Intelligent control method and system for closure pushing of continuous rigid frame bridge based on digital twinning

Abstract

The invention discloses an intelligent control method and system for closure pushing of a continuous rigid frame bridge based on digital twinning. According to the method, a digital twinning-based continuous rigid frame bridge closure pushing intelligent control system is constructed through research and development, and the system comprises a closure pushing intelligent monitoring equipment system, a cloud database, a closure pushing cooperative intelligent control algorithm, a finite element displacement overrun correction simulation and plan and a closure pushing digital twinning intelligent control platform. On the basis of a closure pushing digital twinborn intelligent control platform, a field intelligent oil pump equipment group and a measuring point coordinate automatic monitoring equipment group are linked, a closure pushing cooperative intelligent control algorithm is adopted, and closure pushing intelligent control, observation point coordinate data automatic cyclic observation analysis and pushing risk real-time intelligent prevention and control are synchronously implemented. And the closure pushing operation with few people, intelligence and high precision is realized, and the balance of the force in the closure pushing bridge body is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent bridge construction, and specifically to an intelligent control method and system for closure pushing of a continuous rigid frame bridge based on digital twins. Background Art

[0002] In the field of continuous rigid frame bridge closure construction, with the continuous advancement of technology, the requirements for construction methods and control systems are also constantly increasing. Traditional construction methods mainly rely on manual operation, experience judgment and the influence of various external conditions, which makes the construction process face many challenges, especially in terms of accuracy and efficiency. Especially in the closure jacking operation, the traditional control mode is particularly insufficient.

[0003] Traditional joint jacking construction usually relies on the experience of on-site technicians. During the operation, technicians coordinate the start and stop of each jack through walkie-talkies. This method not only requires on-site personnel to have high professional qualities, but also has problems such as poor communication and delayed response. In addition, each surveyor is responsible for data collection and analysis at different observation points. This manual method is not only time-consuming and labor-intensive, but also prone to errors in data statistics and transmission.

[0004] During the jacking process, any mistake in any link may lead to a decline in the overall construction quality. For example, if a jack leaks oil or collapses, the traditional manual control method cannot achieve a quick response. In this case, the construction safety will be seriously threatened and may even lead to accidents. Therefore, the traditional construction method is highly dependent on technology, but this dependence cannot guarantee its stability and reliability.

[0005] As the demand for engineering construction increases, the span of bridges is getting longer and longer, and the requirements for construction accuracy and efficiency are also increasing. During the joint closure operation, any slight displacement or deviation may cause stress concentration in the structure, thus affecting the overall performance of the bridge. Therefore, how to achieve high-precision construction control has become an urgent problem to be solved in the industry.

[0006] In order to improve construction efficiency, the construction team needs to complete the joint closure operation in a shorter time, but the inefficiency of traditional methods makes this goal difficult to achieve. Construction delays will not only increase project costs, but also affect subsequent construction arrangements. Therefore, in this context, the introduction of an automated control system is particularly important.

[0007] The introduction of automated control systems can effectively solve many problems in traditional methods. By introducing advanced sensing technology and data analysis algorithms, the automated control system can monitor the working status of each jack in real time and make automatic adjustments based on actual conditions. This system can not only achieve precise control of the jacking process, but also provide real-time feedback on the displacement data of each observation point, ensuring the safety and efficiency of the entire construction process.

[0008] For example, sensors are used to monitor the pressure and displacement of each jack in real time. When an abnormal situation is found in a jack, the system can immediately issue an alarm and automatically adjust the working status of other jacks. This intelligent feedback mechanism can greatly improve construction safety and reduce the possibility of human error.

[0009] Safety is of utmost importance in joint closure construction. The automated control system can not only improve construction efficiency, but also provide a new means of safety assurance. In traditional methods, the operations and judgments of technicians and surveyors are based on personal experience, and manual operations inevitably involve certain risks. After the introduction of the automated system, various data during the construction process will be collected in real time through sensors, and the system can respond quickly and correct potential risks in the construction process in a timely manner.

[0010] For example, when the system detects abnormal oil pressure or oil leakage in a jack, it will immediately record the data and notify relevant personnel to conduct an inspection. At the same time, the system can also automatically adjust the pressure of other jacks to maintain the balance of the overall jacking. This automated safety control measure is difficult to achieve with traditional methods and can effectively reduce the possibility of accidents during construction.

[0011] Looking ahead, with the further development of artificial intelligence, big data and the Internet of Things, the automated control system for joint closure construction will become more intelligent and precise. Future construction equipment may integrate more sensors to form a comprehensive monitoring network to achieve a comprehensive understanding of the entire construction environment. In addition, the construction team can also use data analysis technology to conduct in-depth analysis of historical construction data to optimize construction plans and processes and improve construction efficiency and quality. By learning from historical data, the system can predict potential construction risks and provide a scientific basis for construction decisions.

[0012] In the field of continuous rigid frame bridge closure construction, traditional construction methods and control systems can no longer meet the requirements of modern engineering for high precision, high efficiency and safety. The introduction of automated control systems can not only improve construction efficiency and ensure construction accuracy, but also provide more effective safety guarantees during the construction process. In the future, with the continuous development of technology, closure construction will move towards a more intelligent and automated direction, bringing new opportunities and challenges to bridge construction.

[0013] In recent years, with the rapid development of digital twin technology, its application in the field of bridge construction has gradually attracted attention. Digital twin technology builds a virtual mapping of physical entities to achieve real-time interaction and feedback between physical and virtual models, providing new ideas and methods for intelligent control and risk prevention and control of bridge closure and jacking operations. Summary of the invention

[0014] In view of the problems existing in the prior art, the present invention proposes an intelligent control method and system for closure and top-pushing of continuous rigid frame bridges based on digital twins. This method develops and constructs an intelligent control system based on digital twins, relies on the digital twin intelligent control platform for closure and top-pushing, realizes the linkage between the on-site intelligent oil pump equipment group and the automatic monitoring equipment group of the measuring point coordinates, adopts advanced closure and top-pushing collaborative intelligent control algorithms, and simultaneously implements intelligent control of closure and top-pushing, automatic patrol observation and analysis of observation point coordinate data, and real-time intelligent prevention and control of top-pushing risks. This innovative technical solution aims to achieve less-manned, intelligent, and high-precision closure and top-pushing operations, and ensure the balance of the internal forces of the bridge body, thereby improving the quality and efficiency of the closure construction of continuous rigid frame bridges.

