525 results about "Motion simulation" patented technology

The invention belongs to the technical field of wind tunnel tests, and particularly relates to a precession simulation device for a spiral flutter wind tunnel test. According to the invention, the design problem of the rotor craft spiral flutter wind tunnel test device is solved, and the key influence parameters and influence rules of the spiral flutter of the aircraft are researched by designing the precession motion simulation device of the rotor craft. Rotation of the rotor wings can be realized in the wind tunnel, and the rotating speed of the rotor wings is adjusted through the motor. Meanwhile, pitching and deflection modal decoupling of the rotating shaft of the rotating system is achieved, and pitching and deflection modal frequencies are independently adjustable; meanwhile, the axis of the pitch axis and the axis of the yaw axis coincide, so that pitching and yaw freedom degree coupling precession motion can be achieved under the effect of gyroscopic moment. Meanwhile, nacelle rotating mass rotational inertia, nacelle weight and mass center position adjustment can be achieved; and finally, the rotating speed of the rotating mass such as the rotor wing and the propeller hub can be adjusted through a speed adjusting motor, matching of the rotating speed and the incoming flow speed is guaranteed, and the spiral flutter state is achieved.

The invention discloses a shaping robot, a shaping system and a grain processing method thereof. An integrated moving and transferring device is used as a chassis for bearing all modules; the shaping industrial robot is used for driving a cutter on the mechanical arm to conduct shaping machining. The medicine scrap sucking and cleaning device is used for cleaning scraps generated by processing; the tool changing magazine is used for placing and managing tools and comprises a quick-changing tool rest, and a detection sensor used for detecting whether the tools exist or not is arranged on the quick-changing tool rest; the control system comprises a coordinate system management module, a tool path planning module, a robot kinematics module, a collision detection module, a motion simulation module and a robot program generation module. Automatic machining positioning, automatic machining path planning and automatic cutting tool switching and management can be achieved; the automation degree of grain cutting machining is effectively improved; in the shaping process, temperature and contact force detection sensors are used for detection, and early warning protection in the machining process is achieved.

The invention discloses a multi-brand AGV same-field mixed operation management and control method and device, electronic equipment and a storage medium, and the method comprises the steps: building a standardized data channel with an original scheduling system of each brand AGV, so as to obtain the real-time operation state data and planning path data of each AGV; based on the real-time operation state data and the planned path data, carrying out space intersection judgment on planned paths of all AGVs, and carrying out collision risk initial judgment on AGV pairs with space intersection based on preset limit operation parameters; motion simulation is carried out on the AGV pair with the collision risk through preliminary judgment in the virtual environment based on the actual operation parameters so as to output a quantized collision risk result; and based on the quantized collision risk result, generating an avoidance strategy for the AGV with the low priority in the AGV pair with the collision risk in combination with a preset dynamic priority rule, and issuing and executing a standardized scheduling instruction generated based on the avoidance strategy. According to the invention, safe and efficient cooperative operation of multiple brands of AGVs in a same-field mixed operation environment can be realized.

The invention discloses a golf motion simulation method and system based on digital twinning, and the method comprises the steps: obtaining an original data set containing a timestamp and a space coordinate from the cooperative motion of a plurality of parts and equipment of an athlete body through a sensor network technology in combination with a high-speed image capture device, and obtaining a preliminary multi-source motion information record; aiming at the initial multi-source motion information record, correcting time synchronization deviation and space matching error by adopting a data preprocessing module, and determining a corrected unified data framework by comparing timestamps and coordinate mapping relationships of data sources; according to the corrected unified data framework, a feature extraction algorithm is used for separating and marking the action analysis details and key parameters at the ball hitting moment, and a feature vector set containing the body posture and the equipment state is obtained. According to the invention, a highly vivid virtual environment support is provided for exercise training and match analysis, and the simulation precision and application value of a virtual exercise scene are effectively improved.

The invention relates to the technical field of model construction, in particular to a method for creating an image recognition model based on clinical disease data integration. The method comprises the following steps: acquiring a medical clinical orthopedic image set; the bone density and the bone form of the medical clinical orthopedic image set are extracted, bone structure division is carried out on the medical clinical orthopedic image set, bone structure division images are generated, and the bone structure division images comprise large bone structure images and small bone structure images; analyzing the bone layer thickness of the big bone structure image and performing physical layer thickness compensation reconstruction on the big bone structure image to generate big bone middle virtual slice data; and performing detail guide reconstruction on the small bone structure image to generate small bone fracture texture reconstruction data. According to the invention, through image resolution enhancement, multi-modal data integration, motion simulation and optimization model training, the accuracy of skeleton image dynamic identification is improved.

