An efficient handling method for prefabricated cabins

Abstract

The present invention relates to the technical field of logistics transportation, and discloses an efficient handling method for prefabricated cabins, including: Step 1, providing seismic protection for the internal equipment of the prefabricated cabin, and reducing the impact of vibration and shock on the internal equipment through a flexible support system, a full-box seismic structure, and multi-layer protection measures for precision equipment; Step 2, optimizing the transportation vehicle based on the seismic design in Step 1 to ensure the stability and efficiency of the transportation process. Through the flexible support system, the full-box seismic structure, and multi-layer protection measures for precision equipment, the problem that the electrical, HVAC, and communication equipment integrated inside the prefabricated cabin is easily damaged by vibration and shock during transportation is effectively solved. The optimized formulas for spring stiffness and damping coefficient in the seismic design, combined with the honeycomb energy-absorbing structure and hydraulic shock pads, enable the prefabricated cabin to have excellent seismic resistance in complex transportation environments, ensuring the integrity and safety of equipment operation.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation, and particularly to an efficient handling method for prefabricated cabins. Background Art

[0002] With the development of modern logistics and modular architecture, prefabricated cabins are widely used in various fields due to their convenience and efficiency. Different from traditional prefabricated cabins, the interior of prefabricated cabins usually integrates a large number of precision devices, such as electrical systems, HVAC facilities, and communication modules. These devices are complex, fragile, and of high value, posing higher requirements for the safety and stability of the transportation process. However, the existing handling methods are mainly designed based on ordinary prefabricated cabins and cannot meet the special needs of prefabricated cabins.

[0003] The current transportation methods pay more attention to the strength design of the outer shell of the prefabricated cabin, but the anti-seismic protection measures for the internal devices are poorly emphasized. The internal devices of the prefabricated cabin are complex and fragile, and external forces such as vibration and impact during transportation can cause the devices to fall off, become loose, or even be damaged. In the prior art, there is a lack of a flexible support system and a full-box anti-seismic structure design specifically for internal devices. Especially in complex road conditions and harsh environments, the integrity and operational safety of the devices cannot be guaranteed;

[0004] During the loading, unloading, and transportation of prefabricated cabins, the inclination of the lifting appliance, the vibration of the vehicle, and the uneven road environment are likely to cause coupled vibrations, subjecting the internal devices to secondary impacts. Existing transportation tools, such as lifting appliances and transport vehicles, are mainly based on rigid structures and lack dynamic adjustment capabilities, unable to effectively buffer or reduce the vibrations during transportation. In addition, the inclination control ability during the lifting process is weak, and the adaptability of transport vehicles to complex road conditions is insufficient, further exacerbating the transportation risks of the devices;

[0005] Most transportation route planning is mainly based on static presets and lacks real-time adjustment capabilities, unable to make dynamic optimizations according to the actual transportation environment. Especially during transportation, the route cannot be scientifically adjusted by combining vibration monitoring data, resulting in low transportation efficiency, increased transportation time and energy consumption, and causing the prefabricated cabin to pass through higher vibration risk areas, threatening the safety of the devices;

[0006] During the actual transportation process, the prefabricated cabin accumulates vibration energy due to road bumps and equipment inclination, and even high-risk situations such as equipment loosening or prefabricated cabin position deviation may occur. The prior art lacks a systematic response mechanism for handling abnormal states and usually cannot quickly distinguish the risk levels and take targeted protection measures. Once an abnormality occurs, the transportation task is likely to be interrupted or failed. At the same time, the prior art has a low ability to record and analyze abnormal states and cannot provide reference data for subsequent transportation improvements.

[0007] Therefore, those skilled in the art provide an efficient handling method for prefabricated cabins to solve the above-mentioned problems. Summary of the Invention

[0008] In view of the deficiencies of the prior art, the present invention provides an efficient handling method for prefabricated cabins to solve the problems raised in the above background art.

[0009] To achieve the above objectives, the present invention is realized through the following technical solutions: An efficient handling method for prefabricated cabins, including:

[0010] Step 1: Provide seismic protection for the internal equipment of the prefabricated cabin, and reduce the impact of vibration and shock on the internal equipment through a flexible support system, a full-box seismic structure, and multi-layer protection measures for precision equipment;

[0011] The design of the flexible support system determines the spring stiffness k and damping coefficient c through the following formula:

[0012] , ,

[0013] where k is the spring stiffness of the support system, m is the weight of the equipment, g is the acceleration due to gravity, is the maximum compression of the spring, c is the damping coefficient, is the damping ratio;

[0014] Step 2: Based on the seismic design in Step 1, optimize the transportation tool to ensure the stability and efficiency of the transportation process;

[0015] The optimized transportation tool includes the configuration and debugging of a flexible sling and a hydraulic suspension transport vehicle, where:

[0016] The flexible sling realizes dynamic attitude adjustment during the lifting process through a gyroscope and an inertial control module;

[0017] The hydraulic suspension transport vehicle ensures the stability of the vehicle under complex road conditions by dynamically adjusting the stiffness and damping coefficient c. The algorithm formula is as follows:

[0018] ,

[0019] where, is the basic stiffness, is the displacement change of the suspension system, is the weight coefficient;

