30 results about "Transportation models" patented technology

The invention relates to the technical field of computer numerical simulation, discloses a multiphase flow coupling analogue simulation method and device, computer equipment and a storage medium, and is applied to a process for preparing methanol through CO2 hydrogenation by a liquid phase method. The method comprises the following steps: constructing an initial multiphase flow model of a gas-liquid-solid three-phase system based on a gaseous phase state parameter, a liquid phase state parameter and a particle phase state parameter in an initial reaction stage; combining and correcting the liquid phase state parameters and the particle phase state parameters so as to simplify the initial multiphase flow model into an equivalent multiphase flow model of a gas-slurry phase two-phase system; constructing a component transport model based on the equivalent state parameters of the equivalent multiphase flow model; and constructing a coupling simulation model by using the equivalent multiphase flow model, the component transport model and the reaction model, and carrying out iterative solution on the coupling simulation model to obtain an analogue simulation result of multiphase flow coupling. Therefore, high-efficiency and high-precision simulation of the stirring reaction process for preparing methanol through CO2 hydrogenation by the liquid phase method is realized.

The invention provides a double-target medical waste transportation method based on an improved RSA-VNS, and relates to the technical field of path optimization. The method comprises the following steps: firstly, acquiring a medical waste transportation task and vehicle scheduling resources; secondly, on the basis of medical waste transportation tasks and vehicle scheduling resources, constructing a dual-target medical waste transportation model by taking minimization of cost and storage risk as optimization targets; and finally, solving the dual-target medical waste transportation model by adopting an improved RSA-VNS algorithm, and outputting a Pareto external file so as to decode and obtain an optimal medical waste transportation scheme. The storage risk of the medical waste is effectively quantified by integrating the service starting time of the medical institution, the type and strength of the medical waste and the possibility of disease transmission, and modeling is more in line with the characteristics of recovery and transportation of the medical waste. In addition, the proposed hybrid algorithm effectively improves the convergence speed of the algorithm and the diversity of the solution, and also enhances the local convergence capability at the end of the algorithm.

The invention discloses a hydrogen collaborative transportation method based on an electricity-gas-hydrogen comprehensive energy system, and the method comprises the steps: building a natural gas network hydrogen-doped transportation model based on the electricity-gas-hydrogen comprehensive energy system; based on a long tube trailer transportation mode, a transportation model for transporting hydrogen by the long tube trailer is established; based on the natural gas network hydrogen-doped transportation model and the long tube trailer hydrogen transportation model, establishing a hydrogen collaborative transportation model; and solving the hydrogen collaborative transportation model to obtain a hydrogen collaborative transportation scheme. The problem of hydrogen transportation between the hydrogen refueling station and the hydrogen load demand point is effectively solved, meanwhile, the operation cost of the electricity-gas-hydrogen comprehensive energy system is reduced to the maximum extent, and the economic benefits of the electricity-gas-hydrogen comprehensive energy system are improved.

A large-model question answering method and apparatus for the transportation industry, and a device and a storage medium, relating to the interdisciplinary field of artificial intelligence and information security. The method comprises: on the basis of a pre-constructed security knowledge base, retrieving a transportation-related question to be processed; when the obtained retrieval result indicates that there is no reply information corresponding to the transportation-related question in the knowledge base, determining, on the basis of a preset question security interception strategy, whether to currently trigger a question interception operation; when an obtained first determination result indicates that the question interception operation is not to be triggered, performing, on the basis of a preset prompt, question enhancement on the transportation-related question; on the basis of a pre-fine-tuned target large transportation model, processing the obtained enhanced question to obtain target reply information; and on the basis of a preset answer security interception strategy, determining whether to currently trigger a reply interception operation corresponding to the target reply information, so as to complete a question answering operation on the basis of an obtained second determination result. The security and accuracy of question answering can be effectively improved.

The invention relates to the technical field of block chains, in particular to a cold chain storage data safety tracing system based on a block chain, and the system comprises a data collection unit which is used for collecting the environment parameters of each storage, the transportation parameters of each transport vehicle, and the cargo parameters of each cargo; the plurality of storage units are used for calculating the storage environment value of each cargo, sending out an allocation signal or a rollback signal, and carrying out cargo allocation operation or cargo allocation recheck to obtain a cargo allocation scheme; the demand unit is used for counting the demand quantity of each cargo and planning a main transportation route of each transportation vehicle; the transportation unit is used for constructing a transportation model to obtain an actual transportation route; the assembling unit is used for assembling the cargos of the transport vehicle according to the priority of the cargos; according to the invention, the above units cooperate with each other, so that the stability of each link of cold chain storage is improved, and the accuracy and reliability of the cold chain storage data safety tracing system based on the block chain are further improved.