The invention discloses a long-distance motion simulation system high-precision positioning and speed fixing method and device, the device comprises a slide rail, a slide table and a long-distance high-precision positioning and speed fixing unit, and the long-distance high-precision positioning and speed fixing unit comprises a photoelectric position marker, a high-speed signal acquisition and processing unit and a photoelectric encoder; when the sliding table passes through the photoelectric potential marker, a reflecting light path of the photoelectric potential marker is formed by using the light reflecting mirror, so that the photoelectric potential marker generates a pulse signal; the high-speed signal acquisition and processing unit acquires pulse signals in real time, marks time stamps on photoelectric potential marker signals acquired in real time, and determines absolute position data of the sliding table at the moment by taking the pulse signals transmitted by the photoelectric potential marker as a reference; the photoelectric encoder transmits a calculated distance value to the high-speed signal acquisition and processing unit; and obtaining real-time position information and instantaneous speed information of each sensing interval and the average speed of each sensing interval according to the absolute position data and the calculated distance value.

The invention discloses a landslide particle flow and live-action three-dimensional geographical environment analysis method and device, a medium and a product, and relates to the field of geological landslide simulation, and the method comprises the steps: determining a sliding body and a sliding bed region based on digital elevation model data before and after a landslide; establishing a three-dimensional landslide model by adopting a three-dimensional particle flow discrete element PFC3D based on the digital elevation model data before and after the landslide and the sliding mass and sliding bed areas; performing landslide particle motion simulation based on the three-dimensional landslide model; acquiring remote sensing images before and after the landslide; constructing a three-dimensional terrain scene based on a live-action three-dimensional technology according to the remote sensing data and the digital elevation model data of the corresponding period; obtaining and updating particle data according to the landslide particle motion simulation result; performing fusion rendering on the particle data and the three-dimensional terrain scene to obtain a simulation result of superposition of landslide simulation and the three-dimensional scene; the complete process of landslide occurrence can be visually displayed, and damage analysis can be accurately carried out on the landslide.

The invention provides an anthropomorphic motion method and device for a mechanical arm and terminal equipment, and is suitable for the technical field of robot control, the mechanical arm comprises seven joints, and the method comprises the steps that a motion task of the mechanical arm is analyzed, and tail end posture data, corresponding to the motion task, of the mechanical arm is determined; a pre-trained neural network model is used for analyzing the tail end posture data, and the optimal target angle of the seventh joint of the mechanical arm and the corresponding target arm angle are obtained; performing inverse kinematics analysis on the target angle of the seventh joint based on a preset kinematics model to obtain corresponding multiple groups of angle data; and target group angle data with the highest matching degree of the theoretical arm angle and the target arm angle is screened out from the multiple groups of angle data, and the mechanical arm is controlled to move based on the theoretical angle corresponding to each joint in the target group angle data, so that the mechanical arm executes a movement task in a personification movement mode. According to the embodiment of the invention, efficient and reliable anthropomorphic motion simulation can be realized.

The utility model relates to the technical field of equipment testing, in particular to a passive following type respirator testing device and system.The device comprises a respiration simulation assembly provided with a passive following type respirator; the muscle simulation assembly is connected with the respiration simulation assembly and used for driving the respiration simulation assembly to move and simulating the expiration and inspiration exchange process of the human body based on the movement of the respiration simulation assembly; and the upper computer is communicated with the muscle simulation assembly and is used for inputting a test instruction to enable the muscle simulation assembly to move and outputting a test result of the passive following type respirator according to the test data of the passive following type respirator. Therefore, the problem that the test accuracy is low due to the fact that the simulated lung lacks a power source and the spontaneous respiration state of human muscles cannot be simulated in the prior art is solved.

The invention discloses a fluid internal particle motion simulation method based on CFD-DEM coupling. Comprising the following steps: constructing a three-dimensional model, and exporting the three-dimensional model as a. Step file; grid division is carried out on the solid and the grid between the solid and the drainage basin, and a. Msh file is generated; a dynamic grid motion control file is generated, and a. Model file is reserved; the. Msh file is imported into DEM simulation software, and a. Case file with the initial time being 0 is exported; and performing fluid mechanics and discrete phase calculation on the. Model file in CFD simulation software, and exporting a particle motion track and a variable change curve. According to the method, control over the moving part is more accurate, the movement trend of particles in the three-dimensional model can be accurately simulated, and particle movement simulation animation and variable data of more real points are output; the obtained simulation coupling result not only can judge the movement condition of the abrasive particles, but also can improve the structure according to a fluid mechanics (CFD) calculation result, optimize work and design parameters, reduce power loss and improve transmission performance.

