Precise installation method, medium and system for bridge erecting machine case beam

Abstract

A method, medium and system for accurately installing a box girder of a bridge erecting machine relate to the technical field of box girder installation of bridge erecting machines, and comprise the following steps: determining a detection identifier and determining the position of a detection point, constructing a virtual acquisition frame and a virtual detection identifier, calculating the position difference between the virtual acquisition frame and the detection identifier, and determining the position of the box girder according to the calculated position difference. Controlling the bridge girder erection machine to adjust the position of the box girder so as to stack the detection identifier and the virtual acquisition frame together, identifying the characteristics of the virtual detection identifier and the detection identifier, calculating the adjustment amount of the complete box girder, and controlling the bridge girder erection machine to adjust the position of the box girder. According to the method, the installation position of the box girder can be guided and controlled in the box girder hoisting process, so that the problem that the position and the posture of the box girder cannot be accurately obtained in the box girder hoisting process of an existing bridge girder erection machine is solved; and the position of the box girder needs to be adjusted for multiple times in the installation process.

Description

Technical Field

[0001] The present invention relates to the technical field of box girder installation for a bridge erection machine, and in particular to a method, medium and system for accurately installing a box girder for a bridge erection machine. Background Art

[0002] With the rapid development of transportation infrastructure construction, bridge engineering, as an important part of the transportation network, has attracted wide attention for its construction speed and quality. As one of the key equipment for bridge construction, the bridge erection machine is responsible for installing prefabricated box girders on bridge piers. However, in the actual installation process, due to the limitation of the installation position, it is difficult for the bridge erection machine to accurately obtain the position and posture of the box girder during the hoisting process, which often requires multiple adjustments of the box girder during the installation process, or even requires re-hoisting. This not only makes the entire installation process time-consuming, but also increases the difficulty and cost of construction due to low construction efficiency, and may also cause damage to the box girder or safety accidents. Summary of the invention

[0003] The embodiments of the present invention provide a method, medium and system for accurately installing a box girder of a bridge erecting machine, which can guide and control the installation position of the box girder during the process of hoisting the box girder, so as to solve the problem that the position and posture of the box girder cannot be accurately obtained during the process of hoisting the box girder by the bridge erecting machine, resulting in the box girder often needing to adjust its position multiple times during the installation process.

[0004] A method for accurately installing a bridge erection machine box beam, comprising:

[0005] Determine the position of the detection mark on the box girder, wherein the detection mark is set on the side of the box girder surface away from the pier;

[0006] Determine the location of the detection point, set the data capture device at the detection point; and determine the spatial angle of the acquisition end of the data capture device, the data capture device is used to capture the image of the detection mark; and capture the distance between the detection mark and the box girder;

[0007] A virtual collection frame and a virtual detection mark located in the virtual collection frame are constructed, and when the distance between the detection mark surface and the collection end of the data capture device reaches a threshold during the moving box girder process, the position difference between the virtual collection frame and the detection mark is calculated;

[0008] According to the calculated position difference, the bridge erection machine is controlled to adjust the position of the box beam so that the detection mark and the virtual acquisition frame are stacked together;

[0009] Identify the features of the virtual detection mark and the detection mark, calculate the adjustment amount of the complete box girder, and control the bridge erection machine to adjust the position of the box girder so that the detection mark and the virtual acquisition frame are aligned and overlapped;

[0010] Control the bridge erection machine to lift the box girder to the predetermined installation position to complete the installation.

[0011] Furthermore, determining the location of the detection mark and the detection point includes the following steps:

[0012] Use BIM to build the box girder model and corresponding pier model that can truly describe the construction plan;

[0013] A spatial coordinate system is constructed based on the bridge pier model, and a position of at least one detection point is set in the spatial coordinate system;

[0014] The positions of the detection points obtained above are projected onto the box girder model to obtain the positions of the detection marks on the box girder model;

[0015] The determined detection mark and the position of the detection point are output.

[0016] Furthermore, the spatial angle of the acquisition end of the data capture device is calculated according to the position of the detection point to maintain the coaxiality between the acquisition end and the detection mark.

