A comprehensive management system for a laser bomb disposal vehicle

Abstract

The application discloses a kind of integrated management systems for laser bomb disposal vehicle, belong to the technical field of explosive ordnance disposal equipment, including central control module, equipment state monitoring and management module, operation planning and execution module, safety protection and emergency processing module and man-machine interaction module, each module is connected through data bus and works cooperatively;Central control module as the core of system, collects, analyzes and processes data from each subsystem, unified command and coordinated control to the entire explosive ordnance disposal vehicle.The application improves the cooperativity between each subsystem of laser bomb disposal vehicle, ensures stable operation under various working conditions, guarantees laser output performance, realizes accurate planning and intelligent control of explosive ordnance disposal process, improves explosive ordnance disposal efficiency and success rate, builds comprehensive safety monitoring and real-time early warning system, ensures explosive ordnance disposal safety, reduces equipment failure risk, simplifies operation and maintenance process, reduces personnel workload, improves the ease of use and maintainability of equipment.

Description

Technical Field

[0001] This invention belongs to the field of explosive ordnance disposal equipment technology, specifically referring to a comprehensive management system for laser explosive ordnance disposal vehicles. Background Technology

[0002] In bomb disposal operations, laser bomb disposal vehicles serve as crucial equipment, undertaking the important task of remotely, efficiently, and safely handling explosives. However, the management and operation of laser bomb disposal vehicles currently face numerous challenges: 1. Poor equipment coordination: The laser emission system, thermal management system, mobile chassis, and other subsystems operate independently, lacking effective coordination. For example, when performing bomb disposal missions in high-temperature environments, the thermal management system fails to coordinate with the laser emission system in a timely manner, leading to overheating of the laser, reduced output power, and severely impacting the bomb disposal effect.

[0003] 2. Lack of precise planning in the operational process: Before the bomb disposal operation, the collection of environmental information (such as terrain, wind direction, and obstacle distribution) was incomplete, making it impossible to accurately plan the bomb disposal path and operational procedures. In complex urban environments, the failure to fully consider the impact of building obstruction on laser transmission led to the failure of the bomb disposal operation and increased the risk of secondary explosions.

[0004] 3. Insufficient safety monitoring and early warning: The existing system does not comprehensively monitor the status of key components of the bomb disposal vehicle, and the early warning mechanism is lagging behind. For example, during the bomb disposal process, if a potential malfunction occurs in a key component of the mobile chassis but is not detected in time, it will eventually lead to equipment failure and endanger the safety of the operators.

[0005] 4. Complex operation and maintenance: The different user interfaces and maintenance requirements of each subsystem increase the workload and learning costs for operators and maintenance personnel. Each maintenance requires a significant amount of time to familiarize themselves with the operation of different systems, reducing equipment availability. Summary of the Invention

[0006] In view of the above situation and to overcome the shortcomings of the existing technology, the present invention provides a comprehensive management system for laser bomb disposal vehicles, which effectively solves the problems currently on the market.

[0007] The technical solution adopted by this invention is as follows: This invention proposes a comprehensive management system for laser bomb disposal vehicles, including a central control module, an equipment status monitoring and management module, an operation planning and execution module, a safety protection and emergency response module, and a human-machine interaction module. Each module is connected and works collaboratively through a data bus. The central control module, as the core of the system, collects, analyzes and processes data from each subsystem, and performs unified command and coordinated control of the entire bomb disposal vehicle.

[0008] Furthermore, the equipment status monitoring and management module includes a sensor network and a fault diagnosis unit. The sensor network sets up power sensors and wavelength sensors in the laser emission system, temperature, pressure, and flow sensors in the thermal management system, and engine condition, tire pressure, and suspension status sensors in the mobile chassis to collect operating parameters of each subsystem in real time. The fault diagnosis unit uses the GADF-CNN-LSTM algorithm to process the one-dimensional time-series signals collected by the sensors and diagnose faults.

[0009] Furthermore, the implementation process of the GADF-CNN-LSTM algorithm is as follows: the one-dimensional time series signal is transformed into a two-dimensional time-frequency image through generalized adaptive differential features (GADF), the spatial features of the image are extracted using CNN, the long-term temporal correlation of the features is captured by LSTM, the fault type, fault location and severity are output, and fault handling suggestions are generated.

[0010] Furthermore, the operation planning and execution module includes environmental sensing equipment and an intelligent planning unit; the environmental sensing equipment includes lidar, high-definition cameras, meteorological sensors and electromagnetic interference sensors, which collect information related to terrain, weather, electromagnetic interference and explosives; the intelligent planning unit adopts a multi-source data fusion algorithm to fuse and process the environmental sensing data, plan the explosive ordnance disposal operation process and dynamically adjust it.

