying flash memory to accurately and losslessly project the two-dimensional pixel points on the imaging target surface into the body coordinate system across dimensions, thereby establishing an extremely rigorous purely physical geometric relationship base for subsequently guiding the micro-energy-concentrating cutting module 7 located on the tail axis of the body.

[0045] In this embodiment, the data fusion processing unit is physically embedded with an array computing core running an extended Kalman filter framework. In the entire functional coordinate registration and error compensation process, this embodiment inputs the aforementioned multimodal target information set in parallel. First, it uses a scale-invariant feature transformation mechanism to extract and match features of contour edges and heating anchor points from the heterogeneous data. Then, relying on the extended Kalman filter framework, it performs deep spatiotemporal fusion of the matching results with the current spatial pose data. Furthermore, it introduces compensation vectors in real-time into the state equation to address the physical distortion of the optical lens and the temperature drift error caused by high-frequency vibration of the micro-motor. Finally, it directly outputs the coordinates of the anti-interference target element. The ultimate engineering effect of this registration and compensation closed-loop mechanism is that it eliminates highly dynamic random sensing noise from the underlying physical layer of the algorithm under complex special operating environments, locking the true three-dimensional spatial position of the detonation fuse core point with absolutely convergent registration accuracy.

[0046] Furthermore, in this embodiment, the attitude sensing unit and flight control core board are physically materialized at the underlying hardware architecture as a high-frequency multi-axis inertial measurement unit fixed to the absolute center of rigidity of the fuselage and a multi-layer copper-clad circuit board equipped with a floating-point microprocessor. In functional data transfer, this embodiment relies on the high-frequency multi-axis inertial measurement unit to collect the angular velocity and linear acceleration of the embodiment in three-dimensional space in real time at a kilohertz sampling rate. This data is then fused and calculated to obtain high-precision current spatial attitude data, which is sent to the flight control core board. Simultaneously, the flight control core board's multi-channel direct memory access bus receives the target element coordinates from the target positioning module 4 without delay. The engineering effect of this high-frequency hardware sensing and seamless data transmission mechanism is that it completely eliminates the attitude integral drift error introduced by high-frequency micro-vibrations in a confined space for miniature bomb disposal equipment, providing absolutely reliable underlying dynamic state feedback support for the extremely demanding millimeter-level close-range hovering and jet alignment.

[0047] In this embodiment, the calculation and command issuance process of fuselage attitude deviation data is physically implemented within a specific digital signal processing core block inside the flight control core board. At the functional logic operation level, this embodiment guides the digital signal processing core block to extract the current fuselage orientation three-dimensional vector and the target element's three-dimensional center coordinates. These two vectors are then subjected to high-dimensional spatial vector multiplication and inverse trigonometric function comparison to accurately calculate the fuselage attitude deviation data. Subsequently, based on the convergence degree of this data, alignment adjustment commands to eliminate three-dimensional spatial errors are dynamically output within continuous control cycle intervals. Furthermore, a terminal operation command to trigger end-effector energy release is forcibly issued only when the fuselage attitude deviation data strictly approaches and falls within a preset safe zero-zone threshold. The engineering effect of this parallel architecture with strict decoupling of spatial vector comparison and dual commands is that it forcibly locks the preconditions for the activation of special breaching loads with rigorous pure mathematical closed-loop logic, eliminating, from the root of the control system, the yaw failure of the shaped charge jet or secondary explosive discharge damage caused by the aircraft's attitude not being perfectly vertically aligned.

[0048] In this embodiment, the physical integration of the motor, electronic speed controller (ESC), micro-drive motor, and propeller is achieved through a micro-electronic speed controller employing a field-oriented control topology, a brushless coreless motor with ultra-low cogging torque characteristics, and a carbon fiber hydrodynamic rotor with surface features designed to eliminate aerodynamic eddy current noise. During functional drive execution, the flight control core board generates and continuously sends basic flight control signals to the ESC based on preset heading data. The ESC then synthesizes a smooth and continuous sinusoidal motor drive current based on these signals to precisely control the rotor magnetic field frequency of the micro-drive motor, thereby driving the propeller to rotate within an extremely low acoustic speed range and generating continuous and stable aerodynamic lift. The ultimate engineering effect of this sophisticated underlying drive chain is that, thanks to its extremely high electromagnetic commutation efficiency and optimized blade aerodynamic shape, this embodiment can execute an absolutely concealed low-altitude, low-speed, and low-disturbance cruise trajectory within the perilous core area of ​​explosives, perfectly avoiding the fatal risks of rotor downwash airflow inducing wiring harness short circuits or high-frequency mechanical acoustic waves prematurely triggering acoustic fuses.

