Method, system and device for rapid deployment control of a prefabricated mobile building cabin

Abstract

The application discloses a quick deployment control method, system and equipment for a fabricated movable building cabin, and belongs to the field of mobile buildings. The method comprises the following steps: after the fabricated movable building cabin is moved to a deployment area, a topographic survey and target landing attitude solving are performed to determine first driving parameters; an electric mechanical adjusting mechanism reaches a preset profiling attitude and is synchronously lowered; a driving current signal is synchronously collected, a current loop inflection point is identified, cabin body inertia measurement and solving are triggered, after landing, idle stroke is stopped and a load establishment stage is entered, closed loop load establishment analysis is adopted to determine an initial load, and cabin body initial landing is completed; structure strain monitoring is performed on the cabin body main structure, equivalent interference torque is analyzed, and a driving disturbance adjuster performs directional triggering and flexible service deployment adjustment. The application solves the technical problems of the prior art, such as complicated deployment process, insufficient identification accuracy under complex working conditions, and insufficient deployment efficiency and safe and stable operation.

Description

Technical Field

[0001] This invention relates to the field of mobile construction, and more specifically to a method, system, and equipment for the rapid deployment and control of prefabricated mobile building modules. Background Technology

[0002] Prefabricated mobile building modules are widely used as modular mobile building carriers in scenarios such as emergency rescue, field engineering operations, and temporary public services. Their deployment efficiency and service stability directly determine their application value. In existing technologies, the deployment control of such mobile building modules generally adopts a serial operation mode of landing first and then manually or semi-automatically leveling each leg. This not only requires manual surveying of terrain and manual calibration, but also makes the deployment process cumbersome and difficult to meet the needs of rapid deployment. At the same time, ground contact recognition and load distribution rely on additional contact force sensors and high-precision displacement sensors, which increases costs and complexity. Under harsh working conditions, sensor failure, ground contact recognition lag, or false triggering are also prone to occur. Safety hazards such as tilting and irreversible structural deformation after long-term service are also likely to occur. It is difficult to simultaneously achieve deployment efficiency, adaptability to complex working conditions, and service stability throughout the entire life cycle. Summary of the Invention

[0003] This application provides a rapid deployment control method, system, and equipment for prefabricated mobile building modules, aiming to solve the technical problems in the prior art where prefabricated mobile building modules have cumbersome deployment processes and insufficient identification accuracy under complex working conditions, resulting in insufficient deployment efficiency and safe and stable operation.

[0004] In view of the above problems, this application provides a method, system and equipment for rapid deployment control of prefabricated mobile building modules.

[0005] Firstly, a rapid deployment and control method for prefabricated mobile building modules is provided, which includes:

[0006] The prefabricated mobile building module is moved to the ground deployment area. Terrain scanning and target landing attitude calculation are performed to determine the first driving parameters. The target landing attitude is the desired spatial posture where each of the module's supports is parallel to the ground slope. The electromechanical adjustment mechanism responds to the first driving parameters, achieving a preset contour-following posture and descending synchronously. Simultaneously, the drive current signal of the servo motor is acquired, identifying the inflection point of the current loop based on sudden load torque changes, triggering inertial measurement and calculation of the module. After ground contact, the idle travel stops and the load establishment phase begins. A closed-loop load establishment analysis based on current-attitude is used to determine the initial load data. Based on the initial load data, the initial positioning of the prefabricated mobile building module is completed. During the module's service life, structural strain monitoring of the main module structure is performed, and by analyzing the equivalent disturbance torque, the disturbance regulator is driven to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions.

[0007] Secondly, a rapid deployment control system for prefabricated mobile building modules is provided, which includes:

[0008] The system comprises the following modules: a scanning module for relocating the prefabricated mobile building module to the ground deployment area, performing terrain scanning and target landing attitude calculation to determine the first driving parameter, wherein the target landing attitude is the desired spatial pose of the module's legs parallel to the ground slope; an adjustment module for the electromechanical adjustment mechanism to respond to the first driving parameter, achieving a preset contouring attitude and synchronously descending; an acquisition module for synchronously acquiring the drive current signal of the servo motor, identifying the current loop inflection point based on load torque mutation, triggering module inertial measurement and calculation, stopping the idle stroke after ground contact and entering the load establishment phase, using current-attitude closed-loop load establishment analysis to determine the initial load data; a landing module for completing the initial landing of the prefabricated mobile building module based on the initial load data; and a monitoring module for driving the disturbance regulator to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions during the module's service life by monitoring the structural strain of the main module structure and analyzing the equivalent disturbance torque.

[0009] Thirdly, this application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the rapid deployment control method for the prefabricated mobile building module described in any of the first aspects above.

[0010] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0011] By using solid-state lidar for terrain pre-scanning and iterative nearest-point inverse solving, terrain-mimicking attitude pre-adjustment is completed before the outriggers touch the ground. A non-contact ground contact identification scheme is adopted, which combines servo motor current loop inflection point identification with inertial measurement unit cross-verification. At the same time, a current-attitude dual closed-loop cascade control architecture is adopted to achieve precise control of cabin levelness and uniform distribution of load on each outrigger during the load establishment phase. Furthermore, a distributed grating strain sensor array is used to achieve pre-sensing of structural strain throughout the entire service life. Combined with a time-driven and event-driven dual-branch parallel disturbance regulator, directional and hierarchical flexible adjustment of slow-varying cumulative disturbances and high-frequency transient disturbances is achieved. Ultimately, this not only enables unmanned, high-precision, and rapid deployment of prefabricated mobile building cabins in complex field terrain, but also improves the structural safety and long-term service stability of the cabin.

[0012] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0013] Figure 1 A flowchart illustrating a rapid deployment control method for prefabricated mobile building modules is provided for embodiments of this application.

[0014] Figure 2 A structural schematic diagram of a rapid deployment control system for a prefabricated mobile building module is provided for embodiments of this application;

[0015] Figure 3 This is a schematic diagram of the structure of an exemplary electronic device of this application.

[0016] Explanation of reference numerals in the attached drawings: Scanning module 11, Adjustment module 12, Acquisition module 13, Positioning module 14, Monitoring module 15, Bus 300, Receiver 301, Processor 302, Transmitter 303, Memory 304, Bus interface 305. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0018] The overall concept of the technical solution provided in this application is as follows:

[0019] This application provides a rapid deployment control method, system, and equipment for prefabricated mobile building modules. It employs a pre-landing attitude pre-adaptation using solid-state lidar terrain scanning and iterative nearest-point inverse solution, ground contact identification based on virtual tactile feedback of the current loop inflection point combined with inertial measurement cross-verification, load uniform establishment through current-attitude dual-closed-loop cascade control, and an integrated full-process control scheme with parallel event-driven and time-driven dual-branch flexible adjustment throughout the entire service life. This enables prefabricated mobile building modules to achieve terrain-mimicking pre-adjustment and automated rapid deployment under various complex field conditions. Simultaneously, it constructs a complete technical closed loop from one-time rapid deployment to stability management throughout the entire service life, enabling directional and graded adjustment of slow-varying cumulative interference and high-frequency transient interference, thereby improving the module's adaptability and service stability under complex conditions.

[0020] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0021] Example 1, as Figure 1 As shown in the embodiment of this application, a rapid deployment control method for prefabricated mobile building modules is provided, the method comprising:

[0022] S100: The prefabricated mobile building module is moved to the ground deployment area, and terrain scanning and target landing attitude solution are performed to determine the first driving parameters. The target landing attitude is the desired spatial pose in which each leg of the module is parallel and in contact with the ground slope.

[0023] Specifically, once the prefabricated mobile building module is moved to the target ground deployment area, the system immediately initiates terrain scanning and target positioning attitude calculation processes to determine the first driving parameters. First, a solid-state lidar mounted on the bottom of the module—a laser scanning sensor device with a non-mechanical rotating structure, solid-state electronic scanning mode, high sampling frequency, strong environmental adaptability, and millimeter-level ranging accuracy, capable of stable operation under complex outdoor conditions—is used to perform a full-area area scan of the target ground deployment area. Through the calculation of laser beam emission and echo delay, a three-dimensional terrain point cloud is obtained that can completely restore the slope, undulation, and concavity features of the deployment area. This three-dimensional terrain point cloud is a discrete dataset composed of a massive number of sampling points with precise three-dimensional spatial coordinates, which can digitally replicate the real terrain and landforms of the deployment area.