[0020] Step 3: After completing the preparation of the transportation tool in Step 2, optimize the transportation process based on an intelligent path planning and real-time vibration monitoring system;

[0021] The path planning is realized through a reinforcement learning algorithm, and its reward function is designed as:

[0022] ,

[0023] Among them, is the reward value, is the transportation time, is the transportation energy consumption, is the vibration amplitude, , , are the weight coefficients;

[0024] The acceleration during the transportation process is monitored in real time through a vibration sensor , and its calculation formula is:

[0025] ,

[0026] Among them, , , are the accelerations in the three-axis directions;

[0027] Step 4: After completing the transportation control in Step 3, use an automatic unloading device to complete the smooth unloading of the prefabricated cabin and reduce the impact force during the unloading process;

[0028] Unloading impact force is controlled by a magnetic automatic docking system, which satisfies the following conditions:

[0029] ,

[0030] Among them, is the unloading impact force, is the allowable stress of the material in the docking area, is the contact area, is the impact absorption coefficient;

[0031] Based on the vibration monitoring system, analyze the cumulative vibration energy during the transportation process as follows:

[0032] ,

[0033] If it is detected that exceeds the allowable threshold of the equipment, an alarm is triggered and the abnormal state is recorded;

[0034] Step 5: After detecting an abnormality in Step 4, to ensure the safety of the prefabricated cabin and its internal equipment, conduct disposal according to the process of dynamic emergency response, system protection actions, and subsequent disposal and evaluation.

[0035] Preferably, a high-efficiency handling method for a prefabricated cabin is characterized by including:

[0036] Step 1: Provide seismic protection for the internal equipment of the prefabricated cabin, and reduce the impact of vibration and shock on the internal equipment through a flexible support system, a full-box seismic structure, and multi-layer protection measures for precision equipment;

[0037] The design of the flexible support system determines the spring stiffness k and damping coefficient c through the following formula:

[0038] , ,

[0039] where k is the spring stiffness of the support system, m is the weight of the equipment, g is the acceleration due to gravity, is the maximum compression of the spring, c is the damping coefficient, is the damping ratio;

[0040] Step 2: Based on the seismic design in Step 1, optimize the transportation vehicle to ensure the stability and efficiency of the transportation process;

[0041] The optimized transportation vehicle includes the configuration and debugging of a flexible sling and a hydraulic suspension transport vehicle, where:

[0042] The flexible sling realizes dynamic attitude adjustment during the hoisting process through a gyroscope and an inertial control module;

[0043] The hydraulic suspension transport vehicle ensures the stability of the vehicle under complex road conditions by dynamically adjusting the stiffness and damping coefficient c. The algorithm formula is as follows:

[0044] ,

[0045] where, is the basic stiffness, is the displacement change of the suspension system, is the weight coefficient;

[0046] Step 3: After completing the preparation of the transportation vehicle in Step 2, optimize the transportation process based on intelligent path planning and real-time vibration monitoring;

[0047] The path planning is realized through a reinforcement learning algorithm, and its reward function is designed as:

[0048] ,

[0049] where, is the reward value, is the transportation time, is the transportation energy consumption, is the vibration amplitude, , , are the weight coefficients;

[0050] Monitor the acceleration during transportation in real time through a vibration sensor , and its calculation formula is:

[0051] ,

[0052] wherein, , , are the accelerations in the three-axis directions;

[0053] Step 4: After completing the transportation control in Step 3, use an automatic unloading device to complete the smooth unloading of the prefabricated cabin and reduce the impact force during unloading;

[0054] Unloading impact force is controlled by a magnetic automatic docking system, which satisfies the following conditions:

[0055] ,

[0056] wherein, is the unloading impact force, is the allowable stress of the material in the docking area, is the contact area, is the impact absorption coefficient;

[0057] Analyze the accumulated vibration energy during transportation based on the vibration monitoring system as follows:

[0058] ,

[0059] If it is detected that exceeds the allowable threshold of the equipment, an alarm is triggered and the abnormal state is recorded;

[0060] Step 5: After detecting an abnormality in Step 4, to ensure the safety of the prefabricated cabin and its internal equipment, handle it according to the process of dynamic emergency response, system protection actions, and subsequent handling and evaluation.

[0061] Preferably, the system protection actions include:

[0062] The hydraulic buffer pad is activated, and the hydraulic buffer device at the bottom of the box is enabled to absorb external forces by adjusting the pressure in real time :

[0063] ,

[0064] wherein, is the dynamic viscosity of the hydraulic oil, is the real-time hydraulic flow rate, is the contact area;

[0065] Flexible sling locking: If an abnormality occurs during loading and unloading, the sling gyroscope control module will lock the position of the sling, stop the tilt adjustment, and avoid further impact on the prefabricated cabin;

[0066] The adjustment amplitude stops within the preset safety range , and the restricted angle change is:

[0067] ,

[0068] wherein, is the absolute value of the control quantity, is the safety threshold of the control quantity;

[0069] Internal equipment protection: Automatically trigger the internal equipment protection mode, activate the suspension protection device of the equipment, and the deformation of the buffer material around the precision equipment absorbs energy to protect the internal module.