[0015] To achieve the above object, the present invention provides the following technical solutions: A method for intelligent control of closure and top-pushing of a continuous rigid frame bridge based on digital twins is disclosed. The method is to develop and construct an intelligent control system for closure and top-pushing of a continuous rigid frame bridge based on digital twins, rely on a digital twin intelligent control platform for closure and top-pushing, link an on-site intelligent oil pump equipment group and a measuring point coordinate automatic monitoring equipment group, adopt a closure and top-pushing collaborative intelligent control algorithm, and simultaneously implement closure and top-pushing intelligent control, automatic patrol observation and analysis of observation point coordinate data, and real-time intelligent prevention and control of top-pushing risks, so as to realize a less-manned, intelligent, and high-precision closure and top-pushing operation, and balance the internal forces of the bridge body. The method comprises the following steps: (1) Constructing a digital twin-based intelligent control system for closure and top-pushing of continuous rigid frame bridges, including an intelligent monitoring equipment system for closure and top-pushing, a cloud database, a collaborative intelligent control algorithm for closure and top-pushing, a finite element displacement over-limit correction simulation and emergency plan, and a digital twin intelligent control platform for closure and top-pushing; (2) Layout and installation of intelligent equipment: Layout and installation of intelligent monitoring equipment for joint jacking according to the number of joint sections and the plan, including the connection of intelligent jacking oil pumps and installation of jacks for each joint section, arrangement of observation prisms at observation points, setting up measurement robots on the measurement point base stations to conduct patrol measurements of relevant measurement points in multi-point measurement mode, and configuring wireless terminal equipment to upload measurement data of measurement points to the cloud database, and matching and numbering each device in the twin space and in reality; start and operate the joint jacking digital twin intelligent control platform; (3) Create and pre-push multiple joint section jacking tasks; after the site is ready, during the joint closure period, create multiple joint section synchronous and graded jacking tasks in the joint closure jacking digital twin intelligent control platform according to the jacking force value given by the monitoring unit; click the button to start the pre-push, and the jacking equipment of each joint section will start the pre-push synchronously, complete the operation of the jack pressing against the force transmission rod, and check the on-site pressing condition; (4) Intelligent control of multi-joint section collaborative jacking; during the pre-jacking inspection, check the pressure value of each jack on the digital twin intelligent control platform for jacking; if there is no abnormality, click the button to start jacking on the platform to start the multi-joint section synchronous jacking task and enter the first-level synchronous equal-force and equal-speed jacking control; the control command is sent synchronously to the intelligent oil pump equipment of each joint section and responds to the execution, and each jack pushes synchronously with equal force and equal speed; after the jacking force reaches the first-level force value, it automatically stabilizes the pressure and enters the load holding observation stage; the observation period ends If there is no abnormal warning in the data, it will automatically enter the next level of jacking and observation, and cycle until the jacking task is completed; during the jacking process, the jacking force value and stroke displacement value warning of each jack and the situation reported by the on-site personnel are monitored in real time. According to the alarm level and dangerous situation, the general control personnel click the button to stop jacking or synchronously reduce the pressure on the platform. The on-site intelligent oil pump equipment receives the command and responds to it. Each jack stops jacking or unloads oil and reduces the pressure synchronously, so that the bridge body is balanced and the bridge body is prevented from being damaged by manual unbalanced force; (5) Real-time observation, analysis and over-limit warning of jacking displacement; when the equipment is installed, the measuring robot is started to automatically patrol and measure each observation point in a multi-point patrol measurement mode, and the equipped data transmission equipment transmits the observation data to the cloud database; after the joint jacking digital twin intelligent control platform is turned on, the observation data analysis sub-algorithm of the joint jacking collaborative intelligent control algorithm begins to automatically obtain data from the cloud database and analyze the relevant displacement deviation value, and judge in real time whether the displacement deviation value exceeds the relevant specification limit, and synchronously display it on the platform or issue an over-limit warning.

[0016] (6) Pushing over-limit correction control: During the load holding observation stage, if an over-limit warning appears, perform multiple manual correction controls according to different pushing force combinations in the correction plan until the over-limit warning is lifted, and then click the start button again to continue the pushing operation; (7) After the jacking operation is completed, the load and pressure are automatically maintained and the joint is locked immediately.

[0017] Furthermore, the closure pushing intelligent monitoring equipment system includes intelligent oil pump pushing equipment, pushing displacement intelligent observation equipment and data transmission equipment arranged at each closure mouth; The intelligent oil pump jacking equipment is a matching intelligent control oil pump and jack. According to the layout of the closure jacking points, one oil pump with four jacks or one oil pump with two jacks is selected; the jack is equipped with a stroke displacement sensor and a pressure locking valve; each intelligent oil pump is equipped with an oil drain valve and an intelligent control system, which can monitor the stroke displacement and oil pressure of each jack, and can accurately control each jack to complete pressure increase, pressure reduction and rated pressure stabilization in coordination or individually according to instructions; the intelligent oil pump is also equipped with a wireless router to realize data exchange between the intelligent control system of the intelligent oil pump and the closure jacking digital twin intelligent control platform through the UDP protocol; The push displacement intelligent observation device is a measurement robot and its matching prism combination. The measurement robot is a total station that can automatically patrol and measure multiple observation points. The Leica TS60 total station is used, and the prism is vertically installed at the measurement point according to the plan. The data transmission device is a wireless terminal device, which uploads each patrol measurement data of each measuring point position to the cloud database at a fixed frequency.

[0018] Furthermore, the cloud database serves as a data transfer station. The measuring robot sends the collected observation point location data to the cloud database through the wireless terminal device. At the same time, the digital twin intelligent control platform of the joint push-pull system reads the relevant data from the cloud database and performs calculation and analysis through the observation data analysis sub-algorithm of the joint push-pull system collaborative intelligent control algorithm.