The invention belongs to the field of wind tunnel experiments in a hypersonic flow field environment, and discloses a multi-degree-of-freedom high-frequency motion simulation device for an aircraft dynamic stability test and a calculation method for realizing an actuation angle. According to the technical method, calculation is carried out on the basis of an electromechanical coupling equation, determined by electrical parameters and mechanical parameters, of a piezoelectric material. Modeling can be carried out according to a piezoelectric equation to obtain a calculation method between the voltage applied by the piezoelectric actuator and the pitching and yawing actuation angles of the device, so that the excitation effect of the device in the ground test process can be accurately controlled and predicted. The method is not only suitable for pitching and yawing two-degree-of-freedom actuation calculation, but also can be used for calculating the actuation angle of a three-axis degree-of-freedom experimental device added with rolling drive through coordinate transformation under the condition of adding parameters such as rolling angular velocity and the like in the face of the three-axis degree-of-freedom experimental device added with rolling drive. At present, according to a calculation method based on the device, calculation is carried out only by considering the degree of freedom of the pitching axis and the yawing axis.

The invention relates to a landslide disaster-causing effect analysis method considering three-dimensional stability and finite difference, which comprises the following steps: calculating underground water level change under event rainfall in real time through FSLAM, interacting with a stability analysis module, and realizing closed-loop feedback of rainfall infiltration-stability coefficient-motion simulation; and the stability coefficient serves as a strength reduction factor input by Massflow to dynamically adjust material parameters, and full-chain analysis from instability judgment to motion simulation is achieved. By using high-resolution DEM data, the search range of the sliding surface can be dynamically defined, and the sliding surface is a three-dimensional sliding surface, so that modeling of a non-circular surface is supported, and irregular geometrical shapes can be accurately captured. The method overcomes the limitation of simplification of landslide geometry and soil mass mechanical characteristics in traditional two-dimensional analysis, more accurately captures complex mechanical behaviors in the landslide instability process, and improves the reliability of stability calculation.

The invention discloses a numerical simulation method, device and equipment for ice rock collapse starting and a medium, relates to the technical field of fluid motion simulation, and provides an FDEM-SPH coupling framework. Through a CIE unit in the FDEM method, crack propagation and fracture processes in rock masses are accurately simulated, and after the CIE unit is completely fractured, the FDEM method simultaneously simulates various contact forms between two separated finite units, so that mutual movement and interaction between fractured rock masses can be accurately described; ice and snow melting and movement in the ice-water phase change process are simulated through the smoothed particle flow SPH, and meanwhile, the interaction between ice-water phase change and rock mass fracture movement can be quantified by calculating the contact force between virtual particles in the smoothed particle flow SPH and the surface of a finite element in the finite discrete element method FDEM; the interaction reflects the erosion and impact of the ice-water phase change on the rock mass in the whole process and the actual physical condition in the ice rock collapse starting process, so that the ice rock collapse change more fitting the real condition is described.

The invention discloses a cracking type control surface follow-up loading test device and a test method. The cracking type control surface follow-up loading test device comprises a test bed; the control surface simulation unit comprises a simulation control surface base, an upper simulation control surface and a lower simulation control surface; the control surface deflection driving mechanism comprises two groups of control surface driving units, and the two groups of control surface driving units are respectively used for adjusting deflection angles of the upper simulation control surface and the lower simulation control surface; the follow-up loading system comprises two groups of control surface loading units, and the two groups of control surface loading units are respectively used for applying loads to the upper simulation control surface and the lower simulation control surface along the deflection direction of the control surfaces; and the control surface translation driving mechanism is respectively connected with the test bed and the simulation control surface base and is used for driving the control surface simulation unit to move along the horizontal direction. According to the invention, the motion simulation of the cracking control surface in various scenes can be realized, the test requirement of asynchronous loading on the two sides of the control surface can be met, and the device and the method can be suitable for tests of cracking control surfaces in different forms and under different requirements.