[0070] Preferably, the subsequent handling and evaluation include:

[0071] Data recording and analysis: The system automatically records the acceleration and vibration energy during the abnormality, and saves the data to the central control platform for subsequent fault diagnosis;

[0072] Abnormal state repair:

[0073] For minor abnormalities, conduct online debugging on the transportation vehicle or anti-seismic device to restore normal operation;

[0074] For serious abnormalities, suspend transportation, transfer the prefabricated cabin to a temporary safe location, and arrange for manual inspection and repair;

[0075] Vibration cumulative assessment: Calculate the cumulative vibration damage through the vibration energy formula to confirm whether the equipment needs maintenance: ,

[0076] If it is detected that exceeds the allowable threshold of the equipment, trigger an alarm and record the abnormal state;

[0077] Transportation route adjustment: Mark the section where the abnormality occurs in the path planning, update the reward function weight of the reinforcement learning model, and avoid entering high-risk sections;

[0078] Accident report generation: The system automatically generates an abnormal handling report based on data analysis for easy management and subsequent optimization.

[0079] Preferably, the natural frequency of the flexible support system satisfies the following formula:

[0080] ,

[0081] Among them, is the natural frequency of the support system, is the operating frequency of the equipment, is the allowable frequency deviation, k is the spring stiffness of the support system, and m is the weight of the equipment.

[0082] Preferably, a honeycomb energy absorption structure is provided at the bottom of the prefabricated cabin, and its energy absorption performance is described by the following formula:

[0083] ,

[0084] Among them, is the energy absorption of the energy absorption structure, is the compression ratio of the honeycomb structure, is the stress of the honeycomb cell under the compression ratio r, is the area of the energy absorption structure, represents an infinitesimal change along the variable r.

[0085] Preferably, in step 3, the transportation process is optimized based on an intelligent path planning and real-time vibration monitoring system. The real-time vibration monitoring system includes multi-axis vibration sensors and tilt sensors. The tilt sensors are used to measure the tilt angle of the prefabricated cabin in real time. The calculation formula for the tilt angle is:

[0086] ,

[0087] Among them, is the tilt angle, is the tilt height of the prefabricated cabin, is the reference horizontal length;

[0088] If the tilt angle exceeds the safety threshold, the system automatically triggers an alarm and records the abnormal state.

[0089] Preferably, when the honeycomb energy absorption structure and the hydraulic buffer pad work together, the compression ratio of the energy absorption structure and the real-time pressure of the hydraulic pad satisfy the following relationship:

[0090] ,

[0091] Among them, is the total energy absorption compression ratio, is the compression ratio of the honeycomb structure, is the real-time pressure of the hydraulic buffer pad, is the material compressive strength of the hydraulic pad;

[0092] The goal of the combined work is to ensure that the total energy absorption of the prefabricated cabin reaches the required protection level.

[0093] Preferably, the optimization design of the path planning reward function of the reinforcement learning algorithm further considers the avoidance strategy for high-risk sections, and the finally optimized reward function is:

[0094] ,

[0095] wherein, is the optimized reward value, is the original reward value, is the high-risk penalty coefficient, is the number of high-risk sections in the current path.

[0096] Preferably, the optimization design of the path planning reward function of the reinforcement learning algorithm further considers the avoidance strategy for high-risk sections, and the finally optimized reward function is:

[0097] ,

[0098] wherein, is the optimized reward value, is the original reward value, is the high-risk penalty coefficient, is the number of high-risk sections in the current path.

[0099] The present invention provides a method for efficiently transporting prefabricated cabins. It has the following beneficial effects:

[0100] 1. Through the flexible support system, the whole-box seismic structure and the multi-layer protection measures for precision equipment, the present invention effectively solves the problem that the electrical, HVAC and communication equipment integrated inside the prefabricated cabin is easily damaged by vibration and impact during transportation. The optimization formula for the spring stiffness and damping coefficient in the seismic design, combined with the honeycomb energy-absorbing structure and the hydraulic buffer pad, enables the prefabricated cabin to have excellent seismic resistance in complex transportation environments, ensuring the integrity and safety of equipment operation and significantly improving the reliability of prefabricated cabin transportation.

[0101] 2. By optimizing the flexible sling and the hydraulic suspension transport vehicle in the transportation tool, the present invention improves the stability and safety of the transportation process. The flexible sling uses a gyroscope and an inertial control module for dynamic attitude adjustment, effectively avoiding the impact caused by tilting or vibration during the hoisting process. The hydraulic suspension system, on the other hand, ensures the smooth operation of the transport vehicle on complex road conditions by adjusting the suspension stiffness and damping coefficient in real time, making the transportation process safer and avoiding the damage to the equipment caused by the coupled vibration between the transportation tool and the prefabricated cabin.

[0102] 3. By optimizing the transportation path through the reinforcement learning algorithm, the present invention can intelligently avoid high-risk sections, significantly reducing the transportation time and energy consumption. The real-time monitoring system combined with the dynamic path planning function enables the transportation process to be adjusted according to the real-time road conditions and vibration feedback, improving the transportation efficiency.

