CN114184384B - Data set coupling device of vehicle health management system - Google Patents
Data set coupling device of vehicle health management system Download PDFInfo
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- CN114184384B CN114184384B CN202111345283.XA CN202111345283A CN114184384B CN 114184384 B CN114184384 B CN 114184384B CN 202111345283 A CN202111345283 A CN 202111345283A CN 114184384 B CN114184384 B CN 114184384B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/02—Details or accessories of testing apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
- F01P9/00—Cooling having pertinent characteristics not provided for in, or of interest apart from, groups F01P1/00 - F01P7/00
- F01P9/06—Cooling having pertinent characteristics not provided for in, or of interest apart from, groups F01P1/00 - F01P7/00 by use of refrigerating apparatus, e.g. of compressor or absorber type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/04—Testing internal-combustion engines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/04—Testing internal-combustion engines
- G01M15/042—Testing internal-combustion engines by monitoring a single specific parameter not covered by groups G01M15/06 - G01M15/12
- G01M15/048—Testing internal-combustion engines by monitoring a single specific parameter not covered by groups G01M15/06 - G01M15/12 by monitoring temperature
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Abstract
The invention relates to a data set system for unmanned vehicle health management, which is used for special unmanned vehicles. The device comprises: the environment sensing and early warning system is used for starting the optical sensing equipment to collect and analyze the vehicle environment data when the special unmanned vehicle runs; the state monitoring and behavior management system is connected with the environment sensing and early warning system and is used for judging the health state of the vehicle and determining the current motor action to be taken by analyzing the environment data when the environment data output by the environment sensing and early warning system are acquired; and the vehicle maneuvering platform control interface is connected with the state monitoring and behavior management system and is used for correspondingly correcting the current vehicle behavior control parameters based on the maneuvering action required to be adopted currently determined by the state monitoring and behavior management system. According to the invention, the unmanned vehicle health management function is realized, meanwhile, the motor behavior control is influenced and interfered, and the intelligent level of unmanned vehicle control is effectively improved.
Description
Technical Field
The invention relates to the field of vehicle management, in particular to a data set coupling device of a vehicle health management system.
Background
In the running process of the special unmanned vehicle, vehicle health management is critical, if vehicle health management is poor, normal running of the special unmanned vehicle can be influenced, for example, if the engine refrigerating effect of the special unmanned vehicle is poor or refrigerating power is wasted, the working performance of the engine or the refrigerating durability of the engine can be influenced, and on the other hand, the vehicle body safety of the special unmanned vehicle can be influenced, for example, if the nearest obstacle target volume in front is misjudged, the follow-up wrong defense strategy is given, and the possibility of damaging the vehicle body of the special unmanned vehicle is greatly increased.
Disclosure of Invention
In order to solve the problems, the invention provides a data set coupling device of a vehicle health management system, which can select an intelligent refrigeration mechanism capable of saving refrigeration power and guaranteeing refrigeration effect based on the current running state of a special unmanned vehicle, and more importantly, can also identify the distribution scene of each obstacle target in front so as to obtain the maximum obstacle target volume, and simultaneously give out a corresponding autonomous defense strategy, thereby reducing the threat of the obstacle targets in front to the special unmanned vehicle.
Compared with the prior art, the invention at least needs to have the following two outstanding essential characteristics:
(1) When the engine of the special unmanned vehicle is detected to be in the current stop state, taking into consideration the cooling factors of the vehicle body and the engine, executing power downshift processing on the water temperature cooling regulation of the engine, and when the engine of the special unmanned vehicle is detected to be in the current running state, maintaining the conventional power processing on the water temperature cooling regulation of the engine, thereby realizing low-power consumption health management on the engine of the special unmanned vehicle;
(2) When detecting that the engine of the special unmanned vehicle is currently in a running state, starting visual identification operation on a front obstacle target so as to adjust the current protection level of the special unmanned vehicle based on the identified maximum volume obstacle target, thereby realizing intelligent health management on safety obstacle protection of the special unmanned vehicle.