[0011] Furthermore, the multi-source data fusion algorithm is a Bayesian fusion algorithm, assuming that the environmental perception data includes lidar terrain data. Meteorological sensor wind speed data Electromagnetic interference sensor data The prior probability of explosive state x Based on historical bomb disposal scenario statistics, the likelihood function Modeling based on sensor characteristics, using the formula: The posterior probability is calculated, and the fused environment and explosive state are estimated using the maximum a posteriori probability (MAP).

[0012] Furthermore, the central control module adopts a multi-protocol converged communication architecture of "main protocol + sub-protocol". EtherNet / IP is used as the main communication protocol to realize backbone communication, and CANFD-based sub-protocols are used for subsystems with high real-time requirements such as laser emission systems to control communication latency within 5ms. The central control module also has a built-in communication protocol adaptive conversion module and a communication health assessment model.

[0013] Furthermore, the communication protocol adaptive conversion module has a built-in protocol conversion algorithm that automatically identifies the communication protocol of the access subsystem and completes bidirectional conversion with the main protocol without manual configuration. The communication health assessment model collects indicators such as communication delay, packet loss rate, and bandwidth utilization rate, and uses fuzzy comprehensive evaluation method to quantify the score. When the score is lower than the threshold, it automatically switches to the backup communication link and triggers maintenance warning.

[0014] Furthermore, the safety protection and emergency response module includes a laser emission safety interlock device, an explosion-proof enclosure and shielding measures, as well as an emergency response plan. When an abnormal situation such as accidental detonation of explosives, serious equipment failure, or overheating of the laser emission system is detected, emergency measures such as emergency braking, personnel evacuation, adjustment of heat dissipation power and laser parameters are automatically initiated, and a distress signal is sent to the command center.

[0015] Furthermore, the job planning and execution module also includes a dynamic adjustment unit based on deep reinforcement learning. It constructs a high-dimensional state vector that integrates environmental information, equipment status, and job progress as input to the reinforcement learning model. It adopts an Actor-Critic architecture, where the Actor network outputs the optimal job action, and the Critic network evaluates the value of the action and provides feedback to update the strategy. The dynamic adjustment unit also has a human-machine collaborative decision-making interface. High-risk actions need to be confirmed by the operator, and the human decision-making data is used for online iterative optimization of the model.

[0016] Furthermore, the human-machine interface module is integrated into the control panel in the driver's cab of the bomb disposal vehicle, providing operation methods such as touch screen and buttons, and supporting system operation, parameter setting and status query; the operating status and operation data of the equipment status monitoring and management module and the operation planning and execution module are fed back to the human-machine interface in real time.

[0017] The beneficial effects of the present invention achieved by adopting the above structure are as follows: it enhances the coordination between various subsystems of the laser bomb disposal vehicle, ensures stable operation under various working conditions, guarantees laser output performance, realizes precise planning and intelligent control of the bomb disposal operation process, improves bomb disposal efficiency and success rate, builds a comprehensive safety monitoring and real-time early warning system, ensures the safety of bomb disposal operations, reduces the risk of equipment failure, simplifies operation and maintenance processes, reduces personnel workload, and improves the ease of use and maintainability of the equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the system operation interface of the integrated management system for laser bomb disposal vehicle proposed in this invention; Figure 2 This is a schematic diagram of the module workflow of a comprehensive management system for laser bomb disposal vehicles proposed in this invention.

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] like Figures 1-2 As shown. Example

[0023] A comprehensive management system for laser bomb disposal vehicles includes a central control module, an equipment status monitoring and management module, an operation planning and execution module, a safety protection and emergency response module, and a human-machine interaction module. The modules are connected and work together via a data bus. The central control module, as the core of the system, collects, analyzes and processes data from each subsystem, and provides unified command and coordinated control of the entire bomb disposal vehicle.

[0024] The equipment status monitoring and management module includes a sensor network and a fault diagnosis unit. The sensor network sets up power sensors and wavelength sensors in the laser emission system, temperature, pressure and flow sensors in the thermal management system, and engine condition, tire pressure and suspension status sensors in the mobile chassis to collect the operating parameters of each subsystem in real time. The fault diagnosis unit uses the GADF-CNN-LSTM algorithm to process the one-dimensional time-series signals collected by the sensors and diagnose faults.