[0017] Furthermore, the process of roughly adjusting the position of the box beam includes:

[0018] Control the bridge erection machine to adjust the position of the box girder so that it is within the viewing angle of the data capture device;

[0019] Identify the location of the detection mark on the box girder;

[0020] Using the obtained position of the detection mark, calculate the position difference between it and the virtual acquisition frame;

[0021] The adjustment amount of the bridge erecting machine for adjusting the detection mark on the box girder to the virtual acquisition frame area is calculated based on the position difference;

[0022] The above adjustment amount is used to control the operation of the bridge erection machine so that the detection mark and the virtual collection frame are stacked together.

[0023] Furthermore, the process of accurately adjusting the position of the box beam includes:

[0024] Based on the virtual detection mark, the features of the detection mark are extracted and identified to determine whether the current position of the box girder is correct;

[0025] If the position is judged to be correct, no adjustment is made; if the position is incorrect, an adjustment is made.

[0026] Furthermore, after identification, the features of the detection mark are consistent with the features of the virtual detection mark, and the detection mark is not aligned and overlapped with the virtual acquisition frame, so the position of the box girder is judged to be correct and no adjustment is made.

[0027] Furthermore, after identification, the characteristics of the detection mark are consistent with the characteristics of the virtual detection mark, the detection mark is not aligned and overlapped with the virtual collection frame, and the position of the box girder is judged to be incorrect. According to the difference between the position of the detection mark and the position of the virtual collection frame, the adjustment amount of the bridge-building machine to adjust the detection mark on the box girder to the virtual collection frame area is obtained, and the operation of the bridge-building machine is controlled to make the detection mark and the virtual collection frame aligned and overlapped.

[0028] Furthermore, after identification, the feature of the detection mark is inconsistent with the feature of the virtual detection mark, and the position of the box girder is judged to be incorrect. The adjustment amount of the bridge-building machine to adjust the detection mark to be consistent with the feature of the virtual detection mark is calculated, and the bridge-building machine is controlled to adjust the position of the box girder until the feature of the detection mark is consistent with the feature of the virtual detection mark. It is identified whether the detection mark and the virtual acquisition frame are aligned and overlapped. If they are aligned and overlapped with the virtual acquisition frame, the position of the box girder is judged to be correct and no adjustment is made. If they are not aligned and overlapped with the virtual acquisition frame, the position of the box girder is judged to be incorrect. According to the difference between the position of the detection mark and the position of the virtual acquisition frame, the adjustment amount of the bridge-building machine to adjust the detection mark on the box girder to the virtual acquisition frame area is obtained, and the bridge-building machine is controlled to operate so that the detection mark and the virtual acquisition frame are aligned and overlapped.

[0029] A computer-readable storage medium stores program instructions, which are used to implement the above-mentioned precise installation method of the bridge erection machine box beam when running.

[0030] A precise installation system for a bridge erection machine box beam comprises the above-mentioned computer-readable storage medium.

[0031] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0032] 1. After setting the detection mark on the box girder, the detection mark is identified to control the bridge erection machine to automatically adjust the position of the box girder, thereby achieving the effect of precise installation of the box girder of the bridge erection machine.

[0033] 2. After installing the data capture equipment according to the calculated detection points and setting the detection marks at the corresponding positions of the box girder, automatic control and automatic selection of the optimal adjustment strategy can be realized during the box girder hoisting process, which can avoid the situation where multiple position adjustments are required during manual operation, thereby improving the construction efficiency.

[0034] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0035] The technical solution of the present invention is further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 A schematic flow chart of a method for accurately installing a box girder of a bridge erection machine disclosed in an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the precise installation structure of the bridge erection machine box beam disclosed in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a data capture device disclosed in an embodiment of the present invention;

[0040] Figure 4 It is a structural block diagram of the precise installation system of the bridge erection machine box beam disclosed in an embodiment of the present invention.

[0041] Reference numerals:

[0042] 1. Bridge erecting machine; 2. Box girder; 3. Bridge pier; 4. Controller; 5. Data capture device; 51. Bracket; 52. Collection terminal; 521. Image collector; 522. Distance collector; 523. Inclination sensor; 6. Server; 61. BIM model building module; 62. Position calculation module; 63. Recognition module. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0044] The technical solution of the present invention can be divided into two parts: pre-adjustment of the box girder 2 and hanging installation of the box girder 2 , wherein the difference from the prior art is that the box girder 2 is pre-adjusted.

[0045] The purpose of pre-adjustment of the box girder 2 is to adjust the position (horizontal position, edge position) of the box girder 2 to the preset position (at this time, the position of the entire projection of the box girder 2 on the pier 3 is consistent with the designed installation position on the pier 3), and then complete the installation of the box girder 2 by maintaining the current position and hanging it vertically.