The invention discloses a remote humanoid mapping control method based on a virtual reality motion capture mechanical arm. A motion data acquisition module transmits a matrix of a head coordinate system relative to a world coordinate system and a homogeneous transformation matrix to a coordinate system conversion module, establishes a base coordinate system and a tail end coordinate system, and establishes a kinematic chain conversion model; extreme position data of forearm extension of a user is collected, a proportionality coefficient is calculated, and a motion space boundary of the mechanical arm is output; pose normalization processing is carried out to form a discretized mechanical arm tail end pose sequence, and then the spatial relation between the mechanical arm sphere model and the obstacle is analyzed; generating a collision-free track by adopting a parallelization gradient optimization algorithm; the trajectory optimization module realizes trajectory smoothness and time optimization by constructing a multi-objective optimization function; and a mechanical arm motion simulation system is constructed, the tail end track precision is verified, and the controller drives the mechanical arm to achieve high-fidelity reproduction of user actions according to the track. According to the invention, high-precision and smooth-path motion migration of the mechanical arm is realized.

A motion simulator system is disclosed that includes a freely rotatable movable frame supported by, but unattached to, a hemispherical base. The movable frame comprises a spherical enclosure constructed from rigid, lightweight materials such as composite materials or interlocking panels, providing unlimited 360-degree rotation in all three rotational degrees of freedom (pitch, roll, and yaw). An internal actuator system coupled to the movable frame controls attitude positioning while the center of rotation remains substantially fixed relative to the base. Low friction engagement between the movable frame and base is achieved through transfer bearings integrated into the base's outer surface or by pressure-vented air cushions. The system enables smooth, continuous rotation of the untethered movable frame for enhanced motion simulation applications.

The invention discloses a method for regulating and controlling residual stress of a metal material, and relates to the field of metal materials, in the method, on one hand, a multi-energy-field coupling simulation system performs simulation based on initial regulation and control parameters, simulates stress distribution of the material under set service conditions, and determines optimal regulation and control parameters through an optimization algorithm; on the other hand, the stress regulation and control digital virtual model plans the path according to the optimal regulation and control parameters, and motion simulation is carried out to verify the feasibility of the path. Only when the simulation result meets the preset regulation and control target, the final regulation and control path and parameters are transmitted to the stress regulation and control execution device for actual operation. The double verification mechanism ensures the accuracy and reliability of stress regulation and control, and effectively avoids regulation and control failure caused by single link error, thereby remarkably improving the effect and efficiency of regulating and controlling the residual stress of the metal material.

A computer-implemented method includes receiving environment description data associated with a simulated environment including an object and identifying an object type of the object. The method includes, in response to the object type being a human, identifying a motion type associated with the object, loading a CAD model associated with the object, loading a motion file associated with the motion type, and mapping the CAD model to the motion file. The method includes performing ray tracing simulation, performing physical optics simulation, calculating at least one of a Doppler shift and a micro-Doppler shift for each ray of a set of rays, performing ray clustering, and transforming a simulation output for display on a user device. The simulation output includes a motion simulation associated with the motion type of the object. The motion simulation includes a main motion of the object and a set of micro-motions of the object.

The invention discloses a three-degree-of-freedom real-time motion simulation method and system of a ship in sea waves based on power spectrum analysis, and belongs to the technical field of ship and ocean engineering, and the method comprises the steps: obtaining sea wave data and basic parameters of the ship; establishing a sea wave simulation model based on a frequency density spectrum to obtain a sea wave spectrum; based on the sea wave spectrum and the ship basic parameters, establishing a power spectrum density function of ship swaying motion; establishing a kinetic equation of the ship swaying motion, and solving a coefficient of the kinetic equation of the ship swaying motion and a power spectral density function of the ship swaying motion according to the sea wave data and the ship basic parameters; and solving the kinetic equation of the ship swaying motion, and obtaining time calendar data of the three-degree-of-freedom swaying motion of the ship through inverse Fourier transform. By means of the method, simulation calculation of rolling, pitching and heaving three-degree-of-freedom motion of any ship type under any sea condition can be achieved, and manpower, material resource and financial resource input of ship model tests and real ship sea tests is saved.