[0019] Furthermore, the joint closure and jacking collaborative intelligent control algorithm includes a jacking on-site and remote collaborative control sub-algorithm, an observation point displacement data analysis sub-algorithm and a jacking risk intelligent prevention and control sub-algorithm; The on-site and remote collaborative control sub-algorithm for jacking is to uniformly create multi-joint-section synchronous hierarchical jacking tasks on the remote joint-joint jacking digital twin intelligent control platform, and send them to the intelligent control system of the on-site intelligent jacking equipment of each joint section; on the platform, hierarchical control and other related instructions are synchronously sent to the intelligent control system of the on-site intelligent jacking equipment, which responds and executes to ensure the collaborative jacking of each joint section; the multi-joint-section synchronous hierarchical jacking task is to increase the total jacking force (F 总 ) is divided into multiple levels and implemented step by step, namely F 1 、F 2 、F 3 …F n =F 总 In addition, a certain length of load holding observation period is set between each level of pushing; The control process of synchronous step-by-step pushing of multiple joint sections is as follows: ① Pre-pushing: manually click the button to start pre-pushing on the digital twin intelligent control platform of the jacking. The intelligent control system of each closure site intelligent jacking equipment will respond synchronously and start to control each jack to push at the same rate to the target force of 5T, then automatically hold the load and wait for the jacking instruction; read the oil pressure value of the jack in real time, and reset the elongation of the jack stroke after the pre-pushing is completed to zero; ② The first-level jacking is triggered manually on the jacking digital twin intelligent control platform. After receiving the first-level jacking command, the intelligent control system of each closure site intelligent jacking equipment controls each jack to jack at the same rate to F. 1 / n, the load is automatically held and the load holding observation period is entered; the oil pressure value and the elongation of the stroke of the jack are read in real time, and n is the total number of jacking points of a single joint section; ③ Second-level jacking: After the load-holding observation period is over, all warning items are checked. If there is no warning, the jacking digital twin intelligent control platform automatically sends the second-level jacking command to the intelligent control system of each closure site intelligent jacking equipment synchronously, and each jack is pushed to F at the same rate. 2 / n, the load is automatically held and the load holding observation period is entered, and the oil pressure value and the elongation of the stroke of the jack are read in real time; if there is an early warning item, after manual intervention to remove the early warning, the command to start the jacking is triggered again manually on the jacking digital twin intelligent control platform; ④ Repeat step ③ until the pushing task is completed and the pushing force reaches F 总 , and automatically hold the load and stabilize the voltage again.

[0020] The sub-algorithm for analyzing the displacement data of the observation points is divided into the analysis of the longitudinal displacement of the pier top along the bridge and the analysis of the longitudinal displacement, transverse displacement and vertical displacement of each closure section along the bridge. The longitudinal displacement along the bridge is the increment of the top opening of the closure mouth, the transverse displacement is the axial deviation of the bridge, and the vertical displacement is the height difference. The longitudinal displacement of the pier top along the bridge is analyzed by the formula ΔY Di =Y Dit0 -Y Diti Calculated in real time, where ΔY Di It refers to the longitudinal displacement of the observation point on the top of the pier No. i along the bridge, Y Dit0 The value is the original record value of the observation point on the top of pier No. i before the jacking begins. Diti The value is the real-time recorded value of the observation point on the top of the pier No. i at time i. The positive and negative signs of Δy correspond to the large and small pile numbers along the bridge direction of the pier top offset respectively. The longitudinal displacement analysis of each joint section along the bridge is given by the formula ΔY Hi =|AΔY XZC -AΔY DZC ∣ Calculated in real time, where ΔY HiIt refers to the increment of the top opening of the closure mouth of the i-th closure section, AΔY XZC It refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the small pile side of the corresponding joint section, AΔY DZC It refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the large pile number side of the corresponding joint section, AΔY XZC and AΔY XZC is calculated by ΔY HGi =Y HGit0 -Y HGiti Calculated by combining with the mathematical mean algorithm, ΔY HGi It refers to the longitudinal displacement increment along the bridge at the No. i observation point at the closure; The lateral displacement and vertical displacement analytical algorithm of each joint section is calculated according to the traditional engineering measurement solution method; The intelligent prevention and control sub-algorithm of the jacking risk is divided into an analytical warning of the axial deviation and height difference prevention and control of the joint section bridge and a safety prevention and control of excessive difference in the jacking force of the jacks; the analytical warning of the axial deviation and height difference prevention and control of the joint section bridge is to compare the axial deviation and height difference data values ​​of each joint section bridge with the values ​​specified in the specification, and give a warning if the limit is exceeded; the safety prevention and control of excessive difference in the jacking force of the jacks is to compare the real-time jacking force value and stroke extension of each jack with the jack's own historical data at the previous moment and the same data of other jacks at the same time during normal jacking. When the descent is abnormally slow and the difference is small, a prompt warning is issued. When the descent or the difference in jacking force exceeds the preset limit threshold, an alarm is issued and the jacks are automatically and synchronously controlled to coordinate the oil return and pressure reduction to prevent excessive and unbalanced jacking and ensure that the bridge body is not damaged.

[0021] Furthermore, the finite element displacement over-limit correction simulation and plan is to create a bridge body jacking mechanical model in the finite element mechanical analysis software, conduct multi-condition axial deviation and height difference over-limit correction simulations, and formulate various types of displacement over-limit correction plans; the displacement over-limit correction plan follows the principle of equal total jacking force of each joint section, and performs over-limit correction and regulation multiple times according to different jacking force increment combinations of the jacks within the jacking force difference threshold limit.

[0022] Furthermore, the digital twin intelligent control platform for bridge closure and top-pushing is an intelligent control platform that uses BIM+GIS technology to create a digital twin of the bridge closure construction stage as a digital space base, synchronously connects relevant virtual devices and control panels in the digital space to the real-time data of the intelligent monitoring equipment for bridge closure and top-pushing, and adopts a collaborative intelligent control algorithm for bridge closure and top-pushing to realize real-time viewing of the bridge closure and top-pushing process status in the digital twin three-dimensional space and intelligent interactive control of top-pushing operations based on relevant modules; the digital twin intelligent control platform for bridge closure and top-pushing includes a top-pushing task creation module, a top-pushing control module, a top-pushing observation point displacement observation data analysis and warning module, a risk prevention and control warning module, and an over-limit correction module; The pushing task input module creates a hierarchical synchronous pushing task with a pushing target force value as a control target through a task data input window, and after the task is created and saved, it is sent to the intelligent pushing equipment of each joint section; The jacking control module includes control buttons for pre-jacking, synchronous starting, stopping jacking and synchronous pressure reduction, and a display unit for the jacking force and stroke extension data of all jacks at each closure; The displacement observation data analysis and early warning module of the jacking observation point is to analyze the longitudinal displacement of the pier top observation point along the bridge and the height difference and axial deviation data of each joint in real time and hang them to the corresponding position on the digital twin. When the relevant data exceeds the threshold specified by the specification, an early warning prompt is automatically issued. The operator can visualize and control the relevant data of the jacking process in real time in the digital twin space; The risk prevention and control early warning module mainly monitors whether the pushing jack forces of each joint opening are balanced during the pushing process. When an abnormal sudden change in the pushing force of a jack exceeds the relevant preset threshold, an early warning is immediately issued and the coordinated oil return pressure reduction is automatically started to avoid the bridge body from cracking and damage caused by the unbalanced force pushing; The over-limit correction module monitors the height difference and axial deviation data of each joint section in real time. When the threshold value specified in the specification is exceeded, the pushing is stopped during the load-holding observation period. The progressive non-balanced pushing control principle of equal total pushing force in each joint section is followed. According to the correction plan, a correction task is created through the correction data input window to perform correction control. The pushing correction task is started with one button, and the task is executed synchronously on site. After one correction operation, the over-limit data is checked to see if it is improved. This is repeated multiple times until the correction operation is completed. After the correction is completed, the module returns to the pushing control module to continue the graded pushing operation.