[0049] Specifically, the calculation expression for the fuselage attitude deviation data is as follows: ; in, This refers to the fuselage attitude deviation data; The coordinates of the target element; The coordinates of the current 3D center are extracted based on the current spatial pose data; This is the current fuselage orientation three-dimensional vector extracted based on the current spatial pose data.

[0050] Furthermore, in this embodiment, the micro servo drive unit is physically materialized as a brushless direct-drive micro digital servo array with an embedded high-precision absolute magnetic encoder. In the description of functional command flow and power output, this micro servo drive unit is rigidly embedded in the reinforced hinge nodes at the root of the wings on both sides of the bionic fuselage 1 and establishes a low-latency communication link with the flight control module 5. It is responsible for receiving alignment adjustment commands issued by the flight control module 5 in real time, and calculating the high-frequency pulse-width modulation drive current in the internal microcontroller based on these commands, thereby outputting a deflection drive torque to the wing with zero mechanical backlash. The engineering effect of this direct-drive torque output architecture is that it completely eliminates the transmission play and frictional lag of traditional reduction gear sets in the extremely constrained internal cabin of the miniaturized bomb disposal equipment, providing an absolutely precise power source with millisecond-level dynamic response speed for performing high-speed attitude micro-manipulation.

[0051] In this embodiment, the wing is physically materialized as a differential airflow guiding surface structure with high-modulus carbon fiber microtubes as the load-bearing skeleton and densely covered with a flexible adaptive polymer film. In terms of functional differential deflection adjustment logic, the wing directly responds to the transient deflection driving torque output by the micro servo drive unit through its root pivot, generating independent or coordinated differential tilt angle deflections on both sides of the fuselage relative to the biomimetic fuselage axis 1. This allows for the forced reshaping of the microfluidic torque distribution around the fuselage by finely altering the local aerodynamic angle of attack, while maintaining the main aerodynamic lift vector of the micro drive motor and its propeller unchanged. The final engineering effect of this aerodynamic differential adjustment architecture is that it endows this embodiment with excellent maneuverability for in-situ three-dimensional fixed-point fine-tuning and millimeter-level lateral movement within the narrow confines of the bomb disposal core, completely decoupling the physical binding between translation and severe fuselage tilting in conventional micro-flight platforms.

[0052] This embodiment physically constructs an absolutely rigid three-dimensional aiming space base for mounting the tail-mounted micro-energy-focusing cutting module 7 by physically solidifying the high-frequency closed-loop aerodynamic servo motion of the aforementioned attitude adjustment module 6. In the functional penetration path planning and alignment implementation process, this embodiment relies on the continuous microsecond-level differential tilt angle deflection of the two wings to force the longitudinal axis of the fuselage to perform extremely small pitch and yaw corrections in three-dimensional space until the axial centerline of the tail of the current bionic fuselage 1 is strictly perpendicular to the flat surface of the fuze chip represented by the target element coordinates. The ultimate engineering effect of this aerodynamic aiming closed-loop mechanism is that it locks the optimal energy penetration path for energy-focusing cutting with purely physical aerodynamic control methods, ensuring that the ultra-high-speed metal jet induced by the transient energy generation medium has no tangential slippage or energy refraction at the moment of contact with the target shell, thereby achieving targeted physical isolation with a single strike under the strict constraint of never detonating the adjacent fuze pin.

[0053] Specifically, the micro servo drive unit and wing physical entity of this embodiment are subject to stringent electromechanical performance boundaries and aerodynamic deflection mechanical limit parameters. In the description of functional servo drive and wing surface motion constraints, the brushless direct-drive micro digital servo configured in this embodiment has hardware specifications with a rated torque greater than a specific gram-centimeter threshold and a dynamic response bandwidth of hundreds of hertz. Combined with a micro-rotor at the wing root, it physically constrains the continuous deflection angle range of the wing within ±45 degrees. The engineering effect of this hardware specification and mechanical deflection constraint is that it provides this embodiment with ample corrective torque to overcome aerodynamic drag during high-speed shuttle travel within a confined bomb disposal space, and completely eliminates the possibility of the wing surface entering a deep aerodynamic stall zone due to flight control command overshoot from the bottom layer of the physical structure, ensuring absolute aerodynamic safety for extremely demanding millimeter-level hovering attitude micro-management.