According to a first aspect of the present invention, there is provided a data set coupling device of a vehicle health management system, the device comprising:
the environment sensing and early warning system is used for starting the optical sensing equipment to collect and analyze the vehicle environment data when the special unmanned vehicle runs;
the state monitoring and behavior management system is connected with the environment sensing and early warning system and is used for judging the health state of the vehicle and determining the current motor action to be taken by analyzing the environment data when the environment data output by the environment sensing and early warning system are acquired;
the vehicle maneuvering platform control interface is connected with the state monitoring and behavior management system and is used for correspondingly correcting the current vehicle behavior control parameters based on the maneuvering needed to be adopted currently determined by the state monitoring and behavior management system;
the information storage chip is arranged in a control console of the special unmanned vehicle and is used for storing the refrigerating power of the refrigerating equipment corresponding to each sectional temperature of the engine, wherein the refrigerating power of the refrigerating equipment corresponding to each sectional temperature is the refrigerating power which is required to be output by the refrigerating equipment for stabilizing the water temperature of the engine with the external temperature in the corresponding temperature section within a set safety temperature range;
the mode detection device is arranged near the information storage chip, connected with the engine and used for detecting that the engine is in a running state or a shutdown state currently and correspondingly sending out a running detection instruction and a shutdown detection instruction;
the water temperature measuring device is arranged near the engine and is used for measuring the current shell temperature of the engine in real time;
a cooling device provided inside the engine for performing a cooling operation on a water temperature inside the engine based on the received cooling power;
the amplitude adjusting device is respectively connected with the mode detecting device, the water temperature measuring device, the information storage chip and the refrigerating device and is used for sending the refrigerating power corresponding to the next stage of the sectional temperature where the current shell temperature is received to the refrigerating device when the shutdown detecting instruction is received.
According to a second aspect of the present invention, there is provided a data set linking method of a vehicle health management system, the method comprising using a data set linking platform of the vehicle health management system as described above to enable health management of an engine of a special unmanned vehicle and to enable health management of safety barrier protection of the special unmanned vehicle based on a current running state of the special unmanned vehicle.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed, implements the steps of a data aggregation method of a vehicle health management system as described above.
Drawings
Embodiments of the present invention will be described below with reference to the accompanying drawings, in which:
fig. 1 is a technical flowchart of a data aggregation device of a vehicle health management system according to the present invention.
Fig. 2 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 2 of the present invention.
Fig. 4 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 3 of the present invention.
Fig. 5 is a schematic diagram of a computer-readable storage medium shown in embodiment 5 according to the present invention.
Detailed Description
Special vehicles refer to vehicles which are limited by the design vehicle in terms of overall dimensions, weight and the like and are special for special purposes, are specially made or specially adapted and are provided with fixed device equipment, and are not motor vehicles for carrying people or goods. Special vehicles generally have special signs or special vehicle types. Refers to a vehicle which is responsible for special service and hangs special vehicle license plates, and is provided with an alarm and a marking lamp. Such as ambulances, fire engines, police vehicles, engineering rescue vehicles, etc.
As an important type of special vehicles, special unmanned vehicles need to be able to formulate corresponding protection strategies, such as chassis protection strategies, for different obstacle target volumes in front under an unmanned state during driving. Because a special unmanned vehicle may touch or strike various obstacle targets in different volumes during the running process of different roads, the protection of the chassis and the bottom of the vehicle needs to be particularly enhanced, so as to prevent the vehicle from being paralyzed and failing to complete the expected task.
In order to overcome the defects, the invention discloses a data set coupling device of a vehicle health management system, which is characterized in that firstly, the current state of an engine of a special unmanned vehicle is detected, then, the water temperature cooling regulation strategy of the engine is regulated based on the detected current state of the engine, whether the visual recognition operation of a front nearest obstacle target is started or not is determined, and the active protection strategy of the matched special unmanned vehicle is selected based on the recognition result, so that the vehicle health management level of the special unmanned vehicle is improved as a whole.
As shown in fig. 1, a technical flow chart of a data aggregation device of a vehicle health management system according to the present invention is presented.
As shown in fig. 1, the specific technical flow of the present invention is composed of two parallel health management branches:
in the first health management sub-process, detecting the current state of the engine of the special unmanned vehicle so as to take into consideration the cooling factors of the vehicle body and the engine when detecting that the engine of the special unmanned vehicle is in the current off-state, performing power down shift processing on the water temperature cooling regulation of the engine, and maintaining the conventional power processing on the water temperature cooling regulation of the engine when detecting that the engine of the special unmanned vehicle is in the current on-state, thereby realizing low-power health management on the engine of the special unmanned vehicle;
in the second health management sub-process, when detecting that the engine of the special unmanned vehicle is currently in a running state, starting visual identification operation on each obstacle target in front so as to adjust the current protection level of the special unmanned vehicle based on the identified maximum obstacle target volume, thereby realizing intelligent health management on safe running of the special unmanned vehicle.