[0023] Furthermore, the installation and deployment of the intelligent monitoring equipment for closure top pushing is to deploy a group of intelligent oil pump equipment on each closure mouth, one intelligent oil pump is equipped with 2 or 4 jacks at the same time, the jacks are connected with the force transmission rods and are against the cross section of the closure section, and 4 prisms for measuring the spatial coordinates of the observation points are deployed at the four corners of the closure mouth, and at the same time, the measurement robot and its supporting line terminal equipment are deployed according to the measurement site conditions of the bridge construction site with the goal of covering all observation points; the layout of the prisms is accurately laid out and installed vertically according to the plan; The digital twin intelligent control platform for closure pushing is deployed in the bridge construction monitoring center and uses wireless communication to exchange data with the intelligent oil pump pushing equipment.

[0024] Technical effects and advantages of the present invention: 1. Realizes high-precision joint jacking operation with less manpower and intelligence: By integrating digital twin technology, the present invention can significantly reduce the dependence on manual operation, realize high automation and intelligence of the operation process, and at the same time ensure high-precision execution of jacking operation, thereby improving construction efficiency and quality; 2. Guaranteed internal force balance of the bridge body: During the jointing and pushing process, the present invention uses the intelligent control system to monitor and adjust in real time, effectively ensuring the internal force balance of the bridge structure, avoiding structural stress concentration or damage caused by improper construction, and extending the service life of the bridge; 3. Innovative application of the intelligent control algorithm for joint jacking: This algorithm can comprehensively consider multiple construction parameters and real-time data to achieve dynamic optimization control of jacking operations, improve the safety and efficiency of construction, and is a major technological innovation in the field of bridge construction; 4. Integrated comprehensive intelligent monitoring and risk prevention and control system: Through the joint-joint top-pushing digital twin intelligent control platform, the present invention can not only realize real-time three-dimensional digital twin monitoring of the operation process, but also automatically conduct risk assessment and prevention and control, greatly enhancing the safety and emergency response capabilities during the construction process; 5. Promoted the digital and intelligent transformation of bridge construction technology: The successful application of this invention has set a new technical benchmark for the bridge construction industry, promoted the transformation of traditional construction methods to a more efficient, intelligent and green direction, and is of great significance to the advancement of bridge construction technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A logic diagram of the intelligent construction method for the closure of a continuous rigid frame bridge based on digital twin; Figure 2 Full bridge layout diagram of the closure and top-pushing intelligent monitoring equipment system; Figure 3 Axonometric view of the layout of the jacking equipment on the closure section; Figure 4 Construction drawings of the arrangement of jacking jacks and displacement observation points; 1. Closure section; 2. Closure push digital twin intelligent control platform; 3. Measuring robot; 4. Observation prism; 5. Intelligent oil pump; 6. Jack; 7. Force transfer rod; 8. Rigid skeleton. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative. The present invention involves a method and system for intelligent control of continuous rigid frame bridge closure and jacking based on digital twins. It is not limited to the structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0027] Reference Figures 1 to 4 As shown, the present invention provides the following technical solutions: an intelligent control method for closure and top-pushing of a continuous rigid frame bridge based on digital twins, wherein the intelligent control method is to develop and construct an intelligent control system for closure and top-pushing of a continuous rigid frame bridge based on digital twins, rely on the closure and top-pushing digital twin intelligent control platform 2, link the on-site intelligent oil pump equipment group and the measuring point coordinate automatic monitoring equipment group, adopt the closure and top-pushing collaborative intelligent control algorithm, synchronously implement the closure and top-pushing intelligent control, automatic patrol observation and analysis of observation point coordinate data, and real-time intelligent prevention and control of top-pushing risks, realize the closure and top-pushing operation with less manpower, intelligence, and high precision, and balance the internal force of the bridge body, and the intelligent control method comprises the following steps: (1) Research and develop a digital twin-based intelligent control system for continuous rigid frame bridge closure top-pushing, including a closure top-pushing intelligent monitoring equipment system, a cloud database, a closure top-pushing collaborative intelligent control algorithm, a finite element displacement over-limit correction simulation and emergency plan, and a closure top-pushing digital twin intelligent control platform 2; (2) Layout and installation of intelligent equipment. Layout and installation of intelligent monitoring equipment for joint jacking according to the number and plan of joint closure sections 1, including the connection of intelligent oil pumps 5 and installation of jacks 6 of each joint closure section 1, arrangement of observation prisms 4 at observation points, setting up measurement robots 3 on the measurement point base stations to conduct patrol measurements of relevant measurement points in multi-point measurement mode, and configuring wireless terminal equipment DTU to upload measurement data of measurement points to the cloud database, and matching and numbering each device in the twin space and in reality; start and operate the joint jacking digital twin intelligent control platform 2; (3) Create and pre-push multiple joint section 1 jacking tasks. After the site is ready, during the jointing period, according to the jacking force value given by the monitoring unit, create multiple joint section 1 synchronous and hierarchical jacking tasks in the jointing jacking digital twin intelligent control platform 2; click the "Start pre-push" button, and the jacking equipment of each joint section 1 will start the pre-push synchronously, complete the operation of the jack 6 close to the force transmission rod 7, and check the on-site tightness; (4) Intelligent control of multi-joint section 1 coordinated jacking. During the pre-jacking inspection, check the pressure value of each jack 6 on the joint jacking digital twin intelligent control platform 2; if there is no abnormality, click the "Start jacking" button on the platform to start the multi-joint section 1 hierarchical synchronous jacking task and enter the first-level synchronous equal-force and equal-speed jacking control; the control command is synchronously sent to the intelligent oil pump 5 equipment of each joint section 1 and responds to the execution, and each jack 6 is synchronously pushed with equal force and equal speed; after the jacking force reaches the first-level force value, it automatically stabilizes the pressure and enters the load holding observation stage; after the observation period, if there is no abnormality in the data, Alarm, automatically enter the next level of jacking and observation, and cycle until the jacking task is completed; in the jacking process, real-time monitoring of the jacking force value and stroke displacement value of each jack 6 and the situation reported by the on-site personnel. According to the alarm level and dangerous situation, the general control personnel click the "stop jacking" or "synchronous pressure reduction" button on the platform, and the on-site intelligent oil pump 5 equipment receives the command and responds to it. Each jack 6 stops jacking or unloads oil and reduces pressure synchronously to ensure that the bridge body is balanced and prevent the bridge body from being damaged by manual unbalanced force.