[0025] The implementation process of the GADF-CNN-LSTM algorithm is as follows: the one-dimensional time series signal is transformed into a two-dimensional time-frequency image through the generalized adaptive differential feature (GADF), the spatial features of the image are extracted by CNN, the long-term temporal correlation of the features is captured by LSTM, the fault type, fault location and severity are output, and fault handling suggestions are generated.

[0026] The operation planning and execution module includes environmental sensing equipment and an intelligent planning unit. The environmental sensing equipment includes lidar, high-definition cameras, meteorological sensors, and electromagnetic interference sensors, which collect information related to terrain, weather, electromagnetic interference, and explosives. The intelligent planning unit uses a multi-source data fusion algorithm to fuse and process the environmental sensing data, plan the explosive ordnance disposal operation process, and dynamically adjust it.

[0027] The multi-source data fusion algorithm is a Bayesian fusion algorithm, assuming that the environmental perception data includes lidar terrain data. Meteorological sensor wind speed data Electromagnetic interference sensor data The prior probability of explosive state x Based on historical bomb disposal scenario statistics, the likelihood function Modeling based on sensor characteristics, using the formula: The posterior probability is calculated, and the fused environment and explosive state are estimated using the maximum a posteriori probability (MAP).

[0028] The central control module adopts a multi-protocol converged communication architecture of "main protocol + sub-protocol". EtherNet / IP is used as the main communication protocol to realize backbone communication. For subsystems with high real-time requirements such as laser emission system, a CANFD-based sub-protocol is used to control the communication delay within 5ms. The central control module also has a built-in communication protocol adaptive conversion module and a communication health assessment model.

[0029] The communication protocol adaptive conversion module has a built-in protocol conversion algorithm that automatically identifies the communication protocol of the access subsystem and completes bidirectional conversion with the main protocol without manual configuration. The communication health assessment model collects indicators such as communication delay, packet loss rate, and bandwidth utilization, and uses fuzzy comprehensive evaluation method to quantify the score. When the score is lower than the threshold, it automatically switches to the backup communication link and triggers maintenance warning.

[0030] The safety protection and emergency response module includes a laser emission safety interlock device, an explosion-proof enclosure and shielding measures, as well as an emergency response plan. When an abnormal situation such as accidental detonation of explosives, serious equipment failure, or overheating of the laser emission system is detected, emergency measures such as emergency braking, personnel evacuation, adjustment of heat dissipation power and laser parameters are automatically initiated, and a distress signal is sent to the command center.

[0031] The job planning and execution module also includes a dynamic adjustment unit based on deep reinforcement learning. It constructs a high-dimensional state vector that integrates environmental information, equipment status, and job progress as input to the reinforcement learning model. It adopts an Actor-Critic architecture, where the Actor network outputs the optimal job action, and the Critic network evaluates the value of the action and provides feedback to update the strategy. The dynamic adjustment unit also has a human-machine collaborative decision-making interface. High-risk actions need to be confirmed by the operator, and the human decision-making data is used for online iterative optimization of the model.

[0032] The human-machine interface module is integrated into the control panel in the driver's cab of the bomb disposal vehicle, providing operation methods such as touch screen and buttons, and supporting system operation, parameter setting and status query; the operating status and operation data of the equipment status monitoring and management module and the operation planning and execution module are fed back to the human-machine interface in real time. Example

[0033] Multi-protocol converged communication sub-scheme of central control module Technical challenges: The communication protocols of the various subsystems are heterogeneous, and there is a risk of data delay and packet loss in data interaction, which affects the coordination of bomb disposal operations.

[0034] Necessity of the solution: To ensure real-time and reliable data interaction between multiple subsystems (laser, thermal management, sensor network, etc.), to support the overall control of the central control module, and to avoid operational errors caused by poor communication.

[0035] Technical Approach: A "main protocol + sub-protocol" architecture is adopted: EtherNet / IP is used as the main communication protocol to achieve backbone communication between the central control module and each subsystem, ensuring efficient transmission of large volumes of data. For subsystems with extremely high real-time requirements, such as the laser emission system, a CANFD-based sub-protocol is developed to control communication latency to within 5ms. A communication protocol adaptive conversion module is designed: It has a built-in protocol conversion algorithm that automatically identifies the communication protocols (such as Modbus, Profibus, etc.) of the access subsystems and completes bidirectional conversion with the main protocol without manual configuration. A communication health assessment model is constructed: By collecting indicators such as communication latency, packet loss rate, and bandwidth utilization, the fuzzy comprehensive evaluation method is used to quantitatively score the health of the communication link. When the score falls below a threshold, the system automatically switches to a backup communication link and triggers a maintenance warning. Example

[0036] Fault diagnosis sub-scheme based on multi-scale CNN-LSTM Technical challenges: Faults in the subsystems of bomb disposal equipment (such as aging of laser components and blockage of thermal management pipelines) are often concealed and time-varying, making them prone to being missed or misdiagnosed by traditional fault diagnosis methods.