The invention discloses an emergency material vehicle cargo matching and stowage optimization method and device based on two-stage mixed taboo search and a medium, and the method comprises the steps: building a cargo stowage and vehicle path comprehensive transportation model, and the composition factors in the comprehensive transportation model comprise loading space, loading capacity and road section traffic capacity; inputting an emergency material transportation task set in the planned time period, wherein information contained in each transportation task comprises a starting place, a destination place, a cargo quantity, a cargo volume and a cargo weight of each transportation task; constructing an alternative path set by adopting a genetic algorithm according to the comprehensive transportation model and the emergency material transportation task; and in consideration of transport tasks, the number of vehicles and transport capacity constraint conditions, a tabu search algorithm is adopted to solve an emergency material transport optimization scheduling problem, and an optimal scheduling scheme is selected from the alternative path set. The cost is reduced, the logistics efficiency is improved, and a feasible solution is provided for the cargo transportation stowage problem.

The invention discloses an atmospheric pollution source area tracing method based on a track channel conveying model, and relates to the technical field of atmospheric environment monitoring and pollution tracing. The air pollution source area tracing method comprises the following steps: acquiring backward air mass trajectory data of a target receiving point; aiming at source region grid points passed by the track, calculating the average contribution concentration of each source region grid point to a target receiving point; based on the average contribution concentration data of the multiple tracks, the source region weight concentration of each source region grid point is calculated, and the source region weight concentration is obtained by introducing a transmission attenuation factor to carry out weighted normalization on the source region concentration; and comparing the source area weight concentration with a pollution threshold value in an ambient air quality standard, generating a pollution characteristic index, and identifying the source area grid point with the pollution characteristic index greater than 1 as a high-pollution potential source area. A physical conduction link between a source area and a receiving point is constructed, the pollutant concentration change in the gas mass conveying process is truly reduced, and accurate positioning of a potential pollution source area is achieved.

The present invention relates to the technical field of automatic control of electric rollers, and discloses an electric roller control method and control system. Within a first preset time period, a first starting point and a second starting point are established for the operating strokes of a target electric roller and a target conveyor belt, respectively, and a PID control coefficient is adjusted by gradient to drive the target electric roller to perform a transportation operation; M groups of stable transportation parameters are obtained at fixed time intervals, and each group of stable transportation parameters corresponds to the relative position of the target electric roller and the target conveyor belt; a stable transportation model is obtained by training based on the PID empirical coefficients, stable transportation parameters and the relative positions of the stable transportation parameters; and a stable transportation decision and a bumpy transportation decision are executed for the target electric roller, including: dynamically adjusting the PID empirical coefficient of the target electric roller in response to the stacking state of the transported goods to achieve stable transportation or bumpy flattening of the transported goods.

This invention belongs to the field of transportation technology and is a collaborative planning method for charging and swapping facilities for electric heavy-duty trucks in port collection and distribution scenarios. The method includes: establishing a deployment plan for charging and swapping facilities under the constraint of the system's total budget; establishing a transportation model and an energy consumption model based on container status and flow direction; establishing a macroscopic distribution model of charging demand to characterize the generation of potential charging demand and its spatial allocation among facilities; establishing a queuing time model and setting constraints based on fleet size; establishing an optimization model with the goal of maximizing the system's total profit; relaxing the optimization model and directly controlling the allocation of charging demand at each node through operational scheduling; decomposing the relaxed optimization model into independent node subproblems using Lagrange decomposition; and updating the Lagrange multipliers using a subgradient algorithm, iteratively coordinating each subproblem to converge to the optimal solution. This invention solves the problem of collaborative planning for charging and swapping facilities for electric container truck fleets in port collection and distribution scenarios.

The invention discloses a reactor fuel assembly transfer control method and system based on a neural network. The method comprises the following steps: constructing a simulation platform based on a transportation environment for simulating a reactor fuel assembly; simulating the transportation process of the reactor fuel assembly through the simulation platform and recording transportation process parameters; analyzing a coupling relationship of various data in the transportation process parameters, and constructing a multi-modal transportation model according to the coupling relationship; inputting the experimental data into the multi-modal transportation model for training to obtain a transportation safety model; and inputting the transportation process parameters into the transportation safety model in real time in the transportation process of the reactor fuel assembly, and executing corresponding transfer control according to the safety index output by the transportation safety model.