[0024] The system then uses the acquired 3D terrain point cloud and the pre-stored cabin geometry model—a pre-constructed digital twin model of the cabin containing the overall cabin outline dimensions, outrigger installation point coordinates, outrigger travel boundaries, and structural mechanical constraint parameters—as input to trigger the attitude controller deployed in the control center. This controller is an algorithm unit responsible for cabin spatial pose calculation and motion control command generation. It completes the core pose calculation through an iterative nearest-point inverse solution algorithm. This algorithm uses a high-precision point cloud registration algorithm that iteratively matches feature point pairs between the source model and the target point cloud to solve for the optimal spatial transformation matrix. With the parallel fit between each outrigger and the ground slope as the constraint boundary, the algorithm solves for the target landing pose. This target landing pose is the desired spatial pose of the cabin that allows all outriggers to be completely parallel to the ground slope of the deployment area without any suspended outriggers, thus avoiding the problems of single-point overload and uneven load distribution when the outriggers touch the ground.

[0025] Finally, based on the solved target landing posture, the system calculates and generates the first driving parameters. These first driving parameters are the motor control parameter sequence that can drive the actuators of each leg of the electromechanical adjustment mechanism to reach a preset contour posture that perfectly matches the target landing posture. The sequence includes control parameters such as the preset extension length, running speed, and stroke limit of each leg, which can be directly sent to the electromechanical adjustment mechanism to execute the corresponding actions.

[0026] S200: The electromechanical adjustment mechanism responds to the first driving parameter, reaches the preset contour posture, and descends synchronously.

[0027] Specifically, the electromechanical adjustment mechanism is the electric actuator of the outrigger system of the prefabricated mobile building cabin. It integrates a servo drive motor, precision transmission components, and outrigger extension and retraction execution structure. It mainly undertakes the functions of cabin outrigger spatial attitude adjustment, stroke control, and synchronous motion execution. The mechanism receives the first drive parameters issued by the control center in real time, which is the motor control parameter sequence generated based on the target landing attitude calculation and can drive the outrigger to accurately match the terrain. It includes the preset extension length, running speed, synchronization timing threshold, and stroke safety boundary of each outrigger. It strictly follows the instructions of the parameter sequence to independently and accurately adjust the extension amount and spatial angle of each outrigger, so that all outriggers can quickly reach the preset contour posture. That is, the outrigger spatial posture is pre-adjusted according to the target landing posture of the cabin, which allows each outrigger to achieve parallel and appropriate matching with the ground slope in advance. It is the optimal preparatory posture before touching the ground.

[0028] After all outriggers have stably reached the preset contouring posture, the electromechanical adjustment mechanism will activate the synchronous control logic, driving all outriggers to extend downward synchronously at a uniform operating speed and consistent movement sequence. During the descent, the preset contouring posture will remain unchanged, ensuring that the overall attitude of the cabin is stable and without tilting, and that the movement of each outrigger is neither ahead nor behind, thus completing the synchronous descent execution action.

[0029] S300: Synchronously acquires the drive current signal of the servo motor, identifies the inflection point of the current loop based on the sudden change in load torque, triggers cabin inertial measurement and calculation, stops the idle stroke after ground contact and enters the load establishment stage, adopts closed-loop load establishment analysis based on current-attitude to determine the initial load data.

[0030] Specifically, the system synchronously activates a multi-channel isochronous high-frequency sampling mechanism to collect the drive current signal of the servo motor corresponding to each leg in the electromechanical adjustment mechanism. This motor is a permanent magnet synchronous servo actuator that drives the leg to complete the telescopic movement, has a built-in high-precision position loop, speed loop and current loop three-closed-loop control architecture, and can provide real-time and synchronous feedback of operating status parameters.

[0031] The system then performs wavelet transform analysis on the acquired real-time drive current signal. Wavelet transform analysis is an advanced signal processing algorithm that extracts transient change features from non-stationary signals while effectively suppressing environmental noise and inherent motor ripple interference. By performing multi-scale identification and precise localization of the abrupt change and ripple features of the current signal, the system captures the transient changes in the signal corresponding to the load torque abrupt change. This load torque abrupt change refers to the core working condition change where the outrigger is in an unloaded state during the descent phase before contacting the ground. The motor only needs to overcome the frictional resistance of the transmission mechanism, and the load torque remains at a stable low value for a long time. However, when the outrigger makes rigid contact with the ground, the ground support reaction force will instantly act on the outrigger actuator, causing a step-like sudden increase in the motor load torque. Based on the transient features of this load torque abrupt change, the system can accurately locate the inflection point of the current loop. This inflection point is the step-like increase characteristic inflection point of the motor drive current as the load torque increases. Without the need to install an additional contact force sensor, it can be used as a virtual tactile signal to achieve non-contact initial identification of the outrigger contacting the ground.

[0032] At the same moment the inflection point of the current loop is located, the system immediately triggers the inertial measurement unit deployed at the core of the main structure of the cabin. The inertial measurement unit is a high-precision sensing unit that integrates a three-axis accelerometer and a three-axis gyroscope and can output the six-degree-of-freedom spatial motion parameters of the cabin at high frequency. By solving the real-time inertial data collected by the inertial measurement unit, the current real-time attitude angle and vertical descent velocity of the cabin are obtained. These are used as ground contact verification signals and cross-verified with the virtual tactile signals output by the inflection point of the current loop in two dimensions to complete highly reliable ground contact confirmation. Then, a ground contact stop command is generated, which immediately terminates the idle stroke of all outriggers, that is, the no-load descent stroke during the outrigger non-ground contact stage. Simultaneously, the system control flow is smoothly transferred to the load establishment stage. This stage refers to the core control stage after the ground contact confirmation is completed, which establishes a uniform and stable ground support load for the cabin, so that the cabin reaches the preset level and structural force balance state.

[0033] After entering the load establishment phase, the system adopts a current-attitude dual closed-loop control architecture to perform closed-loop load establishment analysis. The real-time attitude angle of the cabin, i.e., the levelness parameter, is used as the main control variable, and the real-time current loop feedback value of the servo motor corresponding to each outrigger is used as the secondary control variable. Based on the coupling relationship between the main and secondary control variables, a dynamic mathematical model of current-attitude is constructed. The real-time current loop feedback value can indirectly and accurately map the actual ground support force borne by the outrigger, adapting to the load differences caused by different ground softness and undulations. The corresponding closed-loop regulator is activated simultaneously. The core load establishment target is to coordinate the extension of each outrigger until the overall levelness of the cabin enters the preset target error range and the load borne by each outrigger is evenly distributed. Continuous closed-loop dynamic adjustment is carried out until the cabin attitude is stable and the load supported by each outrigger forms a balanced force system. Finally, the initial load data corresponding to each outrigger is determined. This data includes the final extension of each outrigger, the load value mapped by the real-time current, the final attitude parameters of the cabin, the motor operating characteristic curves, and other deployment data.

[0034] S400: Based on the initial load data, complete the initial placement of the prefabricated mobile building module.

[0035] Specifically, based on the final determined initial load data, which is a dataset locked through closed-loop regulation and includes the final extension stroke parameters of each outrigger, the outrigger load values ​​mapped in real time by the current loop of each servo motor, the final six-degree-of-freedom spatial attitude data of the cabin, the outrigger load distribution balance parameters, and the steady-state operating current characteristic curve of the motors, the system first conducts multi-dimensional compliance verification on the initial load data. Each core parameter in the dataset is compared with the pre-set cabin deployment qualification threshold. The verification dimensions include whether the overall levelness of the cabin falls within the preset target error range, whether the load of each outrigger is within the safe load range of the structural design and there is no single-point overload or outrigger suspension abnormality, whether the cabin spatial attitude is stable without drift, and whether the servo motor drive current has entered a steady state without abnormal fluctuations. Only when all verification items meet the standards will the system trigger the subsequent positioning and locking action. If the verification fails, the current-attitude closed-loop regulator will be reactivated for secondary fine-tuning until the initial load data fully meets the compliance requirements.