The invention discloses an ultra-large-diameter slurry shield deslagging parameter optimization method, system and device and a storage medium. The method comprises the following steps that a three-dimensional model is constructed; establishing a motion simulation model; the motion simulation model solves a flow process equation of a slurry fluid phase and a motion control equation of a rock slag particle phase according to the deslagging parameters, so that flow field distribution characteristics and rock slag migration behaviors in the excavation bin and the air cushion bin are obtained; obtaining an evaluation index of the deslagging performance, and judging whether the evaluation index meets a preset requirement or not. According to the method, a fluid phase flow equation and a particle phase motion control equation are solved by utilizing the simulation model, and an interaction mechanism of the slurry and the rock slag is defined, so that simulation is closer to a real situation; and dynamic adaptation of slag discharge parameters with a complex pipe network system and actual construction working conditions is realized. The probability of detention and accumulation of rock slag at the bottoms of the excavation bin and the air cushion bin is remarkably reduced, equipment abrasion is reduced, abnormal tunneling parameters are avoided, and stability and continuity of shield tunneling are guaranteed.

The invention relates to the technical field of diesel engine fuel supply, in particular to a variable stiffness spring simulation design method for a high-pressure common rail pump. Comprising the steps of establishing a multi-physics field coupling model based on simulation software; establishing a thermodynamic module; simulating the movement of the plunger; simulating the movement of the valve core; establishing a fuel pressure dynamic change model; calculating the spring stiffness; calculating a target adjustment parameter; optimizing a spring stiffness coefficient: adjusting the spring stiffness coefficient through a genetic algorithm; a population is set and initialized, then an operation method is selected, crossover operation is carried out, and filial generation individual data is obtained; outputting an optimal parameter; optimal target parameters are calculated, specifically, the optimal parameters are introduced into simulation software, so that the maximum collision speed V of the valve element is reduced, and the system volume efficiency L is improved; by using the variable stiffness spring, the collision speed can be effectively reduced, the impact stress between the valve element and the valve seat is reduced, the fatigue damage between the valve element assemblies is reduced, and the service life of the pump valve assembly of the high-pressure common rail pump is prolonged.

The invention discloses a large-size spacecraft dynamic six-degree-of-freedom pose high-precision measurement method, solves the problems of shielding failure, low measurement precision and the like in large-size spacecraft dynamic tail end target support measurement, belongs to the technical field of spacecraft dynamic measurement, and is mainly suitable for large-size spacecraft tail end antenna dynamic working conditions. For example, the three laser trackers are adopted for cooperative work, a synchronous trigger sends a unified trigger signal to all the laser trackers, and it is ensured that the three trackers collect three-dimensional coordinate data of a target point at the strict same moment. And finally realizing six-degree-of-freedom pose high-precision measurement of the large-size spacecraft motion tail end target bracket by combining a tracker space station planning strategy of a non-coplanar optimization algorithm of a minimum position precision attenuation factor and utilizing a dynamic six-degree-of-freedom pose resolving algorithm fused with measurement data based on a space target coordinate obtained by synchronous triggering.

The invention discloses a panoramic sound effect control method, device and equipment. According to the method, a sound effect movement track used for indicating sound change characteristics can be constructed; on the basis of the sound effect motion trail, carrying out smoothing processing on the motion speed and angle parameters of a target sound source; determining all playing sound channels, and generating an acoustic image optimization parameter corresponding to each playing sound channel; and optimizing the smoothed target sound source based on the sound image optimization parameter of each playing sound channel, and rendering the optimized corresponding target sound source in each playing sound channel. Visibly, according to the method and the device, the problems of sound image breakage and speed mismatch distortion in the motion simulation process can be avoided by accurately grasping the sound change characteristics, optimizing the sound motion parameters and individually regulating and controlling each playing sound channel, the natural fluency of the playing effect of the target sound source is comprehensively improved, and the user experience is improved. And the playing quality of the target sound source and the auditory experience of audiences are comprehensively improved.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

The invention relates to the technical field of medical robots, and particularly discloses a complex scene simulation and motion assisting robot which comprises two sets of symmetrically-arranged unilateral training platforms, and each unilateral training platform comprises a supporting base, a front-back displacement platform, a left-right displacement platform, a vertical displacement platform, a rotation driving mechanism and a pedal mechanism. The pedal mechanism at least comprises a bottom plate, a pedal plate and a pedal driving mechanism used for driving the pedal plate to independently move relative to the bottom plate. Two groups of symmetrical unilateral training platforms work cooperatively, each platform is integrated with four-degree-of-freedom basic motion units composed of front-back, left-right and vertical displacement platforms and rotary driving mechanisms, and then is combined with a pedal mechanism with independent active driving capability; various daily and complex exercise scenes such as walking on the flat ground, going up and down stairs, trudge on mountains, surfing and the like can be reproduced, a highly-simulated dynamic environment is provided for rehabilitation training, the exercise simulation dimension is wider, and the precision is higher.