This invention relates to an optimal scheduling method and system for an electro-hydrogen coupling system based on truck flexibility and relaxation-repair warm-start technology. The method includes: acquiring basic data of the electro-hydrogen coupling system; constructing a power system model, a hydrogen energy system model, a pipeline congestion management model, and a hydrogen truck transportation model, wherein the pipeline congestion management model is a truck-based pipeline congestion management model that treats hydrogen trucks as flexible resources; establishing constraints and constructing an optimal scheduling model with the goal of minimizing the total system operating cost over the entire scheduling cycle; transforming the optimal scheduling model into a convex programming model using a mixed-integer second-order cone programming reconstruction technique; and solving the convex programming model using a relaxation-repair warm-start algorithm, considering the physical state information of the system, to obtain the optimal scheduling result. Compared with existing technologies, this invention has the advantages of actively alleviating pipeline physical congestion and high computational efficiency.

The invention discloses a numerical simulation method for titanium alloy segregation in the smelting process of an electron beam cold hearth, and belongs to the field of metal solidification process simulation. The method comprises the following steps: constructing a three-dimensional model of the crystallizer; the performance parameters of the titanium alloy in the molten state and the performance parameters of the three-dimensional model of the crystallizer are obtained through JmatPro material performance simulation software, and the titanium alloy in the molten state is input into the three-dimensional model of the crystallizer through the heat transfer coefficient to obtain the crystallizer model; aNSYS simulation software is used for establishing a fluid flow field-solidification melting-component transportation model, and a titanium alloy segregation numerical simulation result is obtained by solving the crystallizer model through the model. According to the method, the calculation efficiency of a segregation prediction mathematical model is effectively improved, and the initial cost of a production experiment can be reduced through a simulation method; a laboratory experiment method; a numerical simulation method; and for a theoretical analysis method, the obtained result is more accurate, and the speed is higher.

The invention provides an energy storage ship energy transportation scheduling method based on deep reinforcement learning, and the scheduling method is based on an island-fish raft-coast energy transportation model containing an AES, and carries out the energy scheduling through transporting an energy storage battery at a coast battery swap station or an island to a fish raft through a full electric power ship AES. Solving by using a deep reinforcement learning method of a parameterized double-depth Q network based on multi-batch forward propagation to obtain an energy transportation strategy required by the energy transportation model; according to the method, an effective approximate optimal solution can be provided in the case of time and resource limitation in practical application, and the method can be suitable for solving a larger-scale energy transportation problem.

The invention discloses a simulation method for a debris flow transportation process. Real-time early warning of debris flow risks and optimization of a slope ecological restoration scheme are realized. Firstly, historical debris flow data and geographic information of a research area are comprehensively collected, and a one-dimensional slope debris flow transportation model is established. The model considers earth surface vegetation, obstacle influence and sediment migration characteristics, and is solved through a numerical method. And model parameters are fitted by using experimental data, so that the prediction precision is improved. And in combination with real-time rainfall monitoring data, the model is driven to carry out debris flow risk early warning, and a result is reported to a related department. Different ecological restoration methods are tested in a laboratory, and the influence of the ecological restoration methods on the debris flow transportation process is evaluated. And according to experimental data, re-determining model parameters, and optimizing prediction precision. And finally, based on the real-time rainfall monitoring data and the correction parameters, selecting and implementing an optimal slope ecological restoration scheme.

The invention relates to the field of primary and secondary allocation processes of product oil, in particular to a combined optimization allocation method for integrating primary and secondary logistics of product oil, which comprises the following steps of: constructing a basic combined allocation model of the primary and secondary logistics of the product oil; and according to the basic combination dispatching model, a corresponding combination optimization dispatching result is obtained based on an iterative greedy algorithm, a primary and secondary logistics combination optimization model is constructed on the basis of the whole-link dispatching process of the refined oil product from a refinery plant to a gas station, and a resource dispatching scheme is solved by using the improved iterative greedy algorithm. According to refinery resource supply data and gas station demand data, the method can simulate, measure, calculate and optimize a whole-link resource allocation scheme of product oil primary and secondary logistics before and after optimization, and quantitatively evaluate indexes such as whole-link logistics operation cost, a primary sub-transportation mode proportion and a secondary radiation range of an oil depot. And a foundation is laid for reasonably optimizing a primary and secondary resource allocation scheme from a global perspective in the future.