[0046] Figure 1The invention shows a method for accurately installing a box girder 2 of a bridge erecting machine 1 disclosed in an embodiment of the invention, comprising:

[0047] S1, determining the position of the detection mark on the box girder 2, wherein the detection mark is arranged on a side of the box girder 2 surface away from the pier 3.

[0048] The above-mentioned detection mark can be set on the surface of the box beam 2 by many methods such as pasting, painting, and setting the mark with a mold.

[0049] like Figure 2 As shown, in one example, the detection mark is photographed at the bottom of the box girder 2, and its corresponding detection point position is below the bottom of the box girder 2.

[0050] In another example, the detection mark can also be set on both sides of the box girder 2 in the length direction, and at an unobstructed position on the top of the box girder 2. When the detection mark is set at a position other than the bottom of the box girder 2, a drone can be used as a data capture device 5 to control the drone to enter the set detection point.

[0051] S2, determine the position of the detection point, set the data capture device 5 at the detection point; and determine the spatial angle of the acquisition end 52 of the data capture device 5, the data capture device 5 is used to capture the image of the detection mark; and capture the distance between the box girder 2.

[0052] The above-mentioned determination of the detection mark and the location of the detection point includes the following steps:

[0053] Use BIM to build the box girder 2 model and the corresponding pier 3 model that can truly describe the construction plan;

[0054] A spatial coordinate system is constructed based on the pier 3 model, and a position of at least one detection point is set in the spatial coordinate system;

[0055] The position of the detection point obtained above is projected onto the box girder 2 model to obtain the position of the detection mark on the box girder 2 model;

[0056] The determined detection mark and the position of the detection point are output.

[0057] After determining the positions of the detection mark and the detection point, the detection mark is set at the corresponding position of the corresponding box beam 2 according to the obtained position, and the data capture device 5 is set at the corresponding position.

[0058] like Figures 2-3As shown, in one embodiment (the detection mark is photographed at the bottom of the box girder 2), the data capture device 5 includes a bracket 51 and a collection end 52 arranged on the bracket 51, and the collection end 52 is provided with an image collector 521, a distance collector 522 and an inclination sensor 523. The signal output ends of the image collector 521, the distance collector 522 and the inclination sensor 523 are respectively communicatively connected to the controller 4, and the control communication is connected to the server 6.

[0059] Taking the above embodiment as an example, during the setting process, the detection point is positioned according to the position of the detection point obtained by positioning and laying out the line. After the positioning is completed, the bracket 51 of the data capture device 5 is installed at the detection point. At the same time, according to the spatial angle of the acquisition end 52 of the data capture device 5 obtained, the spatial angle of the acquisition end 52 is adjusted according to the data collected by the inclination sensor 523. The working process here is: the inclination sensor 523 outputs a signal to the controller 4, and the controller 4 processes the signal to obtain the spatial angle data. A display device can also be added here, and the controller 4 outputs the current spatial angle of the acquisition end 52 to the display device to facilitate the construction personnel to make adjustments.

[0060] In another embodiment, (the detection mark is set at a position other than the bottom of the box beam 2), the type of the data capture device 5 can be set according to the actual situation;

[0061] For example, the detection mark is set on both sides of the length direction of the box beam 2. At this time, the data capture device 5 in the above embodiment can be used, and a drone (equipped with an image collector 521, a distance collector 522 and an inclination sensor 523) can also be selected as the data capture device 5. At this time, the detection point is a virtual three-dimensional space coordinate. The drone moves according to the position of the set detection point. After reaching the position, the space angle of the acquisition end 52 (i.e., the component with the image collector 521) is adjusted according to the inclination sensor 523 to complete the setting;

[0062] For another example, the detection mark is set in the non-obstructed area at the top of the box girder 2. At this time, a drone (equipped with an image collector 521, a distance collector 522 and an inclination sensor 523) is selected as the data capture device 5. The detection point at this time is a virtual three-dimensional space coordinate. The drone moves according to the position of the set detection point. After reaching the position, the spatial angle of the collection end 52 (that is, the component with the image collector 521) is adjusted according to the inclination sensor 523 to complete the setting.

[0063] The spatial angle is defined here as: the horizontal angle (or azimuth angle) of the collection end 52 in the horizontal plane and the vertical angle (or inclination angle) in the vertical plane.