[0036] After successful verification, the system immediately issues a locking command to the electromechanical adjustment mechanism, triggering the mechanical locking unit integrated into the transmission system of each outrigger. This unit is a rigid braking mechanism with self-locking capability upon power failure, which physically locks the precision transmission pairs of the outriggers, completely eliminating the risk of slippage and displacement during the outrigger extension and retraction. The locking action completely locks the extension and load-bearing status of all outriggers to the steady-state position corresponding to the initial load data, thus solidifying the physical support state of the cabin. After the locking action is completed, the system initiates a secondary verification of the landing status, simultaneously collecting real-time attitude data from the cabin's inertial measurement unit, current feedback of the locking status of each outrigger servo motor, and initial structural strain signals from the grating strain sensor array of key nodes in the cabin. The real-time data collected during the verification is compared with the initial load data to confirm that there is no attitude deviation, no abnormal load distribution, and structural strain within the design safety threshold after locking. This completely eliminates attitude disturbances and load loss problems that occur during the locking process, completing the final confirmation of the physical landing of the cabin.

[0037] Based on this, the system will encapsulate the data of this deployment, including initial load data, 3D terrain point cloud of the deployment area, target landing attitude solution parameters, first drive parameters, and outrigger full-stroke operation data, into a unified deployment feature template. This is a standardized deployment data package for a specific cabin model and specific terrain scenario. It includes the optimal control parameters and final landing reference data for the entire process from terrain pre-adaptation to load steady-state establishment. The system will encrypt and store this template in the local database of the control center, and simultaneously complete the traceability and archiving of the entire deployment process data and status reporting, and finally complete the initial landing of the prefabricated mobile building cabin.

[0038] S500: During the service life of the cabin, by monitoring the structural strain of the main cabin structure and analyzing the equivalent disturbance torque, the disturbance regulator is driven to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions.

[0039] Specifically, a closed-loop status management and adaptive adjustment mechanism for the entire service life of the cabin is implemented. First, grating strain sensor arrays are pre-deployed at key nodes of the main cabin structure, namely the main load-bearing beams, module connecting flanges, and door and window diagonals, which directly determine the overall structural stiffness and stress balance. The grating strain sensor array is a distributed sensor network based on the fiber optic grating sensing principle, which has nanometer-level micro-deformation recognition accuracy, strong anti-electromagnetic interference capability, and long-term service stability. It can collect stress and strain changes inside the structure in real time, and continuously monitor the structural strain of the main cabin structure. It continuously collects structural strain signals that can accurately reflect the stress state and micro-deformation trend of the cabin structure. These signals can capture early structural stress imbalances and micro-deformation hazards that are difficult to identify by traditional attitude sensors, thus achieving proactive and refined perception of the cabin's service status.

[0040] Subsequently, the system performs nonlinear disturbance analysis on the real-time acquired structural strain signals. By decoupling the time-domain and frequency-domain characteristics of the strain signals, the system removes signal interference caused by environmental noise and normal load fluctuations. It accurately quantifies the structural deformation amplitude, distribution characteristics, and stress imbalance caused by various internal and external disturbances to the main structure of the cabin, and then calculates the equivalent disturbance moment. This moment quantifies and transforms various sources of disturbance that can disrupt the cabin's attitude balance and structural stress system, such as foundation creep, soil diffuse settlement, structural thermal expansion and contraction caused by temperature changes, instantaneous wind load impact, and dynamic load disturbances inside the cabin, into an equivalent spatial moment that can be directly used for control decisions. It serves as the basis for determining the type, intensity, and direction of disturbance.

[0041] After calculating the equivalent disturbance torque, the system inputs this parameter to the disturbance regulator in real time. This is a core service control algorithm unit that integrates dual-branch parallel control logic and can achieve accurate disturbance type identification and directional hierarchical adjustment. The regulator drives directional triggering and flexible service deployment adjustments in both event-driven and time-driven modes. The time-driven mode is a timed closed-loop control mechanism with a fixed time period as the trigger condition. For slowly accumulating disturbances such as foundation settlement and structural thermal creep, a timed wake-up mechanism for settlement compensation is deployed. The adjustment method involves periodically fine-tuning the extension height of each leg of the hull under extreme value search. The first service adjustment branch is an adaptive algorithm that can automatically find the optimal adjustment amount to maintain the cabin attitude and load balance without establishing a precise mathematical model of the controlled object. It constructs the first service adjustment branch to achieve normalized and non-disruptive compensation for long-term cumulative disturbances. The second service adjustment branch is an interrupt-type real-time control mechanism that takes the occurrence of sudden disturbance events as the trigger condition. For high-frequency transient disturbances such as instantaneous strong wind loads, sudden vibrations, and heavy-load movement inside the cabin, it deploys an interrupt trigger mechanism for high-frequency vibration suppression. It uses the real-time adjustment of the outriggers' matching shock absorption damping as the adjustment method to construct the second service adjustment branch, achieving millisecond-level response and rapid suppression of sudden transient disturbances.

[0042] The system operates the first service adjustment branch and the second service adjustment branch in parallel. The disturbance regulator identifies the type of disturbance and makes directional branch triggering and control decisions based on the time-domain characteristics, rate of change and magnitude of the input equivalent disturbance torque. It outputs service adjustment parameters that match the disturbance characteristics and sends them to the electromechanical adjustment mechanism to perform flexible service deployment adjustment. This adjustment can match the corresponding adjustment amplitude and adjustment rate according to the degree of disturbance.

[0043] Furthermore, in the method provided in the application embodiment, performing terrain scanning and target landing attitude solving to determine the first driving parameter includes: scanning the ground deployment area based on the solid-state lidar mounted on the bottom of the cabin to obtain a three-dimensional terrain point cloud; using the three-dimensional terrain point cloud and the cabin geometric model as input, triggering the attitude controller deployed on the control platform, and obtaining the target landing attitude through iterative nearest point inverse solution; determining the first driving parameter based on the target landing attitude, wherein the first driving parameter is a parameter control sequence that enables the electromechanical adjustment mechanism to reach a preset contouring attitude based on the target landing attitude.

[0044] Specifically, firstly, a solid-state lidar mounted on the bottom of the cabin is used. This is a laser sensing device with no mechanical rotating parts, adopting a fully solid-state electronic scanning architecture, and possessing millimeter-level ranging accuracy, high environmental anti-interference capability, and rapid area scanning capability. It can be adapted to accurately map unhardened ground and undulating terrain in complex outdoor conditions. It performs a full-coverage, blind-spot-free area scan of the preset ground deployment area. By calculating the time delay and phase difference of the laser emission and echo signals, the precise three-dimensional spatial coordinates of each sampling point in the deployment area are obtained. After denoising, point cloud stitching, and invalid point removal preprocessing, a three-dimensional terrain point cloud is generated that can completely restore the surface slope, undulation difference, concavity and convexity features, and flatness information of the deployment area. This three-dimensional terrain point cloud is a digital terrain dataset composed of massive discrete sampling points with precise spatial coordinates, which can replicate the real terrain and landform of the target deployment area 1:1.