The present invention provides a dual-objective medical waste transportation method based on improved RSA-VNS, which relates to the technical field of path optimization. In the present invention, first, the medical waste transportation tasks and vehicle scheduling resources are obtained; secondly, based on the medical waste transportation tasks and vehicle scheduling resources, with the minimization of cost and storage risk as the optimization objectives, a dual-objective medical waste transportation model is constructed; finally, the improved RSA-VNS algorithm is used to solve the dual-objective medical waste transportation model, and the Pareto external archive is output to decode and obtain the optimal medical waste transportation plan. By comprehensively considering the start service time of medical institutions, the type, intensity and the possibility of spreading diseases of medical waste, the storage risk of medical waste is effectively quantified, and the model is more in line with the characteristics of the recycling and transportation problem of medical waste. In addition, the proposed hybrid algorithm effectively improves the algorithm convergence speed and solution diversity, and also strengthens the local convergence ability in the late stage of the algorithm.

The invention provides a deep vertical shaft double-air-duct press-in type air supply air duct position optimization method which comprises the following steps: (1) collecting parameters of a vertical shaft and air ducts, and calculating the blasting smoke throwing distance and the generated CO initial concentration according to the amount of explosive needed by blasting; (2) constructing a physical model matched with actual engineering parameters by adopting numerical simulation software based on the component transportation model, and setting different relative arrangement positions of double air ducts; (3) analyzing the derived simulation data at different moments and the related visual cloud atlas, counting the CO concentration condition in the working area, and fitting a curve of the CO concentration changing along with time; and (4) by taking the CO safe concentration threshold value as a reference, analyzing the ventilation time required by the standard reaching of the CO concentration of the operation area under each arrangement working condition, sorting and drawing a chart. According to the method, the ventilation efficiency change characteristics under different air duct arrangement angles can be effectively determined, and scientific reference is provided for optimal air duct arrangement scheme selection of various deep vertical shaft engineering double-air-duct press-in type air supply systems.

The invention belongs to the technical field of transportation, and relates to a collaborative planning method for a charging facility of an electric heavy truck for port gathering and distributing transportation, which comprises the following steps of: establishing energy complementing facility deployment under a system total budget constraint condition; establishing a transportation model and an energy consumption model according to the state and the flow direction of the container; establishing a macroscopic distribution model of energy supplement demands, and depicting generation of potential energy supplement demands and space distribution among facilities; establishing a queuing time model, and establishing constraint conditions according to the motorcade scale; establishing an optimization model by taking maximization of the total profit of the system as an optimization target; performing model relaxation on the optimization model, and directly controlling energy supplement demand distribution of each node through operation scheduling; decomposing the relaxed optimization model into independent node sub-problems by utilizing Lagrange decomposition; and updating the Lagrange multiplier by using a subgradient algorithm, and coordinating each sub-problem through iteration to converge to an optimal solution. According to the method, the problem of collaborative planning of the charging facilities of the electric container truck fleet in the port collection and distribution scene is solved.

The invention discloses a military food transportation method under a complex condition based on an NSGA-II multi-objective planning model. Comprising the following steps: constructing a transportation model under a complex background, wherein the transportation model takes the specified transportation time, the transportation volume of different transportation tools, the transportation cost of different transportation tools and the like into consideration, and the total transportation cost and the total transportation time of various transportation tools are minimum; a transportation task model of multiple transportation points and multiple transportation tools is established, and parameters of various transportation tools, data of each transportation point and driver salaries are determined. An NSGA-II algorithm is used for solving to obtain a group of Pareto optimal solution sets, and analysis is carried out by taking one solution as an example, so that an optimal selection basis is provided for different transportation requirements, and a decision maker is helped to make an optimal decision under various constraint conditions.

The present invention discloses an adaptive under-actuated gantry crane anti-sway and anti-overtravel system and method, which relates to the technical field of cranes and includes: a software simulation platform and a hardware simulation platform; the hardware simulation platform is configured with a control system and a vision measurement module; the software simulation platform simulates the movement trajectory of transporting and hoisting goods in the working scenario where the real gantry crane is located, and constructs a control simulation model, an anti-sway model and an anti-overtravel model of the movement trajectory; the hardware simulation platform builds a gantry crane transportation model based on the size of the real gantry crane and its working scenario; the control system is connected to the software simulation platform for data communication, and controls the movement of the gantry crane transportation model based on the trajectory control parameters obtained from the control simulation model constructed by the software simulation platform, so as to simulate the real transportation situation of the gantry crane, and further complete the training and verification of the control simulation model, the anti-sway model and the anti-overtravel model. This system ensures the offset self-adaptability and transportation stability during transportation.