Therefore, the two parallel health management branches jointly realize the vehicle health management flow of the special unmanned vehicle.
The key point of the invention is that a single water temperature regulation strategy is not used any more, but a flexible water temperature regulation strategy based on the current state of the engine of the special unmanned vehicle is selected, so that the cooling power of the cooling mechanism is saved, the cooling effect of the engine of the special unmanned vehicle is ensured, meanwhile, when the current state of the engine of the special unmanned vehicle is an operating state, the visual identification operation of each obstacle target in front is triggered, and then an active protection strategy matched with the identified maximum obstacle target volume in front is selected, thereby improving the intelligent level of the protection mechanism of the special unmanned vehicle.
Next, the data linking device of the vehicle health management system of the present invention will be specifically described by way of example.
Example 1
Fig. 2 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 1 of the present invention.
As shown in fig. 2, the data set coupling device of the vehicle health management system includes the following components:
the environment sensing and early warning system is used for starting the optical sensing equipment to collect and analyze the vehicle environment data when the special unmanned vehicle runs;
the state monitoring and behavior management system is connected with the environment sensing and early warning system and is used for judging the health state of the vehicle and determining the current motor action to be taken by analyzing the environment data when the environment data output by the environment sensing and early warning system are acquired;
the vehicle maneuvering platform control interface is connected with the state monitoring and behavior management system and is used for correspondingly correcting the current vehicle behavior control parameters based on the maneuvering needed to be adopted currently determined by the state monitoring and behavior management system;
the information storage chip is arranged in a control console of the special unmanned vehicle and is used for storing the refrigerating power of the refrigerating equipment corresponding to each sectional temperature of the engine, wherein the refrigerating power of the refrigerating equipment corresponding to each sectional temperature is the refrigerating power which is required to be output by the refrigerating equipment for stabilizing the water temperature of the engine with the external temperature in the corresponding temperature section within a set safety temperature range;
the mode detection device is arranged near the information storage chip, connected with the engine and used for detecting that the engine is in a running state or a shutdown state currently and correspondingly sending out a running detection instruction and a shutdown detection instruction;
the water temperature measuring device is arranged near the engine and is used for measuring the current shell temperature of the engine in real time;
a cooling device provided inside the engine for performing a cooling operation on a water temperature inside the engine based on the received cooling power;
the amplitude adjusting device is respectively connected with the mode detecting device, the water temperature measuring device, the information storage chip and the refrigerating device and is used for sending the refrigerating power corresponding to the next stage of the sectional temperature where the current shell temperature is received to the refrigerating device when the shutdown detecting instruction is received.
Example 2
Fig. 3 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 2 of the present invention.
As shown in fig. 3, compared to embodiment 1 of the present invention, the data set coupling device of the vehicle health management system further includes:
the synchronous control equipment is respectively connected with the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface and is used for controlling the synchronization of the actions of the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface.
Example 3
Fig. 4 is a schematic structural view of a data aggregation device of a vehicle health management system according to embodiment 3 of the present invention.
As shown in fig. 4, compared to embodiment 1 of the present invention, the data set coupling device of the vehicle health management system further includes:
the synchronous control equipment is respectively connected with the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface and is used for controlling the synchronization of the actions of the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface;
the on-site power supply equipment is respectively connected with the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface and is used for respectively providing power supply for the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface.
In any of the above embodiments, optionally, in the data set interconnection device of the vehicle health management system:
the environment sensing and early warning system is arranged at the front end of the special unmanned vehicle, is connected with the mode detection equipment and is used for starting an image data acquisition action on the ground in front of the lightning discharge shovel body when receiving an operation detection instruction so as to obtain a corresponding foreground acquisition image;
the state monitoring and behavior management system comprises a region identification device, a volume judgment device and a grade analysis device;
the region identification equipment is connected with the environment sensing and early warning system and is used for fitting more than one target imaging region corresponding to more than one target respectively based on each edge pixel point in the foreground acquired image;
the volume judging device is connected with the region identifying device and is used for estimating the corresponding target volume based on the target imaging region with the largest area in the more than one target imaging regions;
the grade analysis equipment is connected with the volume judgment equipment and is used for determining a corresponding protection grade based on the received target volume;
the vehicle maneuvering platform control interface is connected with the grade analysis equipment and is used for realizing corresponding correction of the current protection grade of the special unmanned vehicle based on the received protection grade.