[0045] The system then uses the pre-processed 3D terrain point cloud and the pre-stored cabin geometry model in the control center as inputs. The cabin geometry model is a pre-constructed digital twin model of the cabin, containing the overall outline dimensions of the cabin, the spatial coordinates of the outrigger mounting points, the travel boundaries of the outrigger extension and retraction movements, structural force constraint parameters, and the geometric features of the outrigger contact surfaces. This model completely replicates the kinematic characteristics and structural safety constraint boundaries of the cabin's movable parts, triggering the attitude controller deployed in the control center. This controller is the core algorithm unit responsible for cabin spatial pose calculation, inverse kinematics solution, and control command generation. It has built-in constraint solving logic adapted to the deployment scenario of the movable cabin, and iterates the nearest point inverse kinematics solution... The algorithm completes the core pose calculation. The iterative nearest point inverse solution is a high-precision point cloud registration algorithm that matches feature point pairs between the source digital model and the target point cloud through multiple rounds of iteration, minimizes the matching error, and then solves the optimal spatial transformation matrix in reverse. The algorithm takes the following rigid constraints as the contact surfaces of all the cabin legs being completely parallel to the ground slope, with no suspended legs, no single protrusion, and the cabin structure being within a safe stress range. Through multiple rounds of iteration optimization, invalid matching point pairs are eliminated, and the target landing posture that satisfies all constraints is obtained. This target landing posture is the desired spatial pose of the cabin that allows all the cabin legs to be completely in contact with the ground and the load to be evenly distributed after landing.

[0046] After accurately solving the target landing posture, the system performs inverse kinematics on the target landing posture based on the multi-leg kinematic model of the cabin electromechanical adjustment mechanism. Finally, it generates the first driving parameters. These first driving parameters are motor control parameter sequences that can be directly sent to each execution unit of the electromechanical adjustment mechanism to enable the mechanism to accurately reach the preset contour posture based on the target landing posture. The preset contour posture refers to the spatial posture of the outriggers that is pre-adjusted according to the target landing posture before the outriggers touch the ground, and the extension of each outrigger is completely adapted to the ground slope. This ensures that all outriggers are aligned with the ground adaptation position when the outriggers descend synchronously. The parameter sequence includes full-dimensional control parameters such as the target position, running speed, acceleration, travel limit, and synchronization timing threshold of the servo motor corresponding to each outrigger, which can directly drive the electromechanical adjustment mechanism to complete the precise attitude pre-adjustment.

[0047] Furthermore, in the method provided in the application embodiment, identifying the inflection point of the current loop based on a sudden change in load torque and triggering inertial measurement and calculation of the cabin includes: acquiring the drive current signal of the servo motor through high-frequency sampling; performing wavelet transform analysis on the drive current signal, identifying the inflection point of the current loop through abrupt change features and ripple features, wherein the inflection point of the current loop is located based on a sudden change in load torque; and triggering the inertial measurement unit deployed on the cabin for the inflection point of the current loop, calculating the attitude angle and vertical velocity based on the inertial measurement data, and using them as verification signals for ground contact confirmation and load establishment.

[0048] Specifically, firstly, high-frequency sampling is used, that is, a kHz sampling frequency that is the same as the control cycle of the servo motor current loop and much higher than the transient process of the outrigger touching the ground, to collect the drive current signal of the servo motor corresponding to each outrigger in the electromechanical adjustment mechanism through multiple channels and isochronous synchronous acquisition. The servo motor has a built-in three-closed-loop control architecture of position loop, speed loop and current loop. Its armature drive current is linearly positively correlated with the output load torque, which can indirectly map the force state of the outrigger end of the high-precision actuator, ensuring that the current sampling timing of each outrigger motor is completely aligned and without phase difference, and completely retaining the transient change details of the current signal.

[0049] After acquiring the real-time drive current signal, the system performs wavelet transform analysis on the non-stationary signal. This is an advanced signal processing algorithm that can simultaneously perform localized analysis in the time and frequency domains, accurately extract transient change features from non-stationary signals, and effectively separate and suppress inherent commutation ripple, transmission vibration noise, and environmental electromagnetic interference. By performing multi-scale decomposition on the current signal, ripple features unrelated to load changes are stripped away, and abrupt change features strongly correlated with transient load changes are accurately captured. The core triggering source of this abrupt change feature is a sudden change in load torque: the outrigger is in an unloaded state during the no-load descent phase before ground contact. The machine only needs to overcome the frictional resistance of the transmission mechanism to maintain the load torque at a stable low value for a long time, and the drive current also maintains a stable low amplitude steady state. When the outrigger makes rigid contact with the ground, the ground support reaction force will instantly act on the outrigger actuator, forming a resistive load on the motor, causing the motor output load torque to increase sharply in a step. The drive current will then simultaneously show a characteristic inflection point of step increase. Based on the transient characteristics of this load torque change, the system can accurately locate the current loop inflection point. This inflection point does not require additional contact force sensors or displacement sensors and can be used as a virtual tactile signal to achieve non-contact initial identification of the outrigger touching the ground.

[0050] Within the same clock cycle of locating the inflection point of the current loop, the system immediately triggers the inertial measurement unit deployed at the center of mass of the main body structure. This unit, which integrates a three-axis accelerometer and a three-axis gyroscope and can output six-degree-of-freedom spatial motion parameters of the cabin at high frequency, performs kinematic calculations on the real-time raw inertial data synchronously collected by the inertial measurement unit to obtain the current real-time attitude angles of the cabin, including pitch and roll angles. This accurately characterizes the cabin's spatial tilt state and vertical velocity, i.e., the real-time descent speed of the cabin along the direction of gravity. These two sets of data are used as ground contact verification signals and cross-verified with the virtual tactile signal output from the inflection point of the current loop in two dimensions. When the outriggers actually touch the ground, the vertical descent speed of the cabin will drop sharply and approach 0 within a very short time after the inflection point of the current loop appears. At the same time, the cabin's attitude angle will not show any abnormal sudden changes. This eliminates false triggering caused by interference such as motor current fluctuations and transmission jamming, and completes highly reliable ground contact confirmation.

[0051] Furthermore, in the method provided in the application embodiment, the ground contact confirmation and load establishment as verification signals include: triggering ground contact recognition with the current loop inflection point as a virtual tactile signal, performing cross-confirmation with attitude angle and vertical velocity as verification signals to obtain a ground contact stop command, wherein the ground contact stop command is an execution command that stops the idle travel after ground contact and enters the load establishment stage; according to the ground contact stop command, using attitude angle as the main control variable and real-time current loop feedback of the motors corresponding to each outrigger of the cabin as the secondary control variable, performing load establishment under closed-loop control of current and attitude.

[0052] Specifically, the system first uses the current loop inflection point—the inflection point of the characteristic signal where the servo motor drive current experiences a step increase, located by the sudden change in load torque at the moment the outrigger touches the ground—as a virtual tactile signal to trigger the first-level ground contact recognition. This virtual tactile signal utilizes the linear positive correlation between the servo motor drive current and the output load torque, accurately capturing the contact state between the outrigger and the ground without requiring additional dedicated sensing hardware. Simultaneously, the attitude angles calculated by the inertial measurement unit, including the cabin pitch angle and roll angle—two core parameters—can accurately characterize the cabin's spatial tilt state and reflect whether abnormal swaying occurs during ground contact, along with vertical... Velocity, or the real-time descent speed of the cabin along the direction of gravity, drops sharply and approaches 0 within an extremely short millisecond time window when the outriggers actually touch the ground. This is the core kinematic characteristic that distinguishes real ground contact from false signals such as motor ripple, transmission jamming, and electromagnetic interference. As an independent verification signal, it performs dual-dimensional temporal cross-verification, that is, mutual verification of the temporal matching degree and feature consistency between the virtual tactile signal and the inertial kinematic signal. Only when the vertical velocity drops sharply in accordance with the ground contact logic and there is no abnormal change in the attitude angle within the preset time window when the current loop inflection point appears, is it determined to be a valid real ground contact, thus completely eliminating false triggering caused by various operating condition interferences.