The invention relates to the technical field of electric roller automatic control, and discloses an electric roller control method and a control system. In a first preset time period, a first starting point and a second starting point are respectively established for the operation stroke of a target electric roller and the operation stroke of a target conveying belt; the PID control coefficient is adjusted in a gradient mode to drive the target electric roller to carry out transportation operation; m groups of stable transportation parameters are obtained according to a fixed time interval, and each group of stable transportation parameters corresponds to the relative position of a target electric roller and a target conveying belt; based on the PID empirical coefficient, the stable transportation parameter and the relative position of the stable transportation parameter, training to obtain a stable transportation model; and executing a stable transportation decision and a jolting transportation decision for the target electric roller, including dynamically adjusting the PID empirical coefficient of the target electric roller in response to the stacking state of the transported goods so as to realize stable transportation or jolting flattening of the transported goods.

The application provides a digital garment factory three-dimensional model building method and device, which comprises the following steps: based on the quantity of workstations required, a sewing workstation model is instantiated on a three-dimensional scene floor grid to obtain a sewing unit; based on the maximum rotating diameter and the maximum physical swing radius of the finished garment after hanging, a sweep radius is determined; based on the peripheral boundary of the sewing unit, a safety isolation ring line is generated outward with the sweep radius as the offset distance; a three-dimensional shelf model library is called in the area outside the safety isolation ring line, and a hanging shelf array is generated based on the finished garment storage capacity requirement; an AGV transportation model is instantiated based on the track data of the safety isolation ring line, collision analysis is performed based on the AGV transportation model and the safety isolation ring line, and an AGV navigation path is obtained; and based on the spatial position relationship of the AGV navigation path, the sewing unit and the multi-layer hanging shelf array, rendering is performed to generate a digital garment factory three-dimensional panoramic model. The application eliminates the safety hazards of mixed human-machine operation.

The application relates to a water quality regulation method, device and equipment for a water supply network terminal, which can accurately capture high-frequency water quality dynamics at the terminal of the network by coupling a high-resolution random user water demand model and a multi-component water quality reaction and transportation model considering longitudinal diffusion, and provides a reliable basis for accurate regulation; the multi-component water quality reaction and transportation model is used to screen a candidate scheme set, and a scheme with the lowest water resource consumption and the lowest economic cost is further screened by taking the minimization of total drainage volume as an optimization target, thereby showing great water saving potential and economic benefits and overcoming the defects of resource waste or poor flushing effect of a traditional flushing strategy; for the terminal of the network, which is a high-risk and difficult-to-manage key area, a targeted, dynamic optimization and fine management technical means is provided, and a change from traditional passive response and lag processing to prospective and active risk management based on model prediction is realized.

The application discloses a method and device for processing transportation information, a method and device for constructing a transportation model, and establishes a logistics submodel and a pipeline scheduling submodel, and the logistics submodel and the pipeline scheduling submodel are coupled by transportation connection relations and associated constraint conditions, a logistics optimization model obtained by the coupling can simultaneously consider a pipeline and a logistics path of product transportation, and transportation plan information of products to be transported is obtained by operation of the logistics optimization model, thereby providing technical support for improving product transportation efficiency.

The present invention discloses a virtual unit space-time-human integrated scheduling method and system for shipbuilding, including the following steps: constructing a processing workshop model; constructing a worker fatigue and recovery model; constructing a transportation model; constructing an objective function: comprehensively considering the overall task completion time, transportation time, and worker load, and taking minimizing the maximum completion time, the shortest total transportation distance, the balance of worker workload, and the minimum total worker load as the optimization objectives to construct the objective function; designing a hybrid algorithm based on NSGA-II and the grey wolf optimization algorithm, and solving the model. The integrated scheduling system of the present invention comprehensively considers factors such as the round-trip of transportation equipment, the capacity of the workpiece temporary storage area, and worker fatigue and recovery, and studies the virtual unit integrated scheduling system; the combination of NSGA-II and GWO realizes the balance between local search and global search; the algorithm of the present invention is more effective and has stronger robustness in solving the multi-objective optimization problem for shipbuilding.