[0028] (5) Real-time observation, analysis and over-limit warning of jacking displacement. When the equipment is installed, the measuring robot 3 is started to automatically patrol and measure each observation point in a multi-point patrol measurement mode, and the equipped data transmission equipment transmits the observation data to the cloud database; after the joint jacking digital twin intelligent control platform 2 is turned on, the observation data analysis sub-algorithm of the joint jacking collaborative intelligent control algorithm begins to automatically obtain data from the cloud database and analyze the relevant displacement deviation value, and judge in real time whether the displacement deviation value exceeds the relevant specification limit, and synchronously display or over-limit warning on the platform.

[0029] (6) Pushing over-limit correction control. During the load holding observation stage, if an over-limit warning appears, perform multiple manual correction controls according to different pushing force combinations in the correction plan until the over-limit warning is lifted, and then click the "Start Pushing" button again to continue the pushing operation.

[0030] (7) After the jacking operation is completed, the load and pressure are automatically maintained, and the rigid frame 8 is immediately welded and locked.

[0031] An intelligent control system for closure pushing of a continuous rigid frame bridge based on digital twin, comprising an intelligent monitoring equipment system for closure pushing, a cloud database, a collaborative intelligent control algorithm for closure pushing, a finite element displacement over-limit correction simulation and plan, and a digital twin intelligent control platform 2 for closure pushing.

[0032] Furthermore, the closure pushing intelligent monitoring equipment system includes each closure mouth intelligent oil pump 5 pushing equipment, pushing displacement intelligent observation equipment and data transmission equipment; The intelligent oil pump 5 jacking equipment is a matching intelligent control oil pump 5 and jack 6. According to the layout of the closure jacking points, one oil pump 5 with four jacks 6 or one oil pump 5 with two jacks 6 is selected; the jack 6 is equipped with a stroke displacement sensor and a pressure locking valve; each intelligent oil pump 5 is equipped with an oil drain valve and an intelligent control system, which can monitor the stroke displacement and hydraulic jacking force of each jack 6, and can accurately control each jack 6 to complete pressure increase, pressure reduction and rated pressure stabilization in coordination or individually according to instructions; the intelligent oil pump 5 is also equipped with a wireless router to realize data interaction between the intelligent control system of the intelligent oil pump 5 and the closure jacking digital twin intelligent control platform 2 through the UDP protocol; The push displacement intelligent observation device is a combination of a measuring robot 3 and its matching prism 4. The measuring robot 3 is a total station that can automatically patrol and measure multiple observation points. A Leica TS60 total station can be selected. The data transmission device is a wireless terminal device DTU, which uploads each patrol measurement data of each measuring point location to a cloud database at a fixed frequency.

[0033] Furthermore, the cloud database serves as a data transfer station. The measuring robot 3 sends the collected observation point location data to the cloud database through the wireless terminal device DTU. At the same time, the joint-pushing digital twin intelligent control platform 2 reads relevant data from the cloud database and performs calculation and analysis through the observation data analysis sub-algorithm of the joint-pushing collaborative intelligent control algorithm.

[0034] Furthermore, the joint jacking collaborative intelligent control algorithm includes a jacking on-site and remote collaborative control sub-algorithm, an observation point displacement data analysis sub-algorithm and a jacking risk intelligent prevention and control sub-algorithm.

[0035] The on-site and remote collaborative control sub-algorithm for jacking is to uniformly create a synchronous hierarchical jacking task for multiple closure sections 1 on the remote digital twin intelligent control platform 2 for jacking, and send it to the intelligent control system of the intelligent jacking equipment of each closure section 1 on site; on the platform, hierarchical control and other related instructions are synchronously sent to the intelligent control system of the on-site intelligent jacking equipment, which responds and executes to ensure the collaborative jacking of each jack 6 of each closure section 1; the synchronous hierarchical jacking task for multiple closure sections 1 is to increase the total jacking force F according to the demand. 总 Divided into multiple levels and implemented step by step, namely F 1 、F 2 、F 3 …F n =F 总 In addition, a certain length of load holding observation period is set between each level of pushing; The control process of synchronous and graded jacking of multi-joint section 1: ① Pre-pushing: after receiving the "pre-pushing" command, the intelligent control system of each closure site intelligent pushing equipment controls each jack 6 to push at the same rate to the target force of 5T and then automatically hold the load and wait for the pushing command; read the oil pressure value of the jack 6 in real time, and reset the elongation of the jack 6 stroke after the pre-pushing is completed to zero; ② The first-level jacking is triggered manually on the jacking digital twin intelligent control platform. After receiving the first-level jacking command, the intelligent control system of each closure site intelligent jacking equipment controls each jack 6 to jack to F at the same rate. 1 / n, the load is automatically held and the load holding observation period is entered; the oil pressure value and the elongation of the stroke of the jack 6 are read in real time, and n is the total number of jacking points of a single joint section 1; ③ Second-level jacking: After the load-holding observation period is over, check each warning item. If there is no warning, the jacking digital twin intelligent control platform automatically sends the second-level jacking command to the intelligent control system of each closure site intelligent jacking equipment synchronously, and each jack 6 pushes to F at the same rate. 2 / n, the load is automatically held and the load holding observation period is entered, and the oil pressure value and the elongation of the stroke of the jack 6 are read in real time; if there is an early warning item, after manual intervention to remove the early warning, the command to start the jacking is triggered again manually on the jacking digital twin intelligent control platform; ④ Repeat step ③ until the pushing task is completed and the pushing force reaches F 总 , and automatically hold the load and stabilize the voltage again.

[0036] The sub-algorithm for analyzing the displacement data of the observation points is divided into the analysis of the longitudinal displacement of the pier top along the bridge and the analysis of the longitudinal displacement of each closure section 1 along the bridge, the closure top opening increment, the transverse displacement bridge axial deviation and the vertical displacement height difference; The longitudinal displacement of the pier top along the bridge is analyzed by the formula ΔY Di =Y Dit0 -Y Diti Calculated in real time, where ΔY Di It refers to the longitudinal displacement of the observation point on the top of the pier No. i along the bridge, Y Dit0 The value is the original record value of the observation point on the top of pier No. i before the jacking starts. Diti The value is the real-time recorded value of the observation point on the top of the pier No. i at time i. The positive and negative signs of Δy correspond to the large pile number and small pile number of the pier top offset direction along the bridge direction respectively. The incremental analysis of the longitudinal displacement of each closure section 1 along the bridge is given by the formula ΔY Hi =|AΔY XZC -AΔY DZC ∣ Calculated in real time, where ΔY Hi It refers to the increment of the top opening of the closure mouth of the i-th closure section 1, AΔY XZCIt refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the small pile side of the closure section 1, AΔY DZC It refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the large pile number side corresponding to the joint section 1, AΔY XZC and AΔY XZC is calculated by ΔY HGi =Y HGit0 -Y HGiti Calculated by combining with the mathematical mean algorithm, ΔY HGi It refers to the longitudinal displacement increment along the bridge at the No. i observation point at the closure; The analytical algorithm for the axial deviation of the transverse displacement bridge and the vertical displacement height difference of each joint section 1 is calculated according to the traditional engineering measurement solution method.