[0053] Upon successful verification, the system immediately generates a ground-touch stop command, the core execution command sent to the electromechanical adjustment mechanism after ground contact confirmation. This command serves two purposes: firstly, it immediately terminates the no-load descent of all outriggers before they touch the ground, preventing single-point overload, rigid impact on the hull, and stress concentration caused by overshoot. Secondly, it triggers a smooth transition of the system's control state machine, shifting the operation from the pre-adjusted descent phase to the load establishment phase. This is the core control phase, establishing a uniform and stable ground support load for the hull and ensuring it reaches a preset level and structural stress balance. Upon receiving the ground-touch stop command, the system immediately activates the current-attitude dual closed-loop cascade control architecture to execute closed-loop load establishment, with the hull's real-time attitude angle as the core. Levelness, as the primary control variable and the control target of the outer loop in the cascade control architecture, has a control threshold of requiring the cabin levelness to enter a preset target error range. This is achieved through real-time feedback from the servo motor current loop corresponding to each outrigger, which collects armature current data in real time. This data is strictly linearly positively correlated with the motor output load torque, and can indirectly and in real-time map the magnitude of the ground support force borne by the outrigger end. It can adaptively identify the differences in bearing stiffness caused by different ground softness and slope undulations, and can obtain the real-time load status of the outrigger without the need for additional force sensors. As the secondary control variable and the controlled variable of the inner loop in the cascade control architecture, it is used to quickly suppress outrigger load fluctuations, compensate for disturbances caused by differences in ground conditions, accelerate the response speed of closed-loop regulation, and avoid the risk of single outrigger overload.

[0054] The system constructs a dynamic mathematical model of current-attitude based on the coupling relationship between the main control variables and the secondary control variables. It synchronously activates the adapted closed-loop regulator and uses the coordinated extension and retraction adjustment of each outrigger of the cabin as the execution means. Through the dual-loop coordinated control of correcting the target adjustment amount of the outrigger by the outer loop attitude angle deviation and correcting the motor output torque in real time by the inner loop current loop feedback, the system quickly suppresses load fluctuations and attitude deviations until the cabin levelness stably falls within the preset target error range, the load supporting each outrigger is evenly distributed and a stable structural force balance system is formed, thus completing the load establishment.

[0055] Furthermore, in the method provided in the application embodiment, the load establishment under closed-loop control of current-attitude includes: using the main control variable and the secondary control variable as driving variables, and taking the extension of each outrigger of the cabin until the cabin levelness enters the target error range as the load establishment target, constructing a dynamic relationship of current-attitude; establishing a closed-loop regulator according to the dynamic relationship, activating and continuously adjusting the closed-loop regulator with the ground stop command until the load establishment target is reached, and determining the initial load data of each outrigger of the cabin.

[0056] Specifically, the system first uses a primary control variable and a secondary control variable as driving variables. The primary control variable is the controlled variable of the outer loop in the cascade closed-loop control, namely the cabin levelness, a core derived index of cabin attitude angle obtained in real time by the cabin inertial measurement unit. It includes the level deviation values ​​in both pitch and roll dimensions and is a core accuracy indicator that determines the flatness of cabin deployment and meets the requirements for internal equipment installation and personnel use. The secondary control variable is the controlled variable of the inner loop in the cascade closed-loop control, namely the real-time current loop feedback value of the servo motor corresponding to each outrigger of the cabin. This value has a strict linear positive correlation with the output load torque of the servo motor. It can map the ground support reaction force borne by the end of the outrigger in real time without the need for additional force sensors, capture the load differences caused by different ground softness, slope undulation, and outrigger contact state, and quickly identify abnormal working conditions such as single outrigger overload and suspension.

[0057] The system uses the load as the convergence boundary. This target is to ensure that the levelness of the cabin falls stably within the target error range set in advance according to the cabin design specifications and usage scenarios by coordinating the extension of each outrigger. At the same time, it achieves the final control goal of uniform load distribution on each outrigger, without single-point overload or abnormal suspension. Through the kinematic model of the multi-outrigger parallel mechanism, the mathematical model of motor torque-current, and the outrigger-ground contact stiffness model, a dynamic relationship between current and attitude is constructed. This dynamic relationship is a dynamic mathematical model that quantitatively describes the coupling relationship between the change of each outrigger extension stroke, the load change corresponding to the motor output current, and the overall attitude change of the cabin. It can predict the impact of outrigger adjustment on cabin levelness and load distribution.

[0058] Subsequently, based on the established current-attitude dynamic relationship, the system establishes a closed-loop regulator adapted to the cascade dual-closed-loop architecture. This regulator consists of an outer-loop attitude control PID regulator and an inner-loop current load control servo regulator. The outer loop takes the target deviation of the cabin level as input and outputs the target extension amount adjustment command for each leg to ensure the accuracy requirements of cabin deployment. The inner loop takes the target load deviation of the motor current of each leg as input and corrects the output torque of the motor in real time to achieve millisecond-level rapid suppression of load fluctuations. The dual-loop collaboration takes into account both adjustment accuracy and response speed.

[0059] Within the same clock cycle of receiving the ground stop command, which is the core execution command generated after the ground contact was confirmed through the cross-confirmation of current virtual tactile sensing and inertial signals, terminating the outrigger's idle travel and triggering the load establishment process, the system immediately completes the parameter initialization and state activation of the closed-loop regulator to avoid cabin attitude disturbances caused by the jump in the initial adjustment value. Then, it drives the execution units of each outrigger of the electromechanical adjustment mechanism to perform coordinated, shock-free, continuous micro-adjustment of the extension of each outrigger according to the real-time adjustment command output by the closed-loop regulator. During the adjustment process, the inner current loop continuously collects the load changes of each outrigger to quickly suppress the load fluctuations caused by uneven ground stiffness and avoid the risk of single outrigger overload from the source. The outer attitude loop synchronously monitors the real-time changes in cabin levelness and continuously corrects the adjustment command to eliminate cabin level deviation. The dual-loop linkage realizes synchronous and fine control of cabin attitude and load distribution.

[0060] Finally, when the continuous adjustment of the closed-loop controller causes the cabin levelness to stably fall within the preset target error range, and the load distribution of each outrigger is uniform, with no overload or suspension abnormalities, and the cabin attitude and the current values ​​of each outrigger motor enter a steady-state state without fluctuations, the system determines that the load establishment target has been achieved. Then, it locks the current extension amount and operating parameters of each outrigger and finally calculates and determines the initial load data. This dataset completely includes the final extension stroke parameters of each outrigger, the real-time load value mapped by the current of each outrigger motor, the final steady-state attitude angle and levelness data of the cabin, the steady-state operating current characteristic curves of each motor, the load distribution balance parameters of the outriggers, and other core deployment information. It completely records all support and attitude parameters when the cabin reaches the optimal deployment state.

[0061] Furthermore, in the method provided in the application embodiment, by analyzing the equivalent disturbance torque, the disturbance regulator is driven to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions, including: deploying a grating strain sensor array at key nodes of the main body structure of the cabin to monitor structural strain signals; performing nonlinear disturbance analysis on the structural strain signals, determining the equivalent disturbance torque by evaluating the structural deformation of the main body structure of the cabin; and inputting the equivalent disturbance torque into the disturbance regulator to determine service adjustment parameters.

[0062] Specifically, firstly, a grating strain sensor array is pre-deployed at key nodes of the main structure of the cabin. These key nodes, such as the main load-bearing beams, module connecting flanges, door and window diagonals, and the connection nodes between the outriggers and the cabin, directly determine the overall structural stiffness, stress balance, and deformation tolerance limit. The grating strain sensor array is a structural stress-strain sensing network based on the fiber Bragg grating sensing principle. It has nanometer-level micro-deformation recognition accuracy, strong anti-electromagnetic interference capability, excellent outdoor weather resistance, and long-term service stability. It can realize distributed, all-time synchronous acquisition of structural stress and strain sensing network, and continuously monitor the structural strain of the main structure of the cabin without interruption or blind spots. It continuously collects structural strain signals that can accurately reflect the changes in stress distribution, micro-deformation development trend, and stress imbalance state inside the cabin structure. These signals can capture early structural stress unevenness and micro-deformation hidden dangers that are difficult to identify by traditional attitude sensors, realizing the pre-emptive and refined perception of the cabin's service status.