A numerical simulation method for deep-sea mining tailwater plume based on the ROMS model includes determining the research area, research time range, and ROMS model resolution; constructing a hydrodynamic model of the target sea area; determining the tailwater plume emission source parameters, including quantity, longitude and latitude, emission depth, emission flow, material type and its concentration; using these data, combined with hydrodynamic data, to solve the buoyancy plume model and obtain the initial conditions of the passive transport stage of the tailwater plume; using the initial conditions, constructing a tailwater plume transport model based on the hydrodynamic model, running the tailwater plume transport model and analyzing the results. The present invention provides a complete set of processes based on the ROMS model, which can achieve high-resolution and long-term simulation, and can set the deep-sea mining tailwater plume emission source at different depths. It is of great significance to understand the transport laws and mechanisms of tailwater plumes in deep-sea environments and determine the reasonable discharge depth of tailwater plumes.

The invention relates to the technical field of logistics order management, in particular to a tracking management system and method based on the full life cycle of a logistics order, and the system comprises an order vehicle initial determination module, a tracking vehicle determination module, a tracking dynamic management module, an order vehicle setting initial determination module and a tracking vehicle determination module. The method comprises the following steps: rapidly screening out initially determined transport vehicles according to logistics orders, specifically constructing a virtual transport model of each initially determined transport vehicle, simulating the transport process of different initially determined transport vehicles under each traffic condition, comprehensively analyzing the transport vehicle with the highest logistics transport efficiency to carry out actual logistics order transport, and setting a tracking dynamic management module. After actual transportation of the logistics order, in combination with simulated transportation of the virtual transportation model, tracking and positioning intervals for logistics transportation vehicles are dynamically adjusted, full-life-cycle tracking and positioning are carried out on transportation of the whole logistics order, and it is guaranteed that reasonable tracking and positioning standards are set for different logistics orders.

The method comprises the following steps: establishing a variable hydrogen blending ratio natural gas hydrogen blending transportation model based on flow balance; establishing a variable hydrogen blending ratio natural gas hydrogen blending transportation linear model; establishing a long tube trailer hydrogen transportation model; considering the relevant constraints of the power system and the coupling constraints between the natural gas system and the road system and between the power system and the natural gas system, combining the variable hydrogen blending ratio natural gas hydrogen blending transportation linear model and the long tube trailer hydrogen transportation model, and establishing an electric hydrogen comprehensive energy system scheduling model based on pipe-road collaborative hydrogen transportation; on the basis of the electric hydrogen comprehensive energy system scheduling model, an electric hydrogen comprehensive energy system distribution robust scheduling model is established, the opportunity constraints in the distribution robust scheduling model are re-expressed as linear constraints, and the converted electric hydrogen comprehensive energy system scheduling linear model is solved. The scheduling method reduces the difficulty of solving, reduces the transportation of hydrogen, increases the accuracy of the transportation of hydrogen, and performs peak shaving and valley filling on the electric load.

The present invention discloses an autonomous navigation method and system for rescue supply distribution machines, belonging to the technical field of emergency rescue logistics transportation. The method includes planning the transportation formation of the distribution machines according to the shape and mass of the rescue supplies; constructing a formation control model for the distribution machines, and controlling the distribution machines to maintain the transportation formation during transportation through the formation control model for the distribution machines; detecting whether there are obstacles in the forward direction, and if obstacles are detected in the forward direction, obtaining obstacle information, where the obstacle information includes the position and contour of the obstacles; constructing a safe transportation model, and combining the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction to complete the autonomous navigation of the rescue supply distribution machines. The present invention solves the problem that multiple transportation machines can quickly and intelligently identify obstacles and effectively avoid them during transportation while keeping the transportation formation unchanged by identifying obstacles and issuing control instructions.

The invention relates to the technical field of pipeline gas explosion venting, in particular to a simulation method for venting of a square pipeline with a lateral guide pipe. The method comprises the following steps: S1, establishing a pipeline model comprising a main pipeline and a plurality of lateral conduits, and establishing an external environment area in a preset range outside the pipeline model; s2, performing grid division on the pipeline model; s3, importing a grid file, and setting a basic model; s4, setting a component transportation model, boundary conditions, a pressure and speed coupling method, a discrete method and overpressure and temperature monitoring; s5, an ignition area is established, and design is initialized; and S6, iterative calculation is carried out, post-processing is carried out on a calculation result, explosion overpressure and flame wave characteristics are obtained, and a flow field flow trace is displayed. The method solves the problem that discharge safety is not considered in existing pipeline explosion venting, and a theoretical basis is provided for engineering protection measures.