[0037] Necessity of the solution: To achieve early and accurate identification of equipment failures, intervene in advance to avoid the risk of explosion caused by the escalation of failures, and ensure the safety of bomb disposal operations and the reliability of equipment.

[0038] Technical Approaches: Constructing a multi-scale convolutional neural network: Multi-scale feature extraction is performed on multi-source sensor data such as laser power, wavelength, thermal management temperature, and pressure to capture differences in fault characteristics at different time granularities. Introducing a Long Short-Term Memory (LSTM) network: Temporal modeling is performed on the feature sequences extracted by the CNN to learn the temporal dependencies of fault features, effectively identifying gradual faults such as slow laser power decay. Developing a fault diagnosis inference engine: The trained CNN-LSTM model is embedded into the inference engine to receive sensor data in real time and output diagnostic results including fault type, fault location, and fault severity. Simultaneously, a diagnostic report containing fault cause analysis and handling suggestions is generated. Example

[0039] Dynamic job planning sub-scheme based on deep reinforcement learning Technical challenges: Dynamic changes in the bomb disposal site environment (such as the displacement of explosives or a sudden increase in electromagnetic interference) cannot be responded to in a timely manner by traditional static operation planning, which can easily lead to low operation efficiency or increased safety risks.

[0040] Addressing the necessity: Achieving dynamic optimization of operational planning, and adjusting operational procedures in real time based on the site environment and equipment status while ensuring safety, thereby enhancing the intelligence and adaptability of bomb disposal operations.

[0041] Technical Approaches: Constructing a state-space representation model: Integrating environmental information, equipment status, and work progress to form a high-dimensional state vector as input to the reinforcement learning model; designing an Actor-Critic reinforcement learning architecture: The Actor network outputs the optimal work action based on the current state; the Critic network evaluates the value of the action and feeds it back to the Actor network to update the strategy. Developing a human-machine collaborative decision-making interface: When the action output by the reinforcement learning model poses a high safety risk, a human-machine interaction interface is triggered, allowing the operator to make the final decision; simultaneously, human decision data is used as a supplement to the reward signal for online iterative optimization of the model.

[0042] In practical use, the operator starts the bomb disposal vehicle, and the integrated management system initializes accordingly. The equipment status monitoring and management module performs a comprehensive self-check on each subsystem, and after confirming that the equipment is normal, it reports back to the central control module. The environmental sensing equipment begins to collect information from the work site. Based on this information and explosives intelligence, the operation planning and execution module plans the bomb disposal operation process, including the path to the optimal bomb disposal position, the laser emission angle and parameters after stopping, etc., and displays the plan on the human-machine interface for the operator to confirm.

[0043] Operators drive the bomb disposal vehicle along the planned route. During the journey, the central control module monitors the mobile chassis status in real time, fine-tuning driving parameters based on road conditions and environmental changes to ensure safe and stable operation. Upon arrival at the bomb disposal location, the equipment status monitoring and management module reconfirms the normal operation of the laser emission system and thermal management system. The operation planning and execution module then controls the laser emission system to emit laser light according to preset parameters. Throughout the bomb disposal process, the system continuously monitors data such as laser power and the state of the explosives. If any abnormalities are detected, the laser parameters are immediately adjusted or emission is paused.

[0044] The safety protection and emergency response module monitors the entire operation process. Once an abnormality is detected (such as overheating of the laser emission system or instability of explosives), corresponding safety protection and emergency response measures are immediately activated. For example, when the laser emission system overheats, the thermal management system automatically increases the heat dissipation power while reducing the laser emission power to ensure safe system operation. This is the overall workflow of the invention; repeat these steps for subsequent use. The actual operation is very simple and easy to implement.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0047] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A comprehensive management system for laser-based bomb disposal vehicles, characterized in that: It includes a central control module, an equipment status monitoring and management module, an operation planning and execution module, a safety protection and emergency response module, and a human-machine interaction module. All modules are connected and work together via a data bus. The central control module, as the core of the system, collects, analyzes and processes data from each subsystem, and provides unified command and coordinated control over the entire bomb disposal vehicle.