[0103] 4. The present invention ensures safety during transportation through dynamic emergency response and system protection actions in abnormal states. The abnormal classification mechanism, combined with the activation of hydraulic buffer pads, the locking of flexible spreaders, and the internal protection mode of equipment, enables rapid response to different risk levels during transportation. The vehicle dynamic shock absorption control and deceleration linkage mechanism further reduces the impact of high-risk states on the transportation process, ensuring that the transportation task can be carried out safely and orderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] Figure 1 is a flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0105] To enable those skilled in the art to understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0106] The present invention will be described in detail below with reference to the accompanying drawings:

[0107] Embodiment: Please refer to the attached Figure 1 , the embodiment of the present invention provides a method for efficiently transporting prefabricated cabins, including:

[0108] Step 1: Provide seismic protection for the internal equipment of the prefabricated cabin, and reduce the impact of vibration and shock on the internal equipment through a flexible support system, a full-box seismic structure, and multi-layer protection measures for precision equipment;

[0109] The design of the flexible support system determines the spring stiffness k and the damping coefficient c through the following formula:

[0110] , ,

[0111] where k is the spring stiffness of the support system, m is the weight of the equipment, g is the acceleration due to gravity, is the maximum compression of the spring, c is the damping coefficient, is the damping ratio;

[0112] Step 2: Based on the seismic design in Step 1, optimize the transportation vehicle to ensure the stability and efficiency of the transportation process;

[0113] Optimizing the transportation vehicle includes the configuration and debugging of a flexible spreader and a hydraulic suspension transport vehicle, where:

[0114] The flexible sling realizes dynamic attitude adjustment during the hoisting process through a gyroscope and an inertial control module;

[0115] The hydraulic suspension transport vehicle ensures the stability of the vehicle under complex road conditions by dynamically adjusting the stiffness and the damping coefficient c. The algorithm formula is as follows:

[0116] ,

[0117] where, is the basic stiffness, is the displacement change of the suspension system, is the weight coefficient;

[0118] Step 3: After preparing the transportation tool in Step 2, optimize the transportation process based on intelligent path planning and real-time vibration monitoring;

[0119] The path planning is realized through a reinforcement learning algorithm, and its reward function is designed as:

[0120] ,

[0121] where, is the reward value, is the transportation time, is the transportation energy consumption, is the vibration amplitude, , , are the weight coefficients;

[0122] The acceleration during the transportation process is monitored in real time through a vibration sensor , and its calculation formula is:

[0123] ,

[0124] where, , , are the accelerations in the three-axis directions;

[0125] Step 4: After completing the transportation control in Step 3, use an automatic unloading device to complete the smooth unloading of the prefabricated cabin and reduce the impact force during the unloading process;

[0126] The unloading impact force is controlled by a magnetic automatic docking system, which satisfies the following conditions:

[0127] ,

[0128] where, is the unloading impact force, is the allowable stress of the material in the docking area, is the contact area, is the impact absorption coefficient;

[0129] Based on the vibration monitoring system, the vibration energy accumulated during transportation is To perform the analysis:

[0130] ,

[0131] If detected If the device exceeds the permissible threshold, an alarm is triggered and the abnormal status is recorded;

[0132] Step 5. After an abnormality is detected in step 4, in order to ensure the safety of the prefabricated cabin and its internal equipment, it is handled according to the process of dynamic emergency response, system protection action and subsequent disposal and evaluation.

[0133] Benefits of Step 1: Through the flexible support system, full-box anti-seismic structure and multi-layer protection measures for precision equipment, the damage to internal electrical, HVAC and communication equipment caused by vibration and impact during transportation can be effectively reduced. The flexible support system is designed based on the weight of the equipment and the maximum compression of the spring, and can provide precise anti-seismic protection for different equipment characteristics. At the same time, combined with the energy absorption design of the full box structure, the safety and integrity of the equipment are greatly improved;

[0134] The formula of spring stiffness k and damping coefficient c in the flexible support system can automatically adjust the stiffness and damping characteristics of the support system according to the weight m of the equipment and the compression of the spring, ensuring that its natural frequency is staggered with the operating frequency of the equipment, avoiding resonance and improving the seismic effect;

[0135] Benefits of Step 2: By optimizing the flexible sling and hydraulic suspension transporter, the stability and adaptability of the transport tool in complex road conditions are significantly improved. The flexible sling dynamically adjusts its posture to avoid tilting and shaking during the lifting process, and the hydraulic suspension system adjusts the vehicle's stiffness and damping coefficient in real time to reduce the transmission of vibration to the prefabricated cabin, ensuring the stability and safety of the transportation process;

[0136] Stiffness in hydraulic suspension system The dynamic adjustment formula of the damping coefficient c dynamically adjusts the stiffness of the suspension system through real-time feedback of the vehicle suspension displacement change, ensuring that the vehicle can adapt to complex road conditions, reducing the impact of road vibration on the prefabricated cabin, and effectively improving the stability of vehicle operation;

[0137] Benefits of step 3: Intelligent path planning is achieved through reinforcement learning algorithms, which can dynamically avoid high vibration risk areas. Combined with the real-time monitoring system, the transportation path and operating parameters are adjusted according to the acceleration feedback during transportation, significantly improving transportation efficiency. At the same time, the vibration sensor collects data in real time, providing a scientific basis for optimizing the transportation path and reducing transportation time and energy consumption;

[0138] The reward function of the reinforcement learning algorithm can comprehensively balance the weights of transportation time, energy consumption, and vibration amplitude, maximizing transportation efficiency while ensuring transportation safety;