[0054] This embodiment physically constructs a completely decoupled independent dual-channel micro-drive control matrix and a real-time aerodynamic torque mapping table for the differential control method. In the functional differential deflection adjustment and dynamic calculation logic, this embodiment calculates the asymmetric left and right deflection drive torques in parallel within the independent dual-channel micro-drive control matrix according to the alignment adjustment command. This forces both wings to respond to the aforementioned torques and generate absolute differential tilt angle deflections in opposite directions or with different slopes, thereby generating pure rotational torques on the airframe roll and yaw axes. The final engineering effect of this decoupled differential control mechanism is that, without changing the rotor's total aerodynamic lift vector and vertical flight altitude, this embodiment can achieve in-situ three-dimensional attitude reconstruction and extremely small-radius lateral approach fine-tuning through only minor wing surface differentials, perfectly fitting the extremely narrow physical bomb disposal space in complex detonation wiring networks.

[0055] This embodiment integrates a closed-loop steady-state control actuator, including a digital low-pass filtering algorithm and dead-zone limiting boundary, into the physical entity for alignment criteria and servo stability processing. In the functional alignment locking and anti-vibration logic implementation steps, this embodiment first uses a digital low-pass filtering algorithm to smooth and filter the received high-frequency alignment adjustment commands. Then, a software limiting module strictly clamps the calculated deflection drive torque within the motor's safe current threshold to prevent transient overload. Furthermore, when the fuselage attitude deviation data approaches a preset spatial vertical baseline, a specific alignment dead-zone criterion mechanism is activated. Once the spatial deviation angle falls within a tiny dead-zone range of less than 0.5 degrees, the dynamic high-frequency correction action of the wing is immediately blocked. The engineering effect of the above-mentioned filtering, limiting, and dead-zone locking mechanisms is that they completely eliminate the mechanical vibration of the miniature servo motors induced by high-frequency sensor noise at the end of the rapid alignment of the miniature bomb disposal equipment, providing a completely still, absolutely stable firing platform for the tail base carrying the miniature energy-focusing cutting module 7.

[0056] Furthermore, the trigger control unit in this embodiment is physically materialized as an anti-electromagnetic interference control board integrating a microsecond-level semiconductor bridge excitation circuit and hardware-level dual interlocking logic. In the functional description, the trigger control unit of this embodiment establishes communication with the flight control module 5 via a shielded bus. After receiving the end-operation command, it first performs a logic potential self-check, confirms that the fuselage is in a preset steady-state dead zone, and then instantaneously activates the excitation circuit, converting and outputting a high-energy pulse activation signal internally. The engineering effect of this control architecture is that, through the low-power consumption and extremely fast response characteristics of the semiconductor bridge, the delay from command issuance to energy release is compressed to the microsecond level. Moreover, the hardware interlocking mechanism completely eliminates stray current false triggering that may be induced by the strong electromagnetic environment at complex bomb disposal sites, constructing an absolutely reliable logical barrier for the subsequent precise release of energy.

[0057] In this embodiment, the transient energy generating medium is physically materialized as a high-energy, insensitive chemical energy compression medium filled within a miniature high-strength composite ceramic chamber. In the functional energy conversion process, this embodiment utilizes the transient energy generating medium to receive an activation signal from the trigger control unit, and based on the principles of detonation physics, undergoes a transient chemical reaction within an extremely small volume, instantly converting the chemical energy into an ultra-high-pressure shock wave that fanns outwards and points sharply towards the tail axis. The engineering effect of this physical entity is that, utilizing the radial constraint force of the high-strength composite ceramic chamber, most of the high-pressure shock wave energy is forced to release along a predetermined axial path. This generates a transient mechanical load sufficient to drive subsequent metal components to undergo severe plastic deformation with an extremely small amount of explosive charge, ensuring that this embodiment possesses extremely high energy utilization and minimal lateral collateral damage during bomb disposal operations.

