Prefabricated cabin efficient carrying method

Abstract

The invention relates to the technical field of logistics transportation, and discloses an efficient prefabricated cabin carrying method which comprises the steps that 1, anti-seismic protection is provided for internal equipment of a prefabricated cabin, and the influence of vibration and impact on the internal equipment is reduced through multi-layer protection measures of a flexible supporting system, a full-box anti-seismic structure and precision equipment; and 2, based on the anti-seismic design in the step 1, optimizing a transportation tool to guarantee the stability and efficiency of the transportation process. Through the multi-layer protection measures of a flexible supporting system, a full-box-body anti-seismic structure and precision equipment, the problem that electrical, heating, ventilation and communication equipment integrated in the prefabricated cabin is prone to being damaged by vibration and impact in the transportation process is effectively solved, and through the spring rigidity and damping coefficient optimization formula in the anti-seismic design, the honeycomb energy absorption structure and a hydraulic buffer cushion are combined, so that the anti-seismic performance of the prefabricated cabin is improved. The prefabricated cabin has excellent shock resistance in a complex transportation environment, and the integrity and safety of equipment operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of logistics and transportation, and in particular to a method for efficiently transporting a prefabricated cabin. Background Art

[0002] With the development of modern logistics and modular construction, prefabricated cabins are widely used in many fields due to their convenience and efficiency. However, unlike traditional prefabricated cabins, prefabricated cabins usually integrate a large number of sophisticated equipment, such as electrical systems, HVAC facilities and communication modules. The equipment is complex, fragile and high-value, which puts higher requirements on the safety and stability of the transportation process. The existing handling methods are mainly based on ordinary prefabricated cabin designs and cannot meet the special needs of prefabricated cabins.

[0003] The current mode of transportation pays more attention to the strength design of the prefabricated cabin shell, while paying less attention to the seismic protection measures for the internal equipment. The internal equipment of the prefabricated cabin is complex and fragile. The external forces such as vibration and impact during transportation may cause the equipment to fall off, loosen or even be damaged. The existing technology lacks a flexible support system specifically for internal equipment and a seismic structure design for the entire box. Especially in complex road conditions and harsh environments, the integrity and operational safety of the equipment cannot be guaranteed; During the loading, unloading and transportation of prefabricated cabins, the tilt of the hoisting equipment, the vibration of the vehicle and the unstable road environment can easily cause coupled vibration, causing secondary impact on the internal equipment. Existing transportation tools, such as hoisting equipment and transport vehicles, are mainly based on rigid structures and lack dynamic adjustment capabilities, and cannot effectively buffer or reduce vibration during transportation. In addition, the tilt control ability of the hoisting link is weak, and the transport vehicles are not adaptable enough to complex road conditions, further exacerbating the transportation risks of equipment; Most transportation route planning is based on static presets, lacking real-time adjustment capabilities and unable to make dynamic optimizations based on the actual transportation environment. In particular, during transportation, the route is not scientifically adjusted based on vibration monitoring data, resulting in low transportation efficiency, increased transportation time and energy consumption, and causing prefabricated cabins to pass through higher vibration risk areas, posing a threat to the safety of the equipment; During the actual transportation process, the prefabricated cabins accumulate vibration energy due to road bumps, equipment tilting, etc., and even high-risk situations such as loose equipment or prefabricated cabin position displacement may occur. The existing technology lacks a systematic response mechanism for handling abnormal conditions, and is usually unable to quickly distinguish risk levels and take targeted protective measures. Once an abnormality occurs, the transportation task is easily interrupted or fails. At the same time, the existing technology has poor ability to record and analyze abnormal conditions and cannot provide reference data for subsequent transportation improvements.

[0004] Therefore, those skilled in the art provide a method for efficiently transporting prefabricated cabins to solve the above-mentioned problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a method for efficiently transporting a prefabricated cabin to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for efficiently transporting a prefabricated cabin, comprising: 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 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.

[0007] Preferably, a method for efficiently transporting a prefabricated cabin is characterized by comprising: 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; 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 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.

[0008] Preferably, the system protection action includes: 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.

[0009] Preferably, the subsequent treatment and evaluation includes: Data recording and analysis, the system automatically records the acceleration during abnormal periods and vibration energy , 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.

[0010] Preferably, 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.

[0011] Preferably, a honeycomb energy absorbing structure is provided at the bottom of the prefabricated cabin, 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.

[0012] Preferably, 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.

[0013] Preferably, 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 cushion, is the material compressive strength of the hydraulic cushion; The goal of the joint work is to ensure that the total energy absorption of the prefabricated cabin reaches the required protection level.

[0014] Preferably, 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.

[0015] Preferably, 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.

[0016] The present invention provides a method for efficiently transporting prefabricated cabins. It has the following beneficial effects: 1. The present invention effectively solves the problem that the electrical, HVAC and communication equipment integrated inside the prefabricated cabin are susceptible to damage from vibration and impact during transportation through a flexible support system, a full-box seismic structure and multi-layer protection measures for precision equipment. The spring stiffness and damping coefficient optimization formula in the seismic design, combined with the honeycomb energy absorption structure and hydraulic buffer pad, enables the prefabricated cabin to have excellent seismic resistance in a complex transportation environment, ensures the integrity and safety of equipment operation, and significantly improves the reliability of prefabricated cabin transportation.