[0139] The acceleration formula provides accurate vibration data support for the adjustment of the transportation path and running speed;

[0140] The benefit of step 4: The automated unloading device combined with the magnetic automatic docking system realizes the smooth unloading of the prefabricated cabin, avoiding secondary damage to the equipment caused by the impact during unloading. At the same time, based on the analysis of the cumulative vibration energy by the vibration monitoring system, it provides a quantitative basis for the transportation safety assessment to ensure the smooth completion of the transportation task;

[0141] The unloading impact force formula can limit the impact force during unloading within the acceptable range of the equipment by controlling the allowable stress and contact area of the materials in the docking area;

[0142] The cumulative vibration energy formula can quantify the impact of vibration on the equipment during transportation, facilitating early warning and subsequent maintenance;

[0143] The benefit of step 5: Through dynamic emergency response, system protection actions, and subsequent evaluation processes, it can quickly respond to abnormal states during transportation, effectively reducing the impact of high-risk environments on the prefabricated cabin and internal equipment. The system automatically records abnormal data and generates accident reports, providing a reference for subsequent transportation optimization, while enhancing the safety and reliability of the transportation process;

[0144] The vehicle deceleration control formula dynamically adjusts the running speed of the vehicle through real-time feedback of acceleration, reducing the continuous impact of vibration on the prefabricated cabin. In addition, the protection action formula adjusts the pressure of the hydraulic buffer pad in real time, effectively absorbing vibration energy and ensuring equipment safety.

[0145] Summary: In each step of the present invention, by reasonably designing seismic protection, optimizing transportation tools, intelligent path planning, and abnormal state handling, the safety and efficiency of prefabricated cabin transportation are effectively improved. At the same time, each algorithm formula provides a theoretical basis for specific implementation, enhancing the scientificity and operability of the method.

[0146] Dynamic emergency response includes:

[0147] Abnormal state classification, based on the vibration energy and acceleration monitoring results, the abnormal conditions are classified into:

[0148] Low-risk abnormalities: such as short-term vibration or slight tilt, which do not require immediate intervention. The system records the data and monitors;

[0149] Medium-risk anomaly: If the vibration amplitude continuously exceeds the safety threshold, trigger an alarm and reduce the transportation speed or adjust the equipment parameters;

[0150] High-risk anomaly: Such as vibration energy exceeding the equipment's tolerance limit or the tilt angle exceeding the safe range, immediately activate the protection mechanism;

[0151] Trigger the warning system, trigger sound, light or remote alarm notifications through the real-time data of vibration sensors and tilt sensors, and prompt the operator to take further measures;

[0152] Dynamic shock absorption control, activate the hydraulic suspension system, and dynamically adjust the stiffness and damping coefficient c;

[0153] Vehicle operation adjustment, automatically decelerate or stop the vehicle to avoid the continuous impact of high-vibration areas on the prefabricated cabin. The deceleration formula is:

[0154] ,

[0155] where, is the deceleration adjustment coefficient, is the adjusted speed, is the reference speed, is the acceleration.

[0156] Dynamic emergency response significantly improves the safety and reliability of the transportation process by classifying and processing abnormal states in real time during transportation. Monitoring and recording low-risk anomalies avoid unnecessary interventions and improve transportation efficiency; medium-risk anomalies prevent potential risks caused by vibration accumulation through warnings and speed adjustments; the fast protection mechanism for high-risk anomalies effectively reduces damage to the prefabricated cabin and internal equipment in case of emergencies. In addition, the triggered warning system can notify the operator in time. Combining dynamic shock absorption control and the vehicle deceleration formula, it realizes precise adjustment of the vehicle speed, reduces the impact of high-vibration areas, and effectively protects the integrity and operation stability of the equipment. The systematic emergency response plan ensures the safe and orderly progress of the transportation task and provides a scientific and efficient solution for complex transportation environments.

[0157] System protection actions include:

[0158] Start the hydraulic buffer pads, activate the hydraulic buffer device at the bottom of the box, and absorb external forces by adjusting the pressure in real time :

[0159] ,

[0160] where, is the dynamic viscosity of the hydraulic oil, is the real-time hydraulic flow rate, is the contact area;

[0161] Flexible sling locking. If an abnormality occurs during loading and unloading, the sling gyroscope control module will lock the position of the sling, stop the tilt adjustment, and avoid further impact on the prefabricated cabin;

[0162] The adjustment range stops within the preset safety range , and the restricted angle change is:

[0163] ,

[0164] wherein, is the absolute value of the control quantity, is the safety threshold of the control quantity;

[0165] Internal equipment protection, automatically trigger the internal equipment protection mode, activate the suspension protection device of the equipment, and the deformation of the buffer material around the precision equipment absorbs energy to protect the internal module.

[0166] The system protection actions are through multiple measures such as starting with hydraulic buffer pads, flexible sling locking, and internal equipment protection, effectively coping with the transportation risks under abnormal conditions. The hydraulic buffer pads adjust the pressure in real time, can quickly absorb external forces, and reduce the impact of vibrations on the bottom of the box and internal equipment. The flexible sling locks its position through the gyroscope module during loading and unloading, stops the tilt adjustment, prevents the tilt amplitude from exceeding the safety range, ensures that the adjustment amplitude is met, and reduces the impact risk during the loading and unloading process. In addition, the internal equipment protection mechanism provides the last line of defense for precision equipment by activating the suspension protection device and the deformation of the buffer material to absorb energy. The multi-layer protection design significantly improves the anti-impact ability of the system, ensuring the integrity and safety of the equipment during transportation and loading and unloading.