[0063] After acquiring the real-time structural strain signal, the system performs nonlinear disturbance analysis on the non-stationary signal containing multi-source interference coupling. By conducting multi-scale decoupling analysis in the time and frequency domains of the strain signal, it removes risk-free conventional disturbances such as the material's inherent thermal expansion and contraction strain caused by environmental temperature changes and fluctuations in normal static loads within the cabin. It accurately extracts disturbance characteristics strongly correlated with cabin attitude imbalance and abnormal structural stress, and quantitatively assesses the amplitude, spatial distribution characteristics, and development trend of local and overall structural deformation caused by various disturbances on the main cabin structure. Then, through the pre-constructed cabin structural mechanics model and spatial moment balance equation, it calculates the equivalent disturbance moment. This moment is a unified quantification of various types and characteristics of disturbance sources that can disrupt the initial equilibrium state of the cabin and threaten structural safety, such as foundation creep, soil diffuse settlement, structural thermal deformation caused by temperature cycling, instantaneous strong wind load impact, dynamic load disturbances within the cabin, and external vibration transmission. It is a six-dimensional spatial moment that can be directly used for control decisions. It can accurately characterize the direction, intensity, and temporal variation characteristics of the disturbance, and is the core quantitative input basis for subsequent disturbance adjustment.

[0064] After completing the real-time calculation and validity verification of the equivalent disturbance torque, the system synchronously inputs this parameter into the disturbance regulator. This is the core service control algorithm unit that integrates multi-source disturbance intelligent identification, branch trigger decision-making, and adaptive adjustment parameter calculation functions. It has built-in disturbance classification rules, structural safety constraint boundaries, and reference attitude and initial load data for initial positioning and locking, which are adapted to the service scenarios of mobile hulls. The regulator first accurately identifies the type and risk level of the disturbance based on the change rate, amplitude, and duration characteristics of the equivalent disturbance torque, distinguishing between slow-changing cumulative disturbances and sudden transient disturbances. Then, with the core objective of maintaining the structural force balance and attitude stability of the hull in its initial positioning and locking without generating additional structural stress, it calculates the service adjustment parameters that match the disturbance characteristics and adapt to the execution capabilities of the electromechanical adjustment mechanism through a constrained adaptive optimization algorithm. These parameters include the trigger command of the corresponding adjustment branch, the target adjustment amount of each outrigger, the adjustment rate, the adjustment cycle, and the damping control parameters, etc., which are all-dimensional control commands. They can be directly sent to the actuator to complete the directional triggering and flexible service deployment adjustment in event-driven and time-driven modes.

[0065] Furthermore, in the method provided in the application embodiment, the equivalent disturbance torque is input into the disturbance regulator to determine the service adjustment parameters, including: deploying a timed wake-up mechanism for settlement compensation based on time-driven triggering conditions, and using periodic fine-tuning of the extension height of each outrigger of the hull under extreme value search as the adjustment method to construct a first service adjustment branch; deploying an interruption triggering mechanism for high-frequency suppression based on event-driven triggering conditions, and using real-time control of shock absorption damping as the adjustment method to construct a second service adjustment branch; and generating the disturbance regulator by parallelizing the first and second service adjustment branches, and performing directional branch triggering and decision-making on the received equivalent disturbance torque to determine the service adjustment parameters.

[0066] Specifically, a first service regulation branch is constructed. This branch uses time-driven triggering as the trigger condition. Here, time-driven refers to a timed closed-loop control mechanism that uses a pre-set fixed time period as the sole triggering basis and is unaffected by instantaneous interference signals. For long-period interferences with slow change rates and strong cumulative effects, such as foundation creep, diffuse soil settlement, and structural thermal deformation caused by temperature cycling, the branch deploys a timed wake-up mechanism for settlement compensation. That is, the control unit of this branch is in a low-power sleep state during non-trigger periods and is automatically woken up only when the preset time period is reached. After waking up, it synchronously acquires data from the grating strain sensor array. The structural strain signal of the column, the attitude data of the inertial measurement unit, and the load feedback data of each outrigger are used to complete the deviation verification between the current state of the cabin and the initial reference state. Then, the adjustment is performed with the extreme value search algorithm as the core. The extreme value search is a model-free adaptive control algorithm that can adaptively optimize to find the optimal adjustment amount to maintain the cabin attitude and load balance. It does not require prior knowledge of the settlement characteristics of the ground soil and the structural deformation parameters. It can automatically find the optimal adjustment amount to offset the cumulative settlement deviation and restore the initial load balance and attitude accuracy of the cabin by periodically adjusting the extension height of each outrigger. This is used as the core adjustment method of this branch.

[0067] A second service adjustment branch was constructed simultaneously. This branch uses event-driven mechanisms as its core triggering condition. Event-driven mechanisms refer to interrupt-type control mechanisms that use the transient change characteristics of the equivalent disturbance torque as the triggering basis, without waiting for a timer cycle, and can respond instantly. For high-frequency transient disturbances with fast change rates, short durations, and strong impact, such as instantaneous strong wind load impacts, external vibration transmission, and heavy load movement within the cabin, the branch deploys an interrupt triggering mechanism for high-frequency suppression. That is, the control unit of this branch is in a high-sensitivity standby state throughout, monitoring the transient change characteristics of the equivalent disturbance torque in real time. Once a characteristic threshold of high-frequency impact disturbance is detected, the highest priority control response is immediately triggered without waiting for the regular control cycle. Then, real-time adjustment of vibration damping is used as the core adjustment method. By adjusting the damping coefficient of the adjustable damping unit integrated in the outriggers, the vibration energy brought by the impact disturbance is quickly dissipated, suppressing the high-frequency vibration and transient attitude fluctuations of the cabin structure, achieving millisecond-level response and rapid suppression of sudden transient disturbances.

[0068] Subsequently, the system operates the first and second service adjustment branches in parallel throughout the entire time period. The two branches have independent control cycles, triggering logic, and execution links, without interfering with each other or preempting system resources. This generates a complete dual-branch parallel architecture disturbance regulator. After receiving the equivalent disturbance torque, the regulator first performs intelligent classification and identification of the disturbance type based on the amplitude, rate of change, duration, and frequency domain characteristics of the equivalent disturbance torque, distinguishing between slow-varying cumulative disturbance and high-frequency transient disturbance. Then, it executes directional branch triggering and decision-making. For slow-varying cumulative disturbance, the first service adjustment branch is directionally triggered to complete the settlement compensation parameter calculation. For high-frequency transient disturbance, the second service adjustment branch is directionally triggered to complete the vibration suppression parameter calculation. If both types of disturbance exist simultaneously, the dual-branch parallel calculation is triggered synchronously. Finally, the control outputs of the two branches are integrated to generate full-dimensional service adjustment parameters, including the outrigger adjustment cycle, target extension height, adjustment rate, damping coefficient target value, and trigger timing. These parameters are then sent to the electromechanical adjustment mechanism and adjustable damping unit to execute the corresponding flexible service deployment adjustment.

[0069] Furthermore, in the method provided in the application embodiment, after the initial placement of the prefabricated mobile building module is completed, the method includes: determining the deployment data of each leg of the module, wherein the deployment data includes final position parameters, current characteristic curves and module attitude data; encapsulating the deployment data into a deployment feature template and storing it in a local database; performing a deployment scene approximation judgment based on the module model and three-dimensional terrain point cloud, and matching and calling the deployment feature template as the initial deployment benchmark by interacting with the local database.

[0070] Specifically, the first step is to complete the multi-channel synchronous acquisition, compliance verification, and standardized integration of deployment data for each outrigger of the cabin. This deployment data includes a set of core control and state parameters covering the entire deployment process from pre-adjustment execution to steady-state placement. This includes the final position parameters, which are precise quantitative parameters of the extension stroke, spatial installation coordinates, and mechanical locking position of each outrigger after adjustment via a dual closed-loop load system (current-attitude). The current characteristic curve refers to the current characteristic curve of each outrigger during the entire deployment cycle, from the outrigger's synchronous descent in contoured attitude, ground contact inflection point identification, dynamic adjustment of the closed-loop load system, to final mechanical locking. The current loop feedback full-time domain characteristic curve of the servo motor records the steady-state base current under no-load and no-travel conditions, the current inflection point corresponding to the sudden change in load torque at the moment of ground contact, the dynamic adjustment current during the load establishment process, and the balance current corresponding to the steady-state load after locking. The cabin attitude data refers to the six-degree-of-freedom steady-state spatial attitude data of the cabin after initial positioning and locking, including key deployment accuracy indicators such as cabin two-dimensional levelness, pitch angle, and roll angle, as well as the steady-state reference calibration data of the inertial measurement unit. It is not only the core judgment basis for measuring whether this deployment meets the standards, but also the core reference for disturbance adjustment throughout the entire service life of the cabin.