The application discloses a kind of based on the multi-view spine biomechanics dynamic analysis method and system of augmented reality, belong to man-machine interaction and biomechanics field.The system of the application includes central client and augmented reality client.Central client includes spine biomechanics analysis module and visual interactive module, respectively for central client user provides the dynamic evaluation of human lumbar and sacral part stress and visual real-time information feedback.Augmented reality client provides gesture interactive mode for augmented reality client user, realizes corresponding interactive action behavior in augmented reality scene, user is based on interactive system, selects model by gesture and downloads selected model to current environment, and interacts with downloaded model by gesture;By building motion capture environment, the real-time collection of human body posture of augmented reality client user is realized, and the real-time motion simulation of virtual human model is realized.The application can optimize working posture and reduce spinal skeletal muscle disease.

The invention discloses a quadruped robot motion control method and system based on reinforcement learning, and belongs to the technical field of motion control. The method comprises the following steps: establishing a simulation environment, constructing a quadruped robot model and a motion simulation environment thereof by utilizing Isaac Gym, constructing a CVaR-PPO algorithm based on the simulation environment, and training an optimal control strategy for keeping the robot stable in a complex terrain through strategy optimization. In the training process, a risk sensitivity factor is introduced into the CVaR-PPO algorithm to assess risks of different terrains, and a control strategy is adjusted in a self-adaptive mode. After simulation testing and strategy verification, the optimal strategy is deployed in the actual quadruped robot, and gait autonomous generation and posture adjustment of the robot under various terrains are achieved, so that the environment adaptability and the motion performance of the robot are improved. According to the method, the goals of autonomous gait generation and posture adjustment are achieved, so that the motion control of the quadruped robot in an unknown complex terrain is more robust and accurate.

The invention discloses a spring fatigue test device, which belongs to the technical field of mechanical test equipment and comprises a rack, a data acquisition module, an environment simulation integrated cabin, a multi-axis loading module and a micro-motion simulation base. The rack provides a supporting and mounting space for the whole device. Through cooperative work of the main loading unit, the first auxiliary loading unit and the second auxiliary loading unit, axial loads, torsion loads and lateral loads can be applied to the spring at the same time or according to a preset phase relation in a test period, and the tension-compression-torsion-bending composite stress state of the spring under the actual working condition is accurately reproduced. Compared with a traditional uniaxial test, the result is closer to engineering practice, and the authenticity and the severity of the test are greatly improved.

The invention provides a construction safety early warning method for a construction site, a terminal and a storage medium. The method comprises the following steps: constructing a physical model of an obstacle in a construction site based on a physical engine simulation algorithm; based on the physical model of the construction site and the state information of all obstacles in the construction site at the current moment, performing mixed collision detection, determining a target obstacle, screening out obstacles which do not collide, and reducing the calculation amount; physical motion simulation is carried out on the target obstacles to obtain state information of each target obstacle in a future time period; further collision prediction is carried out on the target obstacle based on the state information of the target obstacle in the future period, and a collision detection score is determined; and performing safety early warning on the construction site based on the collision detection scores of any two target obstacles in the future time period. According to the method, early warning can be carried out on possible accidents in advance, so that the occurrence of safety accidents is reduced, and the safety warning effect of a construction site is improved.

The invention relates to the technical field of steel continuous casting production, in particular to a simulation method and system for dynamic distribution of inclusions in a continuous casting billet and a computer program product, and the simulation method comprises the following steps: constructing a three-dimensional model of the continuous casting billet, importing FLUENT software, and simulating fluid movement in the continuous casting billet; simulating the growth process of the solidified blank shell until the blank shell is completely solidified; injecting and tracking inclusions in the dispersed phase model; the positions of the inclusions in the continuous casting billet are obtained at each time step, and whether the inclusions meet the criterion of being captured by the solidified billet shell or not is judged; if yes, the speed of the inclusions is removed, and a new speed is given to the inclusions according to the positions of the inclusions in the continuous casting billet; and exporting inclusion information at an outlet of the continuous casting billet. According to the method, the obtained dynamic distribution simulation result of the inclusions is closer to the actual production, the distribution condition of the inclusions in the continuous casting blank can be accurately reflected, and the production of the casting blank is effectively guided.