[0058] In this embodiment, the metal shaped charge liner is physically materialized as a precision-spun, cone-shaped thin-walled liner of copper or tungsten alloy, with its axis of symmetry strictly coinciding with the longitudinal axis of the fuselage. In the description of functional jet forming, this embodiment places the metal shaped charge liner on the energy release path of the aforementioned high-pressure shock wave. Utilizing the rapid compression and pushing force of the shock wave front, the metal shaped charge liner undergoes violent dynamic plastic deformation and spatial flipping from top to bottom, colliding and converging at the axial position to form a high-speed metal jet with ultra-high kinetic energy. The ultimate engineering effect of this physical collapse and jet forming mechanism is that, utilizing the physical penetration characteristics of this high-speed metal jet, which far exceed the electrical signal transmission speed of the target detonating element, it instantly penetrates and vaporizes the semiconductor logic circuits or mechanical triggering structures inside the target element. This allows for thorough deep cutting and local physical isolation within the extreme timeframe before the fuze can respond to the detonation command.

[0059] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0060] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components, characterized in that, include: The bionic fuselage, retractable mounting base, energy supply module, and target positioning module, flight control module, attitude adjustment module, and micro-energy-concentrating cutting module, all connected to the energy supply module; The retractable mounting base is disposed on the bionic body, and the micro-energy-concentrating cutting module is disposed on the retractable mounting base; The energy supply module provides power to the targeting and positioning module, the flight control module, the attitude adjustment module, and the micro-energy-concentrating cutting module. The targeting and positioning module uses multimodal detection technology to perform feature analysis on the target environment, obtain a multimodal target information set, and determine the coordinates of the target components corresponding to the target environment based on the multimodal target information set. The flight control module obtains fuselage attitude deviation data based on the target component coordinates and determines the corresponding alignment adjustment command and end-effector command based on the fuselage attitude deviation data. The attitude adjustment module adjusts the current fuselage tilt angle according to the corresponding alignment adjustment command to align the micro-energy-concentrating cutting module with the target component coordinates. The micro-energy-concentrating cutting module extends and switches the current retractable mounting base according to the corresponding end-effector command to implement directional physical cutting isolation.

2. The biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The bionic fuselage includes: The main body of the fuselage and the wave-absorbing coating and biomimetic coating layer are both applied to the outer surface of the main body of the fuselage; The fuselage body is made of carbon fiber composite material. The fuselage body provides physical support and housing space for the targeting and positioning module, the flight control module, the attitude adjustment module, the energy supply module, and the micro-energy-focusing cutting module, and withstands the impact force generated by the energy-focusing cutting module. The radar-absorbing coating covers the fuselage body and reduces the electromagnetic detection sensitivity of the fuselage body to obtain complex electromagnetic environment adaptation characteristics. The biomimetic coating layer is attached to the radar-absorbing coating and simulates the external characteristics of the corresponding natural organisms to obtain environmental visual fusion characteristics. The complex electromagnetic environment adaptation characteristics and the environmental visual fusion characteristics construct the basic conditions for low-feature signal to cooperate with the flight control module to perform low-disturbance close-in cruise maneuvers in complex and confined spaces.

3. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 2, characterized in that, The fuselage body is a three-section structure consisting of a head, a torso, and a tail. The head serves as the front-end structure of the physical load-bearing structure and is used to mount the targeting and positioning module. The torso serves as the middle structure of the accommodating space and is used to provide internal accommodating space for the flight control module, the attitude adjustment module, and the energy supply module. The tail serves as the rear-end structure of the physical load-bearing structure and is used to connect with the retractable mounting base to provide a tail-end physical load-bearing reference for the micro-energy-concentrating cutting module.

4. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 3, characterized in that, The retractable mounting base includes: A fixed connection end and an axial telescopic actuator end that is movably connected to the fixed connection end; The fixed connection end is fixed to the tail of the bionic body. The fixed connection end is used to provide a guide reference and physical support for the axial telescopic actuator to move along the axial direction of the bionic body. Both the fixed connection end and the axial telescopic actuator are made of carbon fiber to match the strength requirements of the body to withstand the impact force. The axial telescopic actuator is used to mount the micro-energy-concentrating cutting module. After receiving the end-effector operation command, the micro-energy-concentrating cutting module generates an extension driving force. The axial telescopic actuator is used to respond to the extension driving force and generate an outward axial displacement relative to the fixed connection end along the guide reference. The axial displacement is used to push the micro-energy-concentrating cutting module mounted on the axial telescopic actuator from the initial retracted state to complete the extension switch. The extension switch is used to make the micro-energy-concentrating cutting module close to the physical surface corresponding to the target element coordinates to construct the preset energy focusing distance required to implement the energy-concentrating cutting.

5. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The energy supply module includes: A micro energy storage battery and a power management unit electrically connected to the micro energy storage battery; The micro energy storage battery is used to store initial electrical energy and transmit the initial electrical energy to the power management unit. The power management unit is equipped with a filtering circuit and a voltage regulation circuit. The power management unit is used to filter the voltage fluctuation of the received initial electrical energy using the filtering circuit to obtain smooth electrical energy. The power management unit is used to use the voltage regulation circuit to regulate and convert the smooth electrical energy to obtain a standard working voltage. The power management unit is used to continuously output the standard working voltage to the target positioning module, the flight control module, the attitude adjustment module and the micro energy-concentrating cutting module respectively.

6. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The target localization module includes: An infrared detection unit, a satellite positioning unit, a visual recognition unit, and a data fusion processing unit that is communicatively connected to the infrared detection unit, the satellite positioning unit, and the visual recognition unit; The satellite positioning unit is used to acquire macroscopic spatial location data of the target environment. The infrared detection unit is used to collect thermal radiation distribution data of the target environment and filter out candidate target areas with heat generation characteristics based on the thermal radiation distribution data. The visual recognition unit is used to acquire external image feature data of the candidate target areas and extract the core contour information of the target element from the external image feature data using a lightweight visual recognition model. The macroscopic spatial location data, the thermal radiation distribution data, and the core contour information together construct the multimodal target information set. The data fusion processing unit is used to receive the multimodal target information set and perform multi-source data spatial coordinate registration on the multimodal target information set to map the core contour information to a spatial coordinate system established based on the macroscopic spatial location data to obtain the coordinates of the target element.

7. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The flight control module includes: The motor ESC and flight control core board, attitude sensing unit, micro drive motor, and propeller disposed at the output end of the micro drive motor; The attitude sensing unit and the motor ESC are both connected to the flight control core board. The micro drive motor is connected to the motor ESC. The attitude sensing unit is used to collect the current spatial attitude data of the bionic fuselage in real time and send the current spatial attitude data to the flight control core board. The flight control core board is used to receive the target element coordinates and the current spatial attitude data. The flight control core board is used to perform spatial vector comparison between the current spatial attitude data and the target element coordinates to calculate the fuselage attitude deviation data. Based on the fuselage attitude deviation data, the alignment adjustment command to eliminate three-dimensional spatial errors and the end-of-life operation command to trigger end-of-life energy release are determined. The flight control core board is also used to generate a basic flight control signal based on preset heading data and send the basic flight control signal to the motor ESC. The motor ESC is used to output motor drive current based on the basic flight control signal. The micro drive motor is used to respond to the motor drive current to drive the propeller to rotate and generate aerodynamic lift to execute a low-altitude, low-speed, low-disturbance cruise trajectory.

8. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The attitude adjustment module includes: A miniature servo drive unit and wings that are poweredly connected to the miniature servo drive unit; The wings are symmetrically arranged on both sides of the bionic fuselage. The micro servo drive unit is located at the root of the wing and connected to the flight control module. The micro servo drive unit is used to receive the alignment adjustment command and output the deflection drive torque according to the alignment adjustment command. The wing is used to respond to the deflection drive torque and generate a differential tilt angle deflection relative to the bionic fuselage to implement the optimal energy penetration path of the energy-focused cutting.

9. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 1, characterized in that, The micro-energy-concentrating cutting module includes: A trigger control unit, a transient energy generating medium, and a metal shaped charge shroud disposed at the front end of the transient energy generating medium; The trigger control unit is connected to the flight control module. The trigger control unit is used to receive the end-of-life operation command and activate the excitation circuit to output an activation signal according to the end-of-life operation command. The transient energy generating medium is connected to the trigger control unit. The transient energy generating medium is used to receive the activation signal and react instantaneously according to the activation signal to release a high-pressure shock wave. The metal shaped charge shroud is disposed on the energy release path of the high-pressure shock wave. The metal shaped charge shroud is used to undergo plastic deformation and spatial flipping under the pressure of the high-pressure shock wave to form a high-speed metal jet, thereby completing the deep cutting and local physical isolation of the internal physical structure of the target component.

10. A biomimetic miniature explosive ordnance disposal device for precise close-range shaped charge cutting of detonating electronic components according to claim 9, characterized in that, The metal shaped charge liner is made of either copper or tungsten alloy.

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