2. The integrated management system for laser bomb disposal vehicles according to claim 1, characterized in that: The equipment status monitoring and management module includes a sensor network and a fault diagnosis unit. The sensor network sets up power sensors and wavelength sensors in the laser emission system, temperature, pressure and flow sensors in the thermal management system, and engine condition, tire pressure and suspension status sensors in the mobile chassis to collect the operating parameters of each subsystem in real time. The fault diagnosis unit uses the GADF-CNN-LSTM algorithm to process the one-dimensional time-series signals collected by the sensors and diagnose faults.

3. The integrated management system for laser bomb disposal vehicles according to claim 2, characterized in that: The implementation process of the GADF-CNN-LSTM algorithm is as follows: the one-dimensional time series signal is transformed into a two-dimensional time-frequency image through the generalized adaptive differential feature (GADF), the spatial features of the image are extracted by CNN, the long-term temporal correlation of the features is captured by LSTM, the fault type, fault location and severity are output, and fault handling suggestions are generated.

4. The integrated management system for laser bomb disposal vehicles according to claim 3, characterized in that: The operation planning and execution module includes environmental sensing equipment and an intelligent planning unit. The environmental sensing equipment includes lidar, high-definition cameras, meteorological sensors, and electromagnetic interference sensors, which collect information related to terrain, weather, electromagnetic interference, and explosives. The intelligent planning unit uses a multi-source data fusion algorithm to fuse and process the environmental sensing data, plan the explosive ordnance disposal operation process, and dynamically adjust it.

5. The integrated management system for laser bomb disposal vehicles according to claim 4, characterized in that: The multi-source data fusion algorithm is a Bayesian fusion algorithm, assuming that the environmental perception data includes lidar terrain data. Meteorological sensor wind speed data Electromagnetic interference sensor data The prior probability of explosive state x Based on historical bomb disposal scenario statistics, the likelihood function Modeling based on sensor characteristics, using the formula: The posterior probability is calculated, and then the fused environment and explosive state are estimated using the maximum a posteriori probability (MAP).

6. The integrated management system for laser bomb disposal vehicles according to claim 5, characterized in that: The central control module adopts a multi-protocol converged communication architecture of "main protocol + sub-protocol". It uses EtherNet / IP as the main communication protocol to realize backbone communication, and adopts a CANFD-based sub-protocol for subsystems with high real-time requirements such as laser emission system, so as to control the communication delay within 5ms. The central control module also has a built-in communication protocol adaptive conversion module and communication health assessment model.

7. The integrated management system for laser bomb disposal vehicles according to claim 6, characterized in that: The communication protocol adaptive conversion module has a built-in protocol conversion algorithm that automatically identifies the communication protocol of the access subsystem and completes bidirectional conversion with the main protocol without manual configuration. The communication health assessment model collects indicators such as communication delay, packet loss rate, and bandwidth utilization, and uses fuzzy comprehensive evaluation method to quantify the score. When the score is lower than the threshold, it automatically switches to the backup communication link and triggers maintenance warning.

8. The integrated management system for laser bomb disposal vehicles according to claim 7, characterized in that: The safety protection and emergency response module includes a laser emission safety interlock device, an explosion-proof enclosure and shielding measures, as well as an emergency response plan. When an abnormal situation such as accidental detonation of explosives, serious equipment failure, or overheating of the laser emission system is detected, emergency measures such as emergency braking, personnel evacuation, adjustment of heat dissipation power and laser parameters are automatically initiated, and a distress signal is sent to the command center.

9. A comprehensive management system for laser bomb disposal vehicles according to claim 8, characterized in that: The job planning and execution module also includes a dynamic adjustment unit based on deep reinforcement learning. It constructs a high-dimensional state vector that integrates environmental information, equipment status, and job progress as input to the reinforcement learning model. It adopts an Actor-Critic architecture, where the Actor network outputs the optimal job action, and the Critic network evaluates the value of the action and provides feedback to update the strategy. The dynamic adjustment unit also has a human-machine collaborative decision-making interface. High-risk actions need to be confirmed by the operator, and the human decision-making data is used for online iterative optimization of the model.

10. A comprehensive management system for laser bomb disposal vehicles according to claim 9, characterized in that: The human-machine interface module is integrated into the control panel in the driver's cab of the bomb disposal vehicle, providing operation methods such as touch screen and buttons, and supporting system operation, parameter setting and status query; the operating status and operation data of the equipment status monitoring and management module and the operation planning and execution module are fed back to the human-machine interface in real time.

Images