[0064] The spatial angle of the acquisition end 52 of the data capture device 5 is calculated based on the position of the detection point to maintain the coaxiality between the acquisition end 52 (image collector 521) and the detection mark, so as to achieve the accuracy of the detection mark recognition.

[0065] Among them, the image collector 521 is a camera, and the above coaxiality means that the optical axis of the detection mark, the optical axis of the lens of the image collector 521, and the optical axis of the image sensor of the camera of the image collector 521 remain consistent to maintain the quality, clarity and accuracy of the acquired image.

[0066] After the data capture device 5 is installed and debugged at the spatial angle according to the position of the above detection point, the optical axis of the detection mark, the optical axis of the lens of the image collector 521, and the optical axis of the camera image sensor of the image collector 521 are kept consistent.

[0067] In the subsequent detection process, when the position of the box beam 2 is incorrect, there are differences between the features of the collected detection mark image and the virtual detection mark, which are used as the basis for judgment and adjustment.

[0068] S3, construct a virtual acquisition frame and a virtual detection mark located in the virtual acquisition frame. During the moving process of the box girder 2, when the distance between its detection mark surface and the acquisition end 52 of the data capture device 5 reaches a threshold, calculate the position difference between the virtual acquisition frame and the detection mark.

[0069] This step is to roughly adjust the position of the box beam 2, including:

[0070] Control the bridge erection machine 1 to adjust the position of the box girder 2 so that it enters the viewing angle range of the acquisition end 52 of the data capture device 5 (manual operation is adopted at this time to control the bridge erection machine 1 to run until the surface with the detection mark on the box girder 2 enters the viewing angle range of the device acquisition end 52 and the distance between the surface with the detection mark of the box girder 2 and the acquisition end 52 of the data capture device 5 reaches the threshold value, which is the condition for rough adjustment);

[0071] Identify the location where the detection mark is set on the box beam 2;

[0072] Using the obtained position of the detection mark, calculate the position difference between it and the virtual acquisition frame;

[0073] The adjustment amount of the bridge erecting machine 1 for adjusting the detection mark on the box beam 2 to the virtual acquisition frame area is calculated based on the position difference;

[0074] The above adjustment amount is used to control the operation of the bridge erection machine 1 so that the detection mark and the virtual collection frame are stacked together.

[0075] S4, according to the calculated position difference, controlling the bridge erection machine 1 to adjust the position of the box beam 2 so that the detection mark and the virtual collection frame are stacked together;

[0076] S5, identifying the features of the virtual detection mark and the detection mark, calculating the adjustment amount of the complete box girder 2, and controlling the bridge erection machine 1 to adjust the position of the box girder 2 so that the detection mark and the virtual acquisition frame are aligned and overlapped.

[0077] The above steps S4 to S5 belong to precise adjustment, including:

[0078] Based on the virtual detection mark, the features of the detection mark are extracted and identified to determine whether the current position of the box beam 2 is correct;

[0079] If the position is judged to be correct, no adjustment is made; if the position is incorrect, an adjustment is made.

[0080] The specific situations include the following:

[0081] 1. After identification, the features of the detection mark are consistent with the features of the virtual detection mark, and the detection mark is not aligned and overlapped with the virtual acquisition frame. It is determined that the position of the box girder 2 is correct and no adjustment is made.

[0082] 2. After identification, the features of the detection mark are consistent with the features of the virtual detection mark, and the detection mark is not aligned and overlapped with the virtual acquisition frame. It is judged that the position of the box girder 2 is incorrect. According to the difference between the position of the detection mark and the position of the virtual acquisition frame, the adjustment amount of the bridge-building machine 1 to adjust the detection mark on the box girder 2 to the virtual acquisition frame area is obtained, and the bridge-building machine 1 is controlled to operate so that the detection mark is aligned and overlapped with the virtual acquisition frame.

[0083] 3. After identification, the feature of the detection mark is inconsistent with the feature of the virtual detection mark, and it is judged that the position of the box girder 2 is incorrect. The adjustment amount of the bridge-building machine 1 to adjust the detection mark to be consistent with the feature of the virtual detection mark is calculated, and the bridge-building machine 1 is controlled to adjust the position of the box girder 2 until the feature of the detection mark is consistent with the feature of the virtual detection mark. It is determined whether the detection mark and the virtual acquisition frame are aligned and overlapped. If they are aligned and overlapped with the virtual acquisition frame, the position of the box girder 2 is judged to be correct and no adjustment is made. If they are not aligned and overlapped with the virtual acquisition frame, it is judged that the position of the box girder 2 is incorrect. According to the difference between the position of the detection mark and the position of the virtual acquisition frame, the adjustment amount of the bridge-building machine 1 to adjust the detection mark on the box girder 2 to the virtual acquisition frame area is obtained, and the bridge-building machine 1 is controlled to operate so that the detection mark and the virtual acquisition frame are aligned and overlapped.