In any of the above embodiments, optionally, in the data set interconnection device of the vehicle health management system:
determining a corresponding protection level based on the received target volume includes: the determined corresponding protection level is monotonically and positively associated with the received current target volume;
the method for realizing corresponding correction of the current protection level of the special unmanned vehicle based on the received protection level comprises the following steps: the higher the received protection level is, the higher the modified current protection level of the special unmanned vehicle is.
In any of the above embodiments, optionally, in the data set interconnection device of the vehicle health management system:
the method for realizing corresponding correction of the current protection level of the special unmanned vehicle based on the received protection level comprises the following steps: the special unmanned vehicle has a first level of protection, a second level of protection, a third level of protection and a fourth level of protection.
In any of the above embodiments, optionally, in the data set interconnection device of the vehicle health management system:
the special unmanned vehicle is in a first-level protection level, and the software warning state and the hardware warning state are simultaneously started;
the special unmanned vehicle does not start a software warning state and only starts a hardware warning state under a second-level protection level, a third-level protection level or a fourth-level protection level;
the special unmanned vehicle does not start a software warning state and only starts a hardware warning state under a second-level protection level, a third-level protection level or a fourth-level protection level, and the method comprises the following steps: the higher the protection level, the less protection hardware the special unmanned vehicle chassis starts.
In any of the above embodiments, optionally, in the data set interconnection device of the vehicle health management system:
the amplitude adjusting device is further used for sending the received freezing power corresponding to the sectional temperature where the current shell temperature is to be to the refrigerating device when the operation detection instruction is received;
wherein, save each refrigeration power of refrigeration plant that each segmentation temperature of engine corresponds respectively includes: the temperature range of each of the sectional temperatures is equal in magnitude.
Example 4
In the embodiment, the invention discloses a data set coupling method of a vehicle health management system, which comprises the steps of using a data set coupling platform of the vehicle health management system to realize health management of an engine of a special unmanned vehicle and realize health management of safety barrier protection of the special unmanned vehicle based on the current running state of the special unmanned vehicle.
Example 5
Fig. 5 is a schematic diagram of a computer-readable storage medium shown in embodiment 5 according to the present invention. As shown in fig. 5, a computer-readable storage medium 50 according to an embodiment of the present disclosure has stored thereon non-transitory computer-readable instructions 51. When the non-transitory computer readable instructions 51 are executed by the processor, all or part of the steps of the data set association method of the vehicle health management system of embodiment 5 of the invention described above are performed.
In addition, the special vehicle refers to various wheeled or crawler-type special vehicles for traction, obstacle clearance, cleaning, lifting, loading and unloading, lifting, stirring, excavating, bulldozing, road pressing and the like, or vehicles with fixed special instruments and equipment arranged in the vehicles for monitoring professional work, fire fighting, cleaning, medical treatment, television broadcasting, radar, X-ray inspection and the like. Such as self-unloading load-carrying vehicles, sweeping vehicles, well-fixing cement vehicles, fracturing trucks, road barrier removal vehicles, overhead working vehicles, concrete pump vehicles, snow-removing vehicles and the like, are special vehicles with wide application and certain representativeness.
In the use of various special vehicles, oil leakage faults often occur, the oil leakage faults directly affect the use and productivity of the automobile, the waste of lubricating oil and fuel oil is caused, and the power and the working efficiency of the special vehicle are consumed. Once the oil leakage phenomenon occurs, the lubricating oil in the special vehicle is reduced, so that the lubrication of parts is poor, the cooling of parts is poor, the damage of the parts is caused, the service life of the vehicle is influenced, and even accident potential is left.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus/electronic device/computer readable storage medium/computer program product embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A data set coupling device of a vehicle health management system for a special unmanned vehicle, the device comprising: the environment sensing and early warning system is used for starting the optical sensing equipment to collect and analyze the vehicle environment data when the special unmanned vehicle runs; the state monitoring and behavior management system is connected with the environment sensing and early warning system and is used for judging the health state of the vehicle and determining the current motor action to be taken by analyzing the environment data when the environment data output by the environment sensing and early warning system are acquired; the vehicle maneuvering platform control interface is connected with the state monitoring and behavior management system and is used for correspondingly correcting the current vehicle behavior control parameters based on the maneuvering needed to be adopted currently determined by the state monitoring and behavior management system; the information storage chip is arranged in a control console of the special unmanned vehicle and is used for storing the refrigerating power of the refrigerating equipment corresponding to each sectional temperature of the engine, wherein the refrigerating power of the refrigerating equipment corresponding to each sectional temperature is the refrigerating power which is required to be output by the refrigerating equipment for stabilizing the water temperature of the engine with the external temperature in the corresponding temperature section within a set safety temperature range; the mode detection device is arranged near the information storage chip, connected with the engine and used for detecting that the engine is in a running state or a shutdown state currently and correspondingly sending out a running detection instruction and a shutdown detection instruction; the water temperature measuring device is arranged near the engine and is used for measuring the current shell temperature of the engine in real time; a cooling device provided inside the engine for performing a cooling operation on a water temperature inside the engine based on the received cooling power; the amplitude adjusting device is respectively connected with the mode detecting device, the water temperature measuring device, the information storage chip and the refrigerating device and is used for sending the refrigerating power corresponding to the next stage of the sectional temperature where the current shell temperature is received to the refrigerating device when the shutdown detecting instruction is received.