[0017] 2. The present invention improves the stability and safety of the transportation process by optimizing the flexible hangers and hydraulic suspension transport vehicles in the transportation tools. The flexible hangers use gyroscopes and inertial control modules to perform dynamic posture adjustment, effectively avoiding impacts caused by tilting or vibration during the lifting process. The hydraulic suspension system adjusts the suspension stiffness and damping coefficient in real time to ensure that the transport vehicle can run smoothly under complex road conditions, making the transportation process safer and avoiding damage to the equipment caused by the coupled vibration between the transportation tool and the prefabricated cabin.

[0018] 3. The present invention optimizes the transportation route through the reinforcement learning algorithm, which can intelligently avoid high-risk sections and significantly reduce transportation time and energy consumption. The real-time monitoring system is combined with the dynamic path planning function, so that the transportation process can be adjusted according to real-time road conditions and vibration feedback, thereby improving transportation efficiency.

[0019] 4. The present invention ensures the safety of the transportation process through dynamic emergency response and system protection actions under abnormal conditions, and the abnormal classification mechanism combines the activation of hydraulic buffer pads, locking of flexible slings and internal protection mode of the equipment to achieve rapid response to different risk levels during transportation. The vehicle's dynamic shock absorption control and deceleration linkage mechanism further reduce the impact of high-risk conditions on the transportation process, ensuring that the transportation task can be carried out safely and orderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0021] In order to make the technical personnel in the technical field understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in combination with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a partial embodiment of the present invention, not a complete embodiment. Based on the embodiment of the present invention, other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0022] The present invention is described in detail below in conjunction with the accompanying drawings: Example: Please see the attached Figure 1 The embodiment of the present invention provides a method for efficiently transporting a prefabricated cabin, comprising: 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; Optimizing transportation tools includes configuration and commissioning of flexible spreaders and hydraulic suspension transport vehicles, including: 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; Path planning is implemented through 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 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.

[0023] 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; 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; 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; 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; 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; 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; The acceleration formula provides accurate vibration data support for the adjustment of transportation path and running speed; Benefits of Step 4 The automated unloading device combined with the magnetic automatic docking system enables smooth unloading of the prefabricated cabin, avoiding secondary damage to the equipment caused by the impact during the unloading process. At the same time, the vibration monitoring system analyzes the accumulated vibration energy to provide a quantitative basis for the transportation safety assessment and ensure the smooth completion of the transportation task; The unloading impact force formula can limit the impact force during unloading to the tolerance range of the equipment by controlling the allowable material stress and contact area in the docking area; The cumulative vibration energy formula can quantify the impact of vibration on equipment during transportation, facilitating early warning and subsequent maintenance; Benefits of Step 5: Through dynamic emergency response, system protection actions and subsequent evaluation processes, it can quickly respond to abnormal conditions during transportation and effectively reduce the impact of high-risk environments on prefabricated cabins and internal equipment. The system automatically records abnormal data and generates accident reports, providing reference for subsequent transportation optimization, while improving the safety and reliability of the transportation process; The vehicle deceleration control formula dynamically adjusts the vehicle running speed through real-time feedback of acceleration to reduce 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 to effectively absorb vibration energy and ensure equipment safety.

[0024] Summary: In each step, the present invention effectively improves the safety and efficiency of prefabricated cabin transportation by rationally designing earthquake protection, optimizing transportation tools, intelligent path planning and abnormal state processing. At the same time, each algorithm formula provides a theoretical basis for specific implementation, enhancing the scientificity and operability of the method.

[0025] 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.

[0026] Dynamic emergency response significantly improves the safety and reliability of the transportation process by classifying and processing abnormal conditions in real time. Monitoring and recording of low-risk anomalies avoid unnecessary intervention and improve transportation efficiency; medium-risk anomalies prevent potential risks caused by vibration accumulation through early warning and speed adjustment; the rapid protection mechanism of high-risk anomalies effectively reduces the damage to the prefabricated cabin and internal equipment caused by emergencies. In addition, the triggering early warning system can notify the operator in time, and combined with dynamic shock absorption control and vehicle deceleration formula, it can realize precise adjustment of vehicle speed, reduce the impact of high-vibration areas, and effectively protect the integrity and operational stability of the equipment. The systematic emergency response plan ensures the safe and orderly progress of transportation tasks and provides scientific and efficient solutions for complex transportation environments.

[0027] 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.

[0028] The system protection action effectively responds to transportation risks under abnormal conditions through multiple layers of measures such as hydraulic buffer pad activation, flexible sling locking, and internal equipment protection. The hydraulic buffer pad adjusts the pressure in real time, can quickly absorb external forces, and reduce the impact of vibration on the bottom of the box and internal equipment. During the loading and unloading process, the flexible sling locks the position through the gyroscope module and stops the tilt adjustment to prevent the tilt range from exceeding the safety range, ensuring that the adjustment range is met, thereby reducing the impact risk during loading and unloading. In addition, the internal protection mechanism of the equipment provides the last line of defense for precision equipment by activating the suspension protection device and the deformation and energy absorption of the buffer material. The multi-layer protection design significantly improves the system's impact resistance and ensures the integrity and safety of the equipment during transportation and loading and unloading.