[0071] Subsequently, the system completed a full-dimensional compliance verification of the deployment data. After confirming that the data was complete, without any abnormal deviations, and fully matched the actual landing status of the cabin, the system packaged all the data from this deployment, including the standardized and integrated deployment data, the cabin model corresponding to this deployment, the 3D terrain point cloud of the deployment area, the target landing attitude solution parameters, the first driving parameters, and the core parameters of the regulator for establishing the closed-loop load, into a unified deployment feature template. This template is a standardized and directly reusable complete deployment data package built for a specific cabin model and specific terrain scenario. It contains built-in scenario feature tags, the optimal control parameter sequence for the entire process, and steady-state landing benchmark data. It can directly provide a complete initial control benchmark for subsequent deployment tasks of the same type of scenario without having to start from scratch for attitude reverse engineering and full-process parameter debugging.

[0072] After template encapsulation, the system encrypts the deployment feature template and stores it in the local database of the control center. This database has the capabilities of tag-based fast retrieval, 3D terrain feature similarity matching, and full-process data traceability and archiving. It can classify, manage, securely store, and retrieve templates for different cabin models and different terrain scenarios. When the same series of prefabricated mobile building cabins perform new deployment tasks, the system will immediately start the deployment scenario similarity judgment after the cabin is moved to the new ground deployment area and the 3D terrain point cloud of the target area is collected by solid-state LiDAR. That is, the system uses the cabin model as the primary matching and screening condition, and the newly collected 3D terrain point cloud as the core feature matching object. It uses the iterative nearest point algorithm to calculate the feature similarity between the new terrain point cloud and the historical terrain point cloud associated with each template in the local database. It quantitatively evaluates the matching degree of terrain slope, undulation difference, and spatial distribution pattern. When the similarity reaches the preset scene matching threshold standard, it is determined to be a reusable approximate deployment scenario.

[0073] Finally, the system interacts with the local database in real time to retrieve the deployment feature template with the highest matching degree. The target landing attitude parameters, first drive parameters, outrigger optimal position parameters, and regulator parameters for closed-loop load establishment within the template are used as the initial deployment benchmark for this new deployment task. The data is then directly sent to the electromechanical adjustment mechanism to complete the rapid setting of the pre-adjusted contour attitude. Subsequent deployment can be completed with only minor corrections based on the pre-adjusted benchmark.

[0074] In summary, the rapid deployment and control method for prefabricated mobile building modules provided in this application has the following technical effects:

[0075] By using solid-state lidar for terrain pre-scanning and iterative nearest-point inverse solving, terrain-mimicking attitude pre-adjustment is completed before the outriggers touch the ground. A non-contact ground contact identification scheme is adopted, which combines servo motor current loop inflection point identification with inertial measurement unit cross-verification. At the same time, a current-attitude dual closed-loop cascade control architecture is adopted to achieve precise control of cabin levelness and uniform distribution of load on each outrigger during the load establishment phase. Furthermore, a distributed grating strain sensor array is used to achieve pre-sensing of structural strain throughout the entire service life. Combined with a time-driven and event-driven dual-branch parallel disturbance regulator, directional and hierarchical flexible adjustment of slow-varying cumulative disturbances and high-frequency transient disturbances is achieved. Ultimately, this not only enables unmanned, high-precision, and rapid deployment of prefabricated mobile building cabins in complex field terrain, but also improves the structural safety and long-term service stability of the cabin.

[0076] Example 2, based on the same inventive concept as the rapid deployment and control method of the prefabricated mobile building module in the foregoing examples, such as... Figure 2 As shown in the embodiment of this application, a rapid deployment control system for prefabricated mobile building modules is provided. The system includes:

[0077] The scanning module 11 is used to migrate the prefabricated mobile building module to the ground deployment area, perform terrain scanning and target landing attitude solving, and determine the first driving parameter, wherein the target landing attitude is the desired spatial pose in which each leg of the module is parallel and in contact with the ground slope; the adjustment module 12 is used to enable the electromechanical adjustment mechanism to respond to the first driving parameter, reach the preset contouring attitude and perform synchronous descent; the acquisition module 13 is used to synchronously acquire the drive current signal of the servo motor, identify the current loop inflection point based on the load torque change, trigger the module inertial measurement and calculation, stop the idle stroke after touching the ground and enter the load establishment stage, and use the current-attitude based closed-loop load establishment analysis to determine the initial load data; the landing module 14 is used to complete the initial landing of the prefabricated mobile building module according to the initial load data; the monitoring module 15 is used to monitor the structural strain of the main structure of the module during the module's service life, analyze the equivalent disturbance torque, and drive the disturbance regulator to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions.

[0078] Furthermore, the scanning module 11 is also used to perform the following steps: scanning the ground deployment area based on the solid-state lidar mounted on the bottom of the cabin to obtain a three-dimensional terrain point cloud; using the three-dimensional terrain point cloud and the cabin geometric model as input, triggering the attitude controller deployed on the control platform, and obtaining the target landing attitude by iteratively solving the nearest point in reverse; determining the first driving parameter based on the target landing attitude, wherein the first driving parameter is a parameter control sequence that enables the electromechanical adjustment mechanism to reach a preset contouring attitude based on the target landing attitude.

[0079] Furthermore, the acquisition module 13 is also used to perform the following steps: acquiring the drive current signal of the servo motor through high-frequency sampling; performing wavelet transform analysis on the drive current signal, identifying the current loop inflection point through abrupt change features and ripple features, wherein the current loop inflection point is located based on the abrupt change in load torque; for the current loop inflection point, triggering the inertial measurement unit deployed in the cabin, calculating the attitude angle and vertical velocity based on the inertial measurement data, and using them as verification signals for ground contact confirmation and load establishment.

[0080] Furthermore, the acquisition module 13 is also used to perform the following steps: triggering ground contact recognition with the current loop inflection point as a virtual tactile signal, and performing cross-confirmation with the attitude angle and vertical velocity as verification signals to obtain a ground contact stop command, wherein the ground contact stop command is an execution command to stop the idle travel after ground contact and enter the load establishment stage; according to the ground contact stop command, using the attitude angle as the main control variable and the real-time current loop feedback of the motors corresponding to each outrigger of the cabin as the secondary control variable, performing load establishment under the closed-loop control of current and attitude.

[0081] Furthermore, the acquisition module 13 is also used to perform the following steps: based on the main control variable and the secondary control variable as driving variables, with the extension of each outrigger of the cabin until the cabin level enters the target error range as the load establishment target, constructing a dynamic relationship between current and attitude; establishing a closed-loop regulator according to the dynamic relationship, activating and continuously adjusting the closed-loop regulator with the ground stop command until the load establishment target is reached, and determining the initial load data of each outrigger of the cabin.

[0082] Furthermore, the monitoring module 15 is also used to perform the following steps: deploying a grating strain sensor array at key nodes of the main body structure of the cabin to monitor the structural strain signal; performing nonlinear disturbance analysis on the structural strain signal, and determining the equivalent disturbance torque by evaluating the structural deformation of the main body structure of the cabin; and inputting the equivalent disturbance torque into the disturbance regulator to determine the service adjustment parameters.

[0083] Furthermore, the monitoring module 15 is also used to perform the following steps: using time-driven as the trigger condition, deploying a timed wake-up mechanism for settlement compensation, and using periodic fine-tuning of the extension height of each outrigger of the hull under extreme value search as the adjustment method to construct a first service adjustment branch; using event-driven as the trigger condition, deploying an interruption trigger mechanism for high-frequency suppression, and using real-time control of shock absorption damping as the adjustment method to construct a second service adjustment branch; and using the first service adjustment branch and the second service adjustment branch in parallel to generate the disturbance regulator, performing directional branch triggering and decision-making on the received equivalent disturbance torque to determine the service adjustment parameters.