2. The data set interconnection device of a vehicle health management system as set forth in claim 1, wherein: the environment sensing and early warning system is arranged at the front end of the special unmanned vehicle, is connected with the mode detection equipment and is used for starting image data acquisition operation on the ground in front of the unmanned vehicle when receiving an operation detection instruction so as to obtain a corresponding foreground acquisition image; the state monitoring and behavior management system comprises a region identification device, a volume judgment device and a grade analysis device; the region identification equipment is connected with the environment sensing and early warning system and is used for fitting more than one target imaging region corresponding to more than one target respectively based on each edge pixel point in the foreground acquired image; the volume judging device is connected with the region identifying device and is used for estimating the corresponding target volume based on the target imaging region with the largest area in the more than one target imaging regions; the grade analysis equipment is connected with the volume judgment equipment and is used for determining a corresponding protection grade based on the received target volume; the vehicle maneuvering platform control interface is connected with the grade analysis equipment and is used for realizing corresponding correction of the current protection grade of the special unmanned vehicle based on the received protection grade.
3. The data set interconnection device of a vehicle health management system as set forth in claim 1, wherein: determining a corresponding protection level based on the received target volume includes: the determined corresponding protection level is monotonically and positively associated with the received current target volume;
the method for realizing corresponding correction of the current protection level of the special unmanned vehicle based on the received protection level comprises the following steps: the higher the received protection level is, the higher the modified current protection level of the special unmanned vehicle is.
4. A data aggregation apparatus for a vehicle health management system according to claim 3, wherein: the method for realizing corresponding correction of the current protection level of the special unmanned vehicle based on the received protection level comprises the following steps: the special unmanned vehicle has a first level of protection, a second level of protection, a third level of protection and a fourth level of protection.
5. The data set forth in claim 4, wherein: the special unmanned vehicle is in a first-level protection level, and the software warning state and the hardware warning state are simultaneously started; the special unmanned vehicle does not start a software warning state and only starts a hardware warning state under a second-level protection level, a third-level protection level or a fourth-level protection level; the special unmanned vehicle does not start a software warning state and only starts a hardware warning state under a second-level protection level, a third-level protection level or a fourth-level protection level, and the method comprises the following steps: the higher the protection level, the less protection hardware the special unmanned vehicle chassis starts.
6. The data set interconnection device of a vehicle health management system as set forth in claim 1, wherein: the amplitude adjusting device is further used for sending the received freezing power corresponding to the sectional temperature where the current shell temperature is to be to the refrigerating device when the operation detection instruction is received; wherein, save each refrigeration power of refrigeration plant that each segmentation temperature of engine corresponds respectively includes: the temperature range of each of the sectional temperatures is equal in magnitude.
7. The data set forth in claim 1, wherein the apparatus further comprises: the synchronous control equipment is respectively connected with the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface and is used for controlling the synchronization of the actions of the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface.
8. The data set forth in claim 1, wherein the apparatus further comprises: the on-site power supply equipment is respectively connected with the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface and is used for respectively providing power supply for the environment sensing and early warning system, the state monitoring and behavior management system and the vehicle maneuvering platform control interface.
9. A data set linking method of a vehicle health management system, the method comprising using the data set linking device of the vehicle health management system according to any one of claims 1 to 8 to achieve health management of an engine of a special unmanned vehicle and to achieve health management of safety barrier protection of the special unmanned vehicle based on a current running state of the special unmanned vehicle.
10. A computer readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed, implements the steps of the method according to claim 9.
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