[0029] Subsequent disposal and evaluation include: Data recording and analysis, the system automatically records the acceleration during abnormal periods and vibration energy , 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.

[0030] Subsequent disposal and evaluation provide comprehensive support for the optimization and risk management of transportation tasks through systematic data recording and analysis, abnormal state repair, vibration accumulation evaluation, transportation route adjustment and accident report generation. Data recording and analysis saves abnormal information such as acceleration and vibration energy to the central control platform, providing a reliable basis for fault diagnosis and experience accumulation. Mild abnormalities can be quickly restored through online debugging, and serious abnormalities can ensure equipment safety by suspending 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 hidden dangers caused by fatigue damage to the equipment. The transportation route adjustment updates the reward function weight of the reinforcement learning model based on abnormal data to avoid entering the identified high-risk sections and improve the safety and efficiency of subsequent transportation. Finally, through the automatically generated accident report, managers can quickly understand the abnormal handling process, provide improvement basis for subsequent transportation tasks, and realize the 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 decision-making.

[0031] 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.

[0032] The flexible support system uses the natural frequency formula to ensure that there is a frequency deviation between the natural frequency of the support system and the operating frequency of the equipment, effectively avoiding the occurrence of resonance. This formula combines the dynamic adjustment of spring stiffness and equipment weight, so that the support system can provide the best anti-seismic effect according to the characteristics of different equipment. By staying away from the resonant frequency range, the system significantly reduces the impact of vibration amplification on internal equipment during transportation, ensures the stability and integrity of equipment operation, and greatly improves the safety and reliability of transportation.

[0033] A honeycomb energy-absorbing structure is set at the bottom of the prefabricated cabin, 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.

[0034] The honeycomb energy-absorbing structure at the bottom of the prefabricated cabin quantifies the ability of the structure to absorb impact energy through a formula. Based on the compression ratio, unit stress, energy-absorbing area, and change along the compression path of the honeycomb structure, 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-absorbing characteristics of the honeycomb structure provide an additional seismic barrier for the prefabricated cabin during transportation, which is especially suitable for high-vibration environments under complex road conditions, ensuring the operational safety and transportation stability of the equipment. At the same time, its light weight and high strength characteristics have minimal impact on transportation efficiency, and are both economical and practical.

[0035] 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.

[0036] 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 early warning and records abnormal data, providing operators with a basis for rapid response. Real-time monitoring and intelligent early warning functions can effectively prevent equipment slippage, uneven force or impact damage caused by excessive tilt, while ensuring the overall transportation stability of the prefabricated cabin. The simple and efficient design of the formula combined with the high sensitivity of the monitoring system significantly improves the safety assurance capabilities during transportation.

[0037] 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 cushion, 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.

[0038] The honeycomb energy absorption structure and the hydraulic cushion work together through a formula. The compressive strength of the hydraulic cushion ensures that the hydraulic cushion maintains stable performance under high load conditions. This joint mechanism significantly enhances the seismic performance of the prefabricated cabin under high impact conditions. By adjusting the compression ratio and pressure, it dynamically meets the needs of different protection levels during transportation and provides flexible and efficient protection capabilities. It improves the overall energy absorption efficiency of the system and ensures the safety of precision equipment, which is particularly suitable for transportation needs under complex vibration and impact conditions.

[0039] 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.

[0040] The path planning of the reinforcement learning algorithm uses an optimized reward function to introduce a high-risk section avoidance strategy based on 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 high vibration or tilt risks in the transportation path. This optimization design significantly reduces the probability of impact on prefabricated cabins and internal equipment in high-risk environments, and improves the safety and reliability of transportation path planning. At the same time, the path planning mechanism combined with the self-learning ability of reinforcement learning can be continuously optimized based on historical data, further improving transportation efficiency and dynamic adaptability, and providing intelligent and scientific solutions for complex transportation scenarios.

[0041] The control formula for dynamically adjusting the 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.

[0042] By dynamically adjusting the angle control formula, the real-time posture adjustment of the spreader in the tilted state can be achieved, and the tilt of the spreader can be corrected quickly and accurately. This control formula effectively avoids the vibration and impact caused by the tilt during the lifting process, improves the stability of the lifting and the safety of the prefabricated cabin. It has a fast response and precise adjustment, which is particularly suitable for real-time adjustment of the spreader posture in complex lifting environments to ensure the stability and efficiency of the transportation and loading and unloading process.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that 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 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.

2. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: 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.

3. The method for efficiently transporting a prefabricated cabin according to claim 1, characterized in that: 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.

4. 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 , 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.

5. 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.

6. 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.

7. 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.

8. The method for efficiently transporting a prefabricated cabin according to claim 6, 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 material compressive strength of the hydraulic cushion; The goal of the joint work is to ensure that the total energy absorption of the prefabricated cabin reaches the required protection level.

9. 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.

10. 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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