[0084] During the above adjustment process, when the characteristics of the identified detection mark are inconsistent with the virtual detection mark and cannot overlap with the virtual acquisition frame, it is judged that the position of the box girder 2 has defects such as tilt and rotation, and there is a problem in the downward installation of the box girder 2. When the characteristics of the identified detection mark are consistent with the virtual detection mark and can overlap with the virtual acquisition frame, it is judged that the position of the box girder 2 is correct, and the box girder 2 can be downwardly installed.

[0085] The above steps S1 to S5 all belong to the pre-adjustment of the box girder 2. During the pre-adjustment of the box girder 2, the optimal adjustment strategy (i.e., the least steps) is adopted for the adjustment of the bridge erection machine 1. The following step S6 belongs to the hanging installation of the box girder 2.

[0086] S6, control the bridge erecting machine 1 to hoist the box beam 2 to the predetermined installation position to complete the installation.

[0087] like Figure 4 As shown, in one embodiment, the precise installation system of the box girder 2 of the bridge erecting machine 1 is composed of the above-mentioned controller 4, data capture device 5 and server 6, and also includes a computer-readable storage medium, in which program instructions are stored. When the program instructions are executed, they are used to implement the above-mentioned precise installation method of the box girder 2 of the bridge erecting machine 1.

[0088] The computer-readable storage medium is disposed in the server 6 , on which a BIM model construction module 61 , a position calculation module 62 and an identification module 63 are disposed.

[0089] The BIM model building module 61 is suitable for building a box girder 2 model and a corresponding bridge pier 3 model that can truly describe the construction plan according to the construction data;

[0090] The position calculation module 62 is adapted to calculate the positions of the detection points and the detection marks according to the above model;

[0091] The identification module 63 is adapted to identify whether the position of the box girder 2 is correct based on the data collected by the data capture device 5 .

[0092] Based on the recognition result, the server 6 transmits a control signal to the controller 4. The controller 4 is connected to the bridge erecting machine 1 for communication, and controls the bridge erecting machine 1 to realize automatic operation of the bridge erecting machine 1, automatically adjust the box girder 2 to the correct position, and lower the box girder 2 to the predetermined installation position to complete the installation.

[0093] The method for accurately installing the box girder 2 of the bridge-building machine 1 provided in the embodiment of the present invention controls the bridge-building machine 1 to automatically adjust the position of the box girder 2 by identifying the detection mark after setting the detection mark on the box girder 2, thereby achieving the effect of accurately installing the box girder 2 of the bridge-building machine 1. At the same time, after installing the data capture device 5 according to the calculated detection point and setting the detection mark at the corresponding position of the box girder 2, automatic control can be realized in the process of hoisting the box girder 2 to automatically select the optimal adjustment strategy, which can avoid the situation where multiple position adjustments are required during manual operation, thereby achieving the effect of improving construction efficiency.

[0094] It should be noted that the specific models and specifications of the controller 4, data capture device 5, image collector 521, distance collector 522, inclination sensor 523, server 6 and bridge-building machine 1 need to be selected and determined based on the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail.

[0095] The power supply and principles of the controller 4, data capture device 5, image collector 521, distance collector 522, tilt sensor 523, server 6 and bridge crane 1 are clear to those skilled in the art and will not be described in detail here.

[0096] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0097] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0098] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0099] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0100] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0101] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A method for accurately installing a bridge erection machine box beam, characterized in that: include: Determine the position of the detection mark on the box girder, wherein the detection mark is located on the side of the box girder surface away from the bridge pier; Determine the location of the detection point, set the data capture device at the detection point; and determine the spatial angle of the acquisition end of the data capture device, the data capture device is used to capture the image of the detection mark; and capture the distance between the detection mark and the box girder; A virtual collection frame and a virtual detection mark located in the virtual collection frame are constructed, and when the distance between the detection mark surface and the collection end of the data capture device reaches a threshold during the moving box girder process, the position difference between the virtual collection frame and the detection mark is calculated; According to the calculated position difference, the bridge erection machine is controlled to adjust the position of the box beam so that the detection mark and the virtual acquisition frame are stacked together; Identify the features of the virtual detection mark and the detection mark, calculate the adjustment amount of the complete box girder, and control the bridge erection machine to adjust the position of the box girder so that the detection mark and the virtual acquisition frame are aligned and overlapped; Control the bridge erection machine to lift the box girder to the predetermined installation position to complete the installation.