[0037] The intelligent prevention and control sub-algorithm of the jacking risk is divided into an analytical warning of the axial deviation and height difference prevention and control of the bridge in the joint section 1 and a safety prevention and control of excessive difference in the thrust force of the jack 6; the analytical warning of the axial deviation and height difference prevention and control of the bridge in the joint section 1 is to compare the axial deviation and height difference data values ​​of each bridge in the joint section 1 with the values ​​specified in the specification, and give a warning if the limit is exceeded; the safety prevention and control of excessive difference in the thrust force of the jack 6 is to compare the real-time thrust force value and stroke extension of each jack 6 with the historical data of the jack 6 at the previous moment and the similar data of other jacks 6 at the same moment during normal jacking. When the descent is abnormally slow and the difference is small, a prompt warning is issued. When the descent or the difference in thrust force exceeds the preset limit threshold, an alarm is issued and the jacks 6 are automatically and synchronously controlled to coordinate the oil return and pressure reduction to prevent excessive and unbalanced jacking and ensure that the bridge body is not damaged.

[0038] Furthermore, the finite element displacement over-limit correction simulation and plan is to create a bridge body jacking mechanical model in the finite element mechanical analysis software, conduct multi-condition axial deviation and height difference over-limit correction simulations, and formulate various types of displacement over-limit correction plans; the displacement over-limit correction plan follows the principle of equal total jacking force of each joint section 1, and within the jacking force difference threshold limit, multiple over-limit correction adjustments are performed according to different jacking force increment combinations of the jack 6.

[0039] Furthermore, the digital twin intelligent control platform 2 for closure pushing is an intelligent control platform that uses BIM+GIS technology to create a digital twin of the bridge closure construction stage as a digital space base, synchronously connects relevant virtual devices and control panels in the digital space to the real-time data of the closure pushing intelligent monitoring equipment, and adopts the closure pushing collaborative intelligent control algorithm to realize real-time viewing of the closure pushing process status in the digital twin three-dimensional space and intelligent interactive control of the pushing operation based on relevant modules; the digital twin intelligent control platform 2 for closure pushing includes a pushing task creation module, a pushing control module, a pushing observation point displacement observation data analysis and warning module, a risk prevention and control warning module, and an over-limit correction module; The pushing task input module creates a hierarchical synchronous pushing task with a pushing target force value as a control target through a task data input window, and after the task is created and saved, it is sent to the intelligent pushing equipment of each joint section 1; The jacking control module includes "pre-jacking", "synchronous start", "stop jacking", "synchronous pressure reduction" control buttons and a display unit for the jacking force and stroke extension data of all jacks 6 at each closure; The displacement observation data analysis and early warning module of the jacking observation point is to analyze the longitudinal displacement of the pier top observation point along the bridge and the height difference and axial deviation data of each joint in real time and hang them to the corresponding position on the digital twin. When the relevant data exceeds the threshold specified by the specification, an early warning prompt is automatically issued. The operator can visualize and control the relevant data of the jacking process in real time in the digital twin space; The risk prevention and control early warning module mainly monitors whether the force of the jacking jacks 6 at each joint opening is balanced during the jacking process. When an abnormal sudden change in the jacking force of a jack 6 exceeds the relevant preset threshold, an early warning is immediately issued and the coordinated oil return pressure reduction is automatically started to avoid the bridge body from cracking and damage caused by the unbalanced force jacking; The over-limit correction module monitors the height difference and axial deviation data of each joint section 1 in real time. When the threshold value specified in the specification is exceeded, the pushing is stopped during the load holding observation period. The progressive non-balanced pushing control principle within the joint section 1 with equal total pushing force of each joint section 1 is followed. According to the correction plan, a correction task is created through the correction data input window to perform correction control; the pushing correction task is started with one button, and the on-site synchronous response is executed. After one correction operation, it is checked whether the over-limit data is improved, and the correction operation is repeated many times until the correction operation is completed. After the correction is completed, the module returns to the pushing control module to continue the graded pushing operation.

[0040] Furthermore, the layout and installation of the intelligent monitoring equipment for closure pushing is to arrange a group of intelligent oil pumps 5 on each closure mouth. One intelligent oil pump 5 is also equipped with 2 or 4 jacks 6. The jacks 6 are connected to the force transmission rods 7 and rest on the cross-section of the closure section 1. Four prisms 4 for measuring the spatial coordinates of the observation points are arranged at the four corners of the closure mouth. At the same time, according to the measurement site conditions at the bridge construction site, the measuring robot 3 and its supporting line terminal equipment DTU are arranged with the goal of covering all observation points. The layout of the prism 4 should be accurately laid out in strict accordance with the plan.