[0084] Furthermore, the positioning module 14 is also used to perform the following steps: determining the deployment data of each leg of the cabin, wherein the deployment data includes final position parameters, current characteristic curves and cabin attitude data; encapsulating the deployment data into a deployment feature template and storing it in a local database; performing a deployment scenario approximation judgment based on the cabin model and three-dimensional terrain point cloud, and matching and calling the deployment feature template as the initial deployment benchmark by interacting with the local database.

[0085] Example 3, as Figure 3 As shown, based on the same inventive concept as the rapid deployment control method for prefabricated mobile building modules in Embodiment 1 above, this application also provides an electronic device, including: at least one processor; a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the rapid deployment control method for prefabricated mobile building modules in any one of Embodiment 1 above.

[0086] Appendix Figure 3 This is a schematic diagram of the structure of an exemplary electronic device of this application. Figure 3 In this document, the bus architecture is represented by bus 300. Bus 300 may include any number of interconnected buses and bridges, and bus 300 connects various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 can be used to store data used by processor 302 during operation.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A rapid deployment and control method for prefabricated mobile building modules, characterized in that, The method includes: The prefabricated mobile building module is moved to the ground deployment area, and terrain scanning and target landing attitude solution are performed to determine the first driving parameters. The target landing attitude is the desired spatial pose in which each leg of the module is parallel and in contact with the ground slope. The electromechanical adjustment mechanism responds to the first driving parameter, reaches the preset contouring posture, and descends synchronously. The drive current signal of the servo motor is collected synchronously, the inflection point of the current loop based on the sudden change of load torque is identified, the cabin inertial measurement and calculation are triggered, the idle stroke is stopped after the ground touch and the load establishment stage is entered. The initial load data is determined by using closed-loop load establishment analysis based on current-attitude. Based on the initial load data, the initial placement of the prefabricated mobile building module is completed. During the service life of the cabin, by monitoring the structural strain of the main cabin structure and analyzing the equivalent disturbance torque, the disturbance regulator is driven to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions.

2. The rapid deployment and control method for prefabricated mobile building modules as described in claim 1, characterized in that, Perform terrain scanning and target landing attitude determination to determine the first driving parameters, including: The solid-state lidar mounted on the bottom of the cabin is used to scan the ground deployment area and obtain a three-dimensional terrain point cloud. Using the three-dimensional terrain point cloud and the cabin geometry model as input, the attitude controller deployed in the control center is triggered, and the target landing attitude is obtained by iteratively solving the nearest point in reverse. Based on the target landing posture, a first driving parameter is determined, wherein the first driving parameter is a parameter control sequence that enables the electromechanical adjustment mechanism to reach a preset contouring posture based on the target landing posture.

3. The rapid deployment and control method for prefabricated mobile building modules as described in claim 1, characterized in that, Identifying the inflection point of the current loop under sudden load torque changes triggers cabin inertial measurement and calculation, including: The drive current signal of the servo motor is obtained through high-frequency sampling; Wavelet transform analysis is performed on the driving current signal, and the inflection point of the current loop is located by identifying abrupt change features and ripple features. The inflection point of the current loop is located based on the abrupt change in load torque. For the inflection point of the current loop, the inertial measurement unit deployed in the cabin is triggered to calculate the attitude angle and vertical velocity based on the inertial measurement data, which are used as verification signals for ground contact confirmation and load establishment.

4. The rapid deployment and control method for prefabricated mobile building modules as described in claim 3, characterized in that, As a verification signal, ground contact confirmation and load establishment are performed, including: The current loop inflection point is used as a virtual tactile signal to trigger ground contact recognition. The attitude angle and vertical velocity are used as verification signals for cross-confirmation to obtain a ground contact stop command. The ground contact stop command is an execution command that stops the idle stroke after ground contact and enters the load establishment stage. Based on the ground stop command, the load establishment is performed under closed-loop control of current and attitude, with the attitude angle as the primary control variable and the real-time current loop feedback of the motors corresponding to each outrigger of the cabin as the secondary control variable.

5. The rapid deployment and control method for prefabricated mobile building modules as described in claim 4, characterized in that, Load establishment under closed-loop control of current-attitude performance includes: Based on the main control variables and secondary control variables as driving variables, the target is established with the extension of each outrigger of the cabin until the cabin levelness enters the target error range as the load, and the dynamic relationship between current and attitude is constructed. A closed-loop regulator is established based on the dynamic relationship. The closed-loop regulator is activated and continuously adjusted according to the ground stop command until the load establishment target is reached, and the initial load data of each outrigger of the cabin is determined.

6. The rapid deployment and control method for prefabricated mobile building modules as described in claim 1, characterized in that, By analyzing the equivalent disturbance torque, the disturbance regulator is driven to perform targeted triggering and flexible service deployment adjustments under event-driven and time-driven conditions, including: Deploy grating strain sensor arrays at key nodes of the main structure of the cabin to monitor structural strain signals; Nonlinear disturbance analysis was performed on the strain signal of the structure, and the equivalent disturbance moment was determined by evaluating the structural deformation of the main structure of the cabin. The equivalent disturbance torque is input into the disturbance regulator to determine the service adjustment parameters.

7. The rapid deployment and control method for prefabricated mobile building modules as described in claim 6, characterized in that, The equivalent disturbance torque is input into the disturbance regulator to determine the service adjustment parameters, including: Using time as the trigger condition, a timed wake-up mechanism for settlement compensation is deployed, and the first service adjustment branch is constructed by periodically fine-tuning the extension height of each outrigger of the cabin under extreme value search. Using event-driven mechanisms as triggering conditions, an interrupt triggering mechanism for high-frequency suppression is deployed, and real-time control of vibration damping is used as the adjustment method to construct a second service adjustment branch. The first service adjustment branch and the second service adjustment branch are parallelized to generate the disturbance regulator, which performs directional branch triggering and decision-making on the received equivalent disturbance torque to determine the service adjustment parameters.

8. The rapid deployment control method for prefabricated mobile building modules as described in claim 1, characterized in that, After the initial placement of the prefabricated mobile building module is completed, the following steps are included: Determine the deployment data of each leg of the cabin, wherein the deployment data includes final position parameters, current characteristic curves and cabin attitude data; The deployment data is encapsulated into a deployment feature template and stored in a local database; Based on the cabin model and the three-dimensional terrain point cloud, a similarity judgment of the deployment scenario is made. By interacting with the local database, the deployment feature template is matched and called as the initial deployment benchmark.

9. A rapid deployment control system for prefabricated mobile building modules, characterized in that, The system comprises the following steps for implementing the rapid deployment control method for the prefabricated mobile building module according to any one of claims 1 to 8: The scanning module is used to move the modular mobile building module to the ground deployment area, perform terrain scanning and target landing attitude solution, and determine the first driving parameters. The target landing attitude is the desired spatial pose of each leg of the module in parallel with the ground slope. The adjustment module is used for the electromechanical adjustment mechanism to respond to the first drive parameter, achieve a preset contouring posture, and perform synchronous descent; The acquisition module is used to synchronously acquire the drive current signal of the servo motor, identify the inflection point of the current loop based on the sudden change of load torque, trigger the cabin inertial measurement and calculation, stop the idle stroke after touching the ground and enter the load establishment stage, and use the current-attitude based closed-loop load establishment analysis to determine the initial load data. The positioning module is used to complete the initial positioning of the prefabricated mobile building module based on the initial load data. The monitoring module is used to monitor the structural strain of the main body of the cabin during its service life, analyze the equivalent disturbance torque, and drive the disturbance regulator to perform directional triggering and flexible service deployment adjustment under event-driven and time-driven conditions.

10. An electronic device, characterized in that, include: At least one processor; A memory that is communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the rapid deployment control method for the prefabricated mobile building module according to any one of claims 1 to 8.

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