[0167] Subsequent handling and evaluation include:

[0168] Data recording and analysis, the system automatically records the acceleration during the abnormality and vibration energy , and the data is saved to the central control platform for subsequent fault diagnosis;

[0169] Repair of abnormal conditions:

[0170] For minor abnormalities, conduct on-line debugging of the transportation tool or anti-seismic device to resume normal operation;

[0171] For serious abnormalities, suspend transportation, transfer the prefabricated cabin to a temporary safe location, and arrange for manual inspection and repair;

[0172] Vibration cumulative assessment, calculate the cumulative vibration damage through the vibration energy formula to confirm whether the equipment needs maintenance: ,

[0173] If detected If it exceeds the allowable threshold of the device, an alarm is triggered and the abnormal status is recorded.

[0174] Adjust the transportation route, mark the abnormal section in the path planning, and update the reward function weights of the reinforcement learning model to avoid entering high-risk sections.

[0175] Generate an accident report. The system automatically generates an abnormal handling report based on data analysis, which is convenient for management and subsequent optimization.

[0176] Subsequent handling and evaluation provide comprehensive support for the optimization of transportation tasks and risk management through systematic data recording and analysis, abnormal status repair, vibration accumulation evaluation, transportation route adjustment, and accident report generation. Data recording and analysis save abnormal information such as acceleration and vibration energy to the central control platform, providing a reliable basis for fault diagnosis and experience accumulation. Minor abnormalities are quickly restored to operation through online debugging, while serious abnormalities ensure equipment safety through suspension of transportation and manual inspection. The vibration accumulation evaluation formula quantifies the degree to which the equipment is affected by vibration, clarifies whether the equipment needs maintenance, and effectively prevents potential hazards caused by fatigue damage of the equipment. The transportation route adjustment updates the reward function weights of the reinforcement learning model based on abnormal data to avoid entering the identified high-risk sections, improving the safety and efficiency of subsequent transportation. Finally, through the automatically generated accident report, managers can quickly understand the abnormal handling process, provide a basis for improvement for subsequent transportation tasks, and achieve continuous optimization of the transportation system. This process fully guarantees the safety of the transportation process, the traceability of data management, and the intelligence of transportation decisions.

[0177] The natural frequency of the flexible support system Satisfies the following formula:

[0178] ,

[0179] where is the natural frequency of the support system, is the operating frequency of the equipment, is the allowable frequency deviation, k is the spring stiffness of the support system, and m is the weight of the equipment.

[0180] The flexible support system ensures that there is a frequency deviation between the natural frequency of the support system and the operating frequency of the equipment through the natural frequency formula, effectively avoiding the occurrence of resonance. This formula combines the dynamic adjustment of spring stiffness and equipment weight, enabling the support system to provide the best seismic resistance according to the characteristics of different equipment. By staying away from the resonance frequency range, the system significantly reduces the impact of vibration amplification on internal equipment during transportation, ensuring the stability and integrity of equipment operation, and greatly improving the safety and reliability of transportation.

[0181] A honeycomb energy absorption structure is provided at the bottom of the prefabricated cabin, and its energy absorption performance is described by the following formula:

[0182] ,

[0183] wherein, is the energy absorption of the energy absorption structure, is the compression ratio of the honeycomb structure, is the stress of the honeycomb cell at the compression ratio r, is the area of the energy absorption structure, represents an infinitesimal change along the variable r.

[0184] The honeycomb energy absorption structure at the bottom of the prefabricated cabin quantifies the ability of the structure to absorb impact energy through the formula. Based on the compression ratio, cell stress, energy absorption area of the honeycomb structure, and the change along the compression path, it can gradually disperse and absorb external forces, effectively reducing the amplitude of vibration and impact transmitted to the prefabricated cabin and internal equipment. The high energy absorption characteristics of the honeycomb structure provide an additional seismic barrier for the prefabricated cabin during transportation, especially suitable for high-vibration environments under complex road conditions, ensuring the operation safety and transportation stability of the equipment. At the same time, its characteristics of light weight and high strength have the least impact on transportation efficiency, and it has both economy and practicality.

[0185] In step 3, the transportation process is optimized based on the intelligent path planning and real-time vibration monitoring system. The real-time vibration monitoring system includes multi-axis vibration sensors and tilt sensors. The tilt sensor is used to measure the tilt angle of the prefabricated cabin in real time, and the calculation formula for the tilt angle is:

[0186] ,

[0187] wherein, is the tilt angle, is the tilt height of the prefabricated cabin, is the reference horizontal length;

[0188] If the tilt angle exceeds the safety threshold, the system automatically triggers an alarm and records the abnormal status.