[0041] The digital twin intelligent control platform 2 for closure and jacking can be deployed in the bridge construction monitoring center 2, and wireless communication is used to exchange data with the intelligent oil pump 5 jacking equipment. Those skilled in the art can realize that the units and algorithm steps of each example described in the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0042] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0043] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0044] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0045] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0046] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0047] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0048] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent control method for closure and top-pushing of a continuous rigid frame bridge based on digital twin, characterized in that: The intelligent control method is to develop and construct a continuous rigid frame bridge joint pushing intelligent control system based on digital twins, rely on the joint pushing digital twin intelligent control platform, link the on-site intelligent oil pump equipment group and the measuring point coordinate automatic monitoring equipment group, adopt the joint pushing collaborative intelligent control algorithm, and simultaneously implement the joint pushing intelligent control, automatic patrol observation and analysis of observation point coordinate data, and real-time intelligent prevention and control of pushing risks, so as to realize the joint pushing operation with less manpower, intelligence, and high precision, and balance the internal force of the bridge body. The intelligent control method includes the following steps: (1) Constructing a digital twin-based intelligent control system for closure and top-pushing of continuous rigid frame bridges, including an intelligent monitoring equipment system for closure and top-pushing, a cloud database, a collaborative intelligent control algorithm for closure and top-pushing, a finite element displacement over-limit correction simulation and emergency plan, and a digital twin intelligent control platform for closure and top-pushing; (2) Layout and installation of intelligent equipment: Layout and installation of intelligent monitoring equipment for joint jacking according to the number of joint sections and the plan, including the connection of intelligent jacking oil pumps and installation of jacks for each joint section, arrangement of observation prisms at observation points, setting up measurement robots on the measurement point base stations to conduct patrol measurements of relevant measurement points in multi-point measurement mode, and configuring wireless terminal equipment to upload measurement data of measurement points to the cloud database, and matching and numbering each device in the twin space and in reality; start and operate the joint jacking digital twin intelligent control platform; (3) Create and pre-push multiple joint section jacking tasks; after the site is ready, during the joint closure period, create multiple joint section synchronous and graded jacking tasks in the joint closure jacking digital twin intelligent control platform according to the jacking force value given by the monitoring unit; click the button to start the pre-push, and the jacking equipment of each joint section will start the pre-push synchronously, complete the operation of the jack pressing against the force transmission rod, and check the on-site pressing condition; (4) Intelligent control of multi-joint section collaborative jacking; during the pre-jacking inspection, check the pressure value of each jack on the digital twin intelligent control platform for jacking; if there is no abnormality, click the button to start jacking on the platform to start the multi-joint section synchronous jacking task and enter the first-level synchronous equal-force and equal-speed jacking control; the control command is sent synchronously to the intelligent oil pump equipment of each joint section and responds to the execution, and each jack pushes synchronously with equal force and equal speed; after the jacking force reaches the first-level force value, it automatically stabilizes the pressure and enters the load holding observation stage; the observation period ends If there is no abnormal warning in the data, it will automatically enter the next level of jacking and observation, and cycle until the jacking task is completed; during the jacking process, the jacking force value and stroke displacement value warning of each jack and the situation reported by the on-site personnel are monitored in real time. According to the alarm level and dangerous situation, the general control personnel click the button to stop jacking or synchronously reduce the pressure on the platform. The on-site intelligent oil pump equipment receives the command and responds to it. Each jack stops jacking or unloads oil and reduces the pressure synchronously, so that the bridge body is balanced and the bridge body is prevented from being damaged by manual unbalanced force; (5) Real-time observation, analysis and over-limit warning of jacking displacement; when the equipment is installed, the measuring robot is started to automatically patrol and measure each observation point in a multi-point patrol measurement mode, and the equipped data transmission equipment transmits the observation data to the cloud database; after the joint jacking digital twin intelligent control platform is turned on, the observation data analysis sub-algorithm of the joint jacking collaborative intelligent control algorithm begins to automatically obtain data from the cloud database and analyze the relevant displacement deviation value, and judge in real time whether the displacement deviation value exceeds the relevant specification limit, and synchronously display or over-limit warning on the platform; (6) Pushing over-limit correction control: During the load holding observation stage, if an over-limit warning appears, perform multiple manual correction controls according to different pushing force combinations in the correction plan until the over-limit warning is lifted, and then click the start button again to continue the pushing operation; (7) After the jacking operation is completed, the load and pressure are automatically maintained and the joint is locked immediately.

2. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The closure pushing intelligent monitoring equipment system includes intelligent oil pump pushing equipment, pushing displacement intelligent observation equipment and data transmission equipment arranged at each closure mouth; The intelligent oil pump jacking equipment is a matching intelligent control oil pump and jack. According to the layout of the closure jacking points, one oil pump with four jacks or one oil pump with two jacks is selected; the jack is equipped with a stroke displacement sensor and a pressure locking valve; each intelligent oil pump is equipped with an oil drain valve and an intelligent control system, which can monitor the stroke displacement and oil pressure of each jack, and can accurately control each jack to complete pressure increase, pressure reduction and rated pressure stabilization in coordination or individually according to instructions; the intelligent oil pump is also equipped with a wireless router to realize data exchange between the intelligent control system of the intelligent oil pump and the closure jacking digital twin intelligent control platform through the UDP protocol; The push displacement intelligent observation device is a measuring robot and its matching prism combination. The measuring robot is a total station that can automatically patrol and measure multiple observation points, and adopts a Leica TS60 total station. The data transmission device is a wireless terminal device, which uploads each patrol measurement data of each measuring point position to the cloud database at a fixed frequency.

3. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The cloud database serves as a data transfer station. The measuring robot sends the collected observation point location data to the cloud database through the wireless terminal device. At the same time, the digital twin intelligent control platform of the joint top push reads the relevant data from the cloud database and performs calculation and analysis through the observation data analysis sub-algorithm of the joint top push collaborative intelligent control algorithm.

4. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The joint closure and jacking collaborative intelligent control algorithm includes a jacking on-site and remote collaborative control sub-algorithm, an observation point displacement data analysis sub-algorithm, and a jacking risk intelligent prevention and control sub-algorithm; The on-site and remote collaborative control sub-algorithm for jacking is to uniformly create multi-joint-section synchronous hierarchical jacking tasks on the remote joint-joint jacking digital twin intelligent control platform, and send them to the intelligent control system of the on-site intelligent jacking equipment of each joint-joint section; on the platform, hierarchical control and other related instructions are synchronously sent to the intelligent control system of the on-site intelligent jacking equipment, which responds and executes to ensure the collaborative jacking of each joint-joint section; the multi-joint-section synchronous hierarchical jacking task is to increase the total jacking force (F 总 ) is divided into multiple levels and implemented step by step, namely F1, F2, F3...F n =F 总 In addition, a certain length of load holding observation period is set between each level of pushing; The control process of synchronous step-by-step pushing of multiple joint sections is as follows: ① Pre-pushing: manually click the button to start pre-pushing on the digital twin intelligent control platform of the jacking. The intelligent control system of each closure site intelligent jacking equipment will respond synchronously and start to control each jack to push at the same rate to the target force of 5T, then automatically hold the load and wait for the jacking instruction; read the oil pressure value of the jack in real time, and reset the elongation of the jack stroke after the pre-pushing is completed to zero; ② The first-level jacking is triggered manually on the jacking digital twin intelligent control platform. After receiving the first-level jacking command, the intelligent control system of each closure site intelligent jacking equipment controls each jack to push at the same rate to F1 / n and then automatically hold the load and enter the load holding observation period; the oil pressure value and stroke extension of the jack are read in real time, and n is the total number of jacking points in a single closure section; ③ For the second-level jacking, after the load-holding observation period is over, check each warning item. If there is no warning, the jacking digital twin intelligent control platform will automatically send the second-level jacking command to the intelligent control system of each closure site intelligent jacking equipment simultaneously. Each jack will automatically hold the load after pushing to F2 / n at the same rate and enter the load-holding observation period. The oil pressure value and stroke extension of the jack will be read in real time. If there is a warning item, after manual intervention to remove the warning, the command to start jacking will be triggered again by the jacking digital twin intelligent control platform manually. ④ Repeat step ③ until the pushing task is completed and the pushing force reaches F 总 , and automatically hold the load and stabilize the voltage again; The sub-algorithm for analyzing the displacement data of the observation points is divided into the analysis of the longitudinal displacement of the pier top along the bridge and the analysis of the longitudinal displacement, transverse displacement and vertical displacement of each closure section along the bridge. The longitudinal displacement along the bridge is the increment of the top opening of the closure mouth, the transverse displacement is the axial deviation of the bridge, and the vertical displacement is the height difference. The longitudinal displacement of the pier top along the bridge is analyzed by the formula ΔY Di =Y Dit0 -Y Diti Calculated in real time, where ΔY Di It refers to the longitudinal displacement of the observation point on the top of the pier No. i along the bridge, Y Dit0 The value is the original record value of the observation point on the top of pier No. i before the jacking starts. Diti The value is the real-time recorded value of the observation point on the top of the pier No. i at time i. The positive and negative signs of Δy correspond to the large pile number and small pile number of the pier top offset direction along the bridge direction respectively. The longitudinal displacement analysis of each joint section along the bridge is given by the formula ΔY Hi =|AΔY XZC -AΔY DZC ∣ Calculated in real time, where ΔY Hi It refers to the increment of the top opening of the closure mouth of the i-th closure section, AΔY XZC It refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the small pile side of the corresponding joint section, AΔY DZC It refers to the average value of the longitudinal displacement increment along the bridge at each observation point on the large pile number side of the corresponding joint section, AΔY XZC and AΔY XZC is calculated by ΔY HGi =Y HGit0 -Y HGiti Calculated by combining with the mathematical mean algorithm, ΔY HGi It refers to the longitudinal displacement increment along the bridge at the No. i observation point at the closure; The lateral displacement and vertical displacement analytical algorithm of each joint section is calculated according to the traditional engineering measurement solution method; The intelligent prevention and control sub-algorithm of the jacking risk is divided into an analytical warning of the axial deviation and height difference prevention and control of the joint section bridge and a safety prevention and control of excessive difference in the jacking force of the jacks; the analytical warning of the axial deviation and height difference prevention and control of the joint section bridge is to compare the axial deviation and height difference data values ​​of each joint section bridge with the values ​​specified in the specification, and give a warning if the limit is exceeded; the safety prevention and control of excessive difference in the jacking force of the jacks is to compare the real-time jacking force value and stroke extension of each jack with the jack's own historical data at the previous moment and the same data of other jacks at the same time during normal jacking. When the descent is abnormally slow and the difference is small, a prompt warning is issued. When the descent or the difference in jacking force exceeds the preset limit threshold, an alarm is issued and the jacks are automatically and synchronously controlled to coordinate the oil return and pressure reduction to prevent excessive and unbalanced jacking and ensure that the bridge body is not damaged.

5. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The finite element displacement over-limit correction simulation and plan is to create a bridge body jacking mechanical model in the finite element mechanical analysis software, conduct axial deviation and height difference over-limit correction simulations in multiple conditions, and formulate various types of displacement over-limit correction plans; the displacement over-limit correction plan follows the principle of equal total jacking force of each joint section, and performs over-limit correction and regulation multiple times within the jacking force difference threshold limit according to different jacking force increment combinations of the jacks.

6. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The digital twin intelligent control platform for bridge closure and top-pushing is an intelligent control platform that uses BIM+GIS technology to create a digital twin of the bridge closure construction stage as a digital space base, synchronously connects relevant virtual devices and control panels in the digital space to the real-time data of the intelligent monitoring equipment for bridge closure and top-pushing, and adopts a collaborative intelligent control algorithm for bridge closure and top-pushing to realize real-time viewing of the bridge closure and top-pushing process status in the digital twin three-dimensional space and intelligent interactive control of top-pushing operations based on relevant modules; the digital twin intelligent control platform for bridge closure and top-pushing includes a top-pushing task creation module, a top-pushing control module, a top-pushing observation point displacement observation data analysis and warning module, a risk prevention and control warning module, and an over-limit correction module; The pushing task input module creates a hierarchical synchronous pushing task with a pushing target force value as a control target through a task data input window, and after the task is created and saved, it is sent to the intelligent pushing equipment of each joint section; The jacking control module includes control buttons for pre-jacking, synchronous starting, stopping jacking and synchronous pressure reduction, and a display unit for the jacking force and stroke extension data of all jacks at each closure; The displacement observation data analysis and early warning module of the jacking observation point is to analyze the longitudinal displacement of the pier top observation point along the bridge and the height difference and axial deviation data of each joint in real time and hang them to the corresponding position on the digital twin. When the relevant data exceeds the threshold specified by the specification, an early warning prompt is automatically issued. The operator can visualize and control the relevant data of the jacking process in real time in the digital twin space; The risk prevention and control early warning module mainly monitors whether the pushing jack forces of each joint opening are balanced during the pushing process. When an abnormal sudden change in the pushing force of a jack exceeds the relevant preset threshold, an early warning is immediately issued and the coordinated oil return pressure reduction is automatically started to avoid the bridge body from cracking and damage caused by the unbalanced force pushing; The over-limit correction module monitors the height difference and axial deviation data of each joint section in real time. When the threshold value specified in the specification is exceeded, the pushing is stopped during the load-holding observation period. The progressive non-balanced pushing control principle of equal total pushing force in each joint section is followed. According to the correction plan, a correction task is created through the correction data input window to perform correction control. The pushing correction task is started with one button, and the task is executed synchronously on site. After one correction operation, the over-limit data is checked to see if it is improved. This is repeated multiple times until the correction operation is completed. After the correction is completed, the module returns to the pushing control module to continue the graded pushing operation.

7. According to claim 1, the method for intelligent control of closure and top-pushing of continuous rigid frame bridge based on digital twin is characterized by: The installation and deployment of the intelligent monitoring equipment for closure pushing is to deploy a group of intelligent oil pump equipment on each closure mouth, one intelligent oil pump is equipped with 2 or 4 jacks at the same time, the jacks are connected with the force transmission rods and are against the cross section of the closure section, and 4 prisms for measuring the spatial coordinates of the observation points are deployed at the four corners of the closure mouth, and at the same time, the measurement robot and its supporting line terminal equipment are deployed according to the measurement site conditions of the bridge construction site with the goal of covering all observation points; the layout of the prisms is accurately laid out according to the plan; The digital twin intelligent control platform for closure pushing is deployed in the bridge construction monitoring center and uses wireless communication to exchange data with the intelligent oil pump pushing equipment.

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