2. A method for accurately installing a bridge erection machine box beam as claimed in claim 1, characterized in that: Determining the location of the detection mark and the detection point includes the following steps: Use BIM to build the box girder model and corresponding pier model that can truly describe the construction plan; A spatial coordinate system is constructed based on the bridge pier model, and a position of at least one detection point is set in the spatial coordinate system; The positions of the detection points obtained above are projected onto the box girder model to obtain the positions of the detection marks on the box girder model; The determined detection mark and the position of the detection point are output.

3. A method for accurately installing a bridge erection machine box beam as claimed in claim 2, characterized in that: The spatial angle of the acquisition end of the data capture device is calculated based on the position of the detection point to maintain the coaxiality of the acquisition end and the detection mark.

4. A method for accurately installing a bridge erection machine box beam according to claim 1, characterized in that: The process of rough adjustment of the box girder position includes: Control the bridge erection machine to adjust the position of the box girder so that it is within the viewing angle of the data capture device; Identify the location of the detection mark on the box girder; Using the obtained position of the detection mark, calculate the position difference between it and the virtual acquisition frame; The adjustment amount of the bridge erecting machine for adjusting the detection mark on the box girder to the virtual acquisition frame area is calculated based on the position difference; The above adjustment amount is used to control the operation of the bridge erection machine so that the detection mark and the virtual collection frame are stacked together.

5. A method for accurately installing a bridge erection machine box beam according to claim 1, characterized in that: The process of accurately adjusting the position of the box girder includes: Based on the virtual detection mark, the features of the detection mark are extracted and identified to determine whether the current position of the box girder is correct; If the position is judged to be correct, no adjustment is made; if the position is incorrect, an adjustment is made.

6. A method for accurately installing a bridge erection machine box beam as claimed in claim 5, characterized in that: After identification, the features of the detection mark are consistent with the features of the virtual detection mark, and the detection mark is not aligned and overlapped with the virtual acquisition frame. The position of the box girder is judged to be correct and no adjustment is made.

7. A method for accurately installing a bridge erection machine box beam as claimed in claim 5, characterized in that: After identification, the characteristics of the detection mark are consistent with the characteristics of the virtual detection mark, the detection mark is not aligned and overlapped with the virtual collection frame, and the position of the box girder is judged to be incorrect. According to the difference between the position of the detection mark and the position of the virtual collection frame, the adjustment amount of the bridge-building machine to adjust the detection mark on the box girder to the virtual collection frame area is obtained, and the operation of the bridge-building machine is controlled to make the detection mark and the virtual collection frame aligned and overlapped.

8. A method for accurately installing a bridge erection machine box beam as claimed in claim 5, characterized in that: After identification, the feature of the detection mark is inconsistent with the feature of the virtual detection mark, and the position of the box girder is judged to be incorrect. The adjustment amount of the bridge-building machine to adjust the detection mark to be consistent with the feature of the virtual detection mark is calculated, and the bridge-building machine is controlled to adjust the position of the box girder until the feature of the detection mark is consistent with the feature of the virtual detection mark. It is determined whether the detection mark and the virtual acquisition frame are aligned and overlapped. If they are aligned and overlapped with the virtual acquisition frame, the position of the box girder is judged to be correct and no adjustment is made. If they are not aligned and overlapped with the virtual acquisition frame, the position of the box girder is judged to be incorrect. According to the difference between the position of the detection mark and the position of the virtual acquisition frame, the adjustment amount of the bridge-building machine to adjust the detection mark on the box girder to the virtual acquisition frame area is obtained, and the bridge-building machine is controlled to operate so that the detection mark and the virtual acquisition frame are aligned and overlapped.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, which are used to implement the precise installation method of the bridge erection machine box girder according to any one of claims 1 to 8 when executed.

10. A precise installation system for a bridge erection machine box beam, characterized in that: Includes the computer-readable storage medium of claim 9.

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