[0189] The real-time vibration monitoring system calculates the tilt angle of the prefabricated cabin in real time through the tilt sensor, and can accurately capture the tilt state during transportation. If the tilt angle exceeds the safety threshold, the system immediately triggers an alarm and records the abnormal data, providing a basis for rapid response for the operator. The real-time monitoring and intelligent warning functions effectively prevent equipment slippage, uneven stress or impact damage caused by excessive tilt, and at the same time ensure the overall transportation stability of the prefabricated cabin. The combination of the simple and efficient design of this formula and the high sensitivity of the monitoring system significantly improves the safety guarantee ability during transportation.

[0190] When the honeycomb energy - absorbing structure and the hydraulic buffer pad work together, the compression ratio of the energy - absorbing structure and the real - time pressure of the hydraulic pad satisfy the following relationship:

[0191] ,

[0192] where, is the total energy - absorbing compression ratio, is the compression ratio of the honeycomb structure, is the real - time pressure of the hydraulic buffer pad, is the compressive strength of the material of the hydraulic pad;

[0193] The goal of the combined work is to ensure that the total energy absorption of the prefabricated cabin reaches the required protection level.

[0194] The honeycomb energy - absorbing structure and the hydraulic buffer pad work together through a formula. The compressive strength of the hydraulic pad ensures the stable performance of the hydraulic buffer pad under high - load conditions. This combined mechanism significantly enhances the seismic performance of the prefabricated cabin in a high - impact environment. By adjusting the compression ratio and pressure, it dynamically meets the requirements of different protection levels during transportation, providing flexible and efficient protection capabilities. It improves the overall energy - absorbing efficiency of the system, ensures the safety of precision equipment, and is especially suitable for transportation requirements under complex vibration and shock conditions.

[0195] The optimization design of the path - planning reward function of the reinforcement learning algorithm further considers the avoidance strategy for high - risk sections. The finally optimized reward function is:

[0196] ,

[0197] where, is the optimized reward value, is the original reward value, is the high - risk penalty coefficient, is the number of high - risk sections in the current path.

[0198] The path - planning of the reinforcement learning algorithm, through the optimized reward function, introduces an avoidance strategy for high - risk sections on the basis of the original reward value. By dynamically adjusting the penalty coefficient and the number of high - risk sections, it effectively reduces the determination of areas with higher vibration or tilt risks in the transportation path. This optimization design significantly reduces the impact probability of the prefabricated cabin and internal equipment in a high - risk environment, improving the safety and reliability of the transportation path planning. At the same time, the path - planning mechanism combines the self - learning ability of reinforcement learning and can be continuously optimized according to historical data, further improving the transportation efficiency and dynamic adaptability, providing intelligent and scientific solutions for complex transportation scenarios.

[0199] The control formula for dynamically adjusting the angle is:

[0200] ,

[0201] Among them, the angle of the spreader is adjusted, is the tilt angle error, , , are the proportional, integral, and derivative gain coefficients, is the rate of change of the error with respect to time, is the integral of the error.

[0202] Through the control formula for dynamically adjusting the angle, the real-time attitude adjustment of the spreader in the tilted state is realized, and the tilt of the spreader can be corrected quickly and accurately. This control formula effectively avoids the vibration and impact caused by tilting during the hoisting process, improves the stability of hoisting and the safety of the prefabricated cabin. It has a rapid response and precise adjustment, and is especially suitable for real-time adjustment of the spreader attitude in a complex hoisting environment to ensure the smoothness and efficiency of the transportation and loading / unloading processes.

[0203] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for efficiently transporting a prefabricated cabin, characterized in that: include: Step 1: Provide seismic protection for the internal equipment of the prefabricated cabin, and reduce the impact of vibration and impact on the internal equipment through flexible support system, full box seismic structure and multi-layer protection measures for precision equipment; The design of the flexible support system determines the spring stiffness k and the damping coefficient c by the following formula: ， ， Where k is the spring stiffness of the support system, m is the weight of the equipment, and g is the acceleration due to gravity. is the maximum compression of the spring, c is the damping coefficient, is the damping ratio; Step 2: Based on the seismic design in step 1, optimize the transportation tools to ensure the stability and efficiency of the transportation process; The optimized transport means include the configuration and commissioning of the flexible spreader and the hydraulic suspension transport vehicle, wherein: The flexible lifting device uses a gyroscope and an inertial control module to achieve dynamic attitude adjustment during the lifting process; Hydraulic suspension transport vehicle dynamically adjusts stiffness And the damping coefficient c, to ensure the stability of the vehicle under complex road conditions, the algorithm formula is as follows: ， in, is the basic stiffness, is the displacement change of the suspension system, is the weight coefficient; Step 3: After completing the transportation tool preparation in step 2, optimize the transportation process based on intelligent path planning and real-time vibration monitoring system; The path planning is implemented by reinforcement learning algorithm, and its reward function is designed as: ， in, is the reward value, For transportation time, For transport energy consumption, is the vibration amplitude, , , is the weight coefficient; Real-time monitoring of acceleration during transportation through vibration sensors , and its calculation formula is: ， in, , , is the acceleration in the three-axis direction; Step 4: After completing the transport control in step 3, use the automated unloading device to complete the smooth unloading of the prefabricated cabin to reduce the impact force during the unloading process; Unloading impact force Controlled by a magnetic automatic docking system, which meets the following conditions: ， in, is the unloading impact force, is the allowable material stress in the butt joint area, is the contact area, is the impact absorption coefficient; Based on the vibration monitoring system, the vibration energy accumulated during transportation is To perform the analysis: ， If detected If the device exceeds the permissible threshold, an alarm is triggered and the abnormal status is recorded; Step 5: After the abnormality is detected in step 4, in order to ensure the safety of the prefabricated cabin and its internal equipment, the process of dynamic emergency response, system protection action and subsequent disposal and evaluation is carried out; The dynamic emergency response includes: Abnormal state classification, according to vibration energy , acceleration The monitoring results are divided into the following categories: Low-risk anomalies: such as short-term vibration or slight tilt, no immediate intervention is required, the system records data and monitors; Medium-risk abnormality: If the vibration amplitude continues to be higher than the safety threshold, an early warning is triggered and the transportation speed is reduced or the equipment parameters are adjusted; High-risk anomalies: such as vibration energy If the equipment exceeds its bearing limit or the tilt angle exceeds the safe range, the protection mechanism will be activated immediately; Trigger the early warning system, which triggers sound, light or remote alarm notifications through real-time data from vibration sensors and tilt sensors, prompting the operator to take further measures; Dynamic damping control activates the hydraulic suspension system to dynamically adjust the stiffness and damping coefficient c; The vehicle operation is adjusted to automatically slow down or stop the vehicle to avoid continuous impact of the high vibration area on the prefabricated cabin. The deceleration formula is: ， in, is the deceleration adjustment coefficient, is the adjusted speed, is the base speed, is the acceleration; The system protection actions include: The hydraulic buffer pad is activated, and the hydraulic buffer device at the bottom of the box is activated to adjust the pressure in real time. Absorb external forces: ， in, is the dynamic viscosity of the hydraulic oil, is the real-time hydraulic flow, is the contact area; Flexible spreader locking: if an abnormality occurs during loading and unloading, the spreader gyro control module will lock the spreader position and stop tilt adjustment to avoid further impact on the prefabricated cabin; The adjustment range stops at the preset safety range , limiting the angle change to: ， in, is the absolute value of the control quantity, is the safety threshold of the control quantity; Internal protection of the equipment automatically triggers the internal equipment protection mode, activates the equipment's suspension protection device, and the buffer material around the precision equipment deforms to absorb energy and protect the internal modules.

2. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: The subsequent disposal and evaluation include: Data recording and analysis, the system automatically records the acceleration during abnormal periods and vibration energy , the data is saved to the central control platform for subsequent fault diagnosis; Abnormal status repair: In case of minor abnormality, conduct online debugging of the transportation vehicle or anti-seismic device and restore normal operation; In case of serious abnormality, transportation will be suspended, the prefabricated cabin will be moved to a temporary safe location, and manual inspection and repair will be arranged; Vibration accumulation assessment, calculate the cumulative vibration damage through the vibration energy formula to confirm whether the equipment needs maintenance: , If detected If the device exceeds the permissible threshold, an alarm is triggered and the abnormal status is recorded; Transport route adjustment, marking abnormal sections in path planning, updating the reward function weights of the reinforcement learning model to avoid entering high-risk sections; Accident report generation: the system automatically generates exception handling reports based on data analysis to facilitate management and subsequent optimization.

3. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: The natural frequency of the flexible support system Satisfies the following formula: ， in, is the natural frequency of the support system, is the operating frequency of the device, To allow frequency deviation, k is the spring stiffness of the support system and m is the weight of the equipment.

4. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: The bottom of the prefabricated cabin is provided with a honeycomb energy absorbing structure, and its energy absorbing performance is described by the following formula: ， in, is the energy absorbed by the energy absorbing structure, is the compression ratio of the honeycomb structure, is the stress of the honeycomb unit under compression ratio r, is the energy absorbing structure area, Represents a small change along the variable r.

5. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: In step 3, the transportation process is optimized based on intelligent path planning and a real-time vibration monitoring system. The real-time vibration monitoring system includes a multi-axis vibration sensor and a tilt sensor. The tilt sensor is used to measure the tilt angle of the prefabricated cabin in real time. The calculation formula of the tilt angle is: ， in, is the tilt angle, is the tilt height of the prefabricated cabin, is the reference horizontal length; If the tilt angle exceeds the safety threshold, the system automatically triggers an alarm and records the abnormal status.

6. The method for efficiently transporting a prefabricated cabin according to claim 4, characterized in that: When the honeycomb energy absorbing structure and the hydraulic cushion work together, the compression ratio of the energy absorbing structure and the real-time pressure of the hydraulic cushion satisfy the following relationship: ， in, is the total energy absorption compression ratio, is the compression ratio of the honeycomb structure, is the real-time pressure of the hydraulic buffer pad, is the compressive strength of the hydraulic cushion material; The goal of the joint work is to ensure that the total energy absorption of the prefabricated cabin reaches the required protection level.

7. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: The optimization design of the path planning reward function of the reinforcement learning algorithm further considers the avoidance strategy of high-risk sections, and the final optimized reward function is: ， in, is the optimized reward value, is the original reward value, is the high risk penalty coefficient, is the number of high-risk sections in the current path.

8. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: The control formula for the dynamic adjustment angle is: ， in, Adjust the angle of the hanger. is the tilt angle error, , , are the proportional, integral and differential gain coefficients, is the rate of change of error with respect to time, is the integral of the error.

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