Intelligent walking system and method of intelligent construction vehicle for prefabricated box girder

Abstract

The invention discloses an intelligent walking system of a prefabricated box girder intelligent construction vehicle. The intelligent walking system comprises a walking speed closed-loop feedback control subsystem, a steering angle closed-loop feedback control subsystem and a radar obstacle avoidance closed-loop feedback control subsystem which cooperate and limit each other. The walking speed closed-loop feedback control subsystem is used for adjusting the actual speed of the walking mechanism to be gradually close to or reach the given speed; the steering angle closed-loop feedback control subsystem is used for adjusting the actual steering angle of the walking mechanism to be gradually close to or reach a given angle; the radar obstacle avoidance closed-loop feedback control subsystem is used for determining the obstacle avoidance path and speed of the walking mechanism so as to avoid collision with an obstacle. In the using process, closed-loop feedback control in the walking mechanism cooperates and limits one another, and precise control and safe obstacle avoidance of the walking system are jointly achieved; horizontal transverse or longitudinal linear movement can be guaranteed, driving operation is safe and convenient, and the problem that an existing intelligent working vehicle is difficult to control and adjust is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent construction of precast box girders, and particularly to an intelligent walking system and method for an intelligent construction vehicle of precast box girders. Background Technique

[0002] Currently, during the prefabrication of integral box girders for high-speed railways in China, the commonly used pumping and pouring process and equipment are difficult to complete the prefabrication task of 40-meter box girders for high-speed railways within six hours. At the same time, traditional beam yard construction is greatly affected by the weather, with a large number of construction machines and tools and personnel, posing great safety hazards and being prone to environmental pollution. Therefore, it is crucial to develop new concrete pouring equipment and improve the mechanization level of box girder prefabrication to improve production efficiency and product quality.

[0003] To achieve the integration of the pouring and forming process of high-speed railway precast box girders (including processes such as feeding, distributing, vibrating, paving, and troweling), an intelligent construction vehicle for precast box girders has been developed. Since the whole set of equipment is relatively large, about 45 meters long and about 20 meters wide (designed according to the size of the precast box girder as a whole), and needs to move horizontally or longitudinally in a straight line as a whole. To ensure straight walking, the walking angle needs to be corrected and adjusted during the movement. Therefore, the intelligent walking system serving the whole set of equipment is the key to the research and design. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent walking system and method for an intelligent construction vehicle of precast box girders, which are used to realize the intelligent walking control of the intelligent construction vehicle of precast box girders.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The intelligent walking system of the intelligent construction vehicle of precast box girders includes a walking speed closed-loop feedback control subsystem, a steering angle closed-loop feedback control subsystem, and a radar obstacle avoidance closed-loop feedback control subsystem that cooperate with and restrict each other;

[0007] The walking speed closed-loop feedback control subsystem is used to adjust the actual speed of the walking mechanism to gradually approach or reach the given speed;

[0008] The steering angle closed-loop feedback control subsystem is used to adjust the actual steering angle of the walking mechanism to gradually approach or reach the given angle;

[0009] The radar obstacle avoidance closed-loop feedback control subsystem is used to determine the obstacle avoidance path and speed of the walking mechanism to avoid collisions with obstacles.

[0010] As a further solution of the present invention: the walking speed closed-loop feedback control subsystem monitors the actual speed of the walking mechanism in real time through a speed sensor. The walking speed closed-loop feedback control subsystem compares the actual speed with the given speed through a controller, calculates the deviation between the two, and outputs a deviation signal. The controller adjusts the actual speed of the walking mechanism according to the output deviation signal to gradually approach or reach the given speed.

[0011] As a further solution of the present invention: the steering angle closed-loop feedback control subsystem monitors the actual steering angle of the walking mechanism in real time through an angle sensor. The steering angle closed-loop feedback control subsystem compares the actual steering angle with the given angle through a controller, calculates the deviation between the two, and outputs a deviation signal. The controller adjusts the actual steering angle of the walking mechanism according to the output deviation signal to gradually approach or reach the given angle.

[0012] As a further solution of the present invention: the radar obstacle avoidance closed-loop feedback control subsystem monitors the distance and azimuth of obstacles in real time through an obstacle avoidance radar. The controller of the radar obstacle avoidance closed-loop feedback control subsystem makes an obstacle avoidance decision based on the distance and azimuth information of the obstacles, determines the obstacle avoidance path and speed of the walking mechanism, so as to avoid collision with obstacles.

[0013] As a further solution of the present invention: the walking mechanism is connected to the four corner positions of the equipment frame through a support mechanism, and the equipment frame is arranged above the precast box girder formwork.

[0014] As a further solution of the present invention: hydraulic systems are symmetrically distributed at both ends of the equipment frame, and each hydraulic system at each end is hydraulically controlled and connected to two walking mechanisms in the width direction. The walking mechanism is provided with a given 90° steering gear and a given 5° steering gear for controlling the steering of the walking wheels.

[0015] As a further solution of the present invention: when the walking mechanism is connected to the equipment frame through a support mechanism, the hydraulic system is hydraulically controlled and connected to the support mechanism through a support controller.

[0016] As a further solution of the present invention: two luffing mechanisms are arranged at the middle position in the length direction of the equipment frame, and the hydraulic system is hydraulically controlled and connected to the luffing mechanism through a luffing controller.

[0017] As a further solution of the present invention: the hydraulic system is a closed-loop hydraulic system with self-balancing auxiliary control, and the closed-loop hydraulic system is used for precise control and power distribution of each action execution mechanism inside the walking mechanism.

[0018] The intelligent walking method of the precast box girder intelligent construction vehicle includes the following steps:

[0019] S1. Travel control: A closed-loop feedback control subsystem for travel speed, a closed-loop feedback control subsystem for steering angle, and a closed-loop feedback control subsystem for radar obstacle avoidance that cooperate with and limit each other are used to adjust the travel mechanism to travel safely at a given speed and a given angle.

[0020] S2. Self-balancing control: A closed-loop hydraulic system with self-balancing auxiliary control is used to adjust each action execution mechanism inside the travel mechanism for precise control and power distribution.

[0021] S3. Intelligent control: Through the feedback and coordinated work of angle sensors, speed sensors, displacement sensors, cameras, and obstacle avoidance radars, the simplification and intelligent control of driving operations are realized.

[0022] Advantages of the present invention:

[0023] (1) Through the design of a closed-loop feedback control subsystem for travel speed, a closed-loop feedback control subsystem for steering angle, and a closed-loop feedback control subsystem for radar obstacle avoidance that cooperate with and limit each other, during the use process, the closed-loop feedback controls in the travel mechanism cooperate with and limit each other to jointly achieve precise control of the travel system and safe obstacle avoidance.

[0024] (2) This application can ensure horizontal or vertical linear movement, and automatically correct and adjust the travel angle during the movement process. The driving operation is safe and convenient, overcoming the problem that it is difficult to control and adjust existing intelligent operation vehicles.

[0025] (3) This application is applicable during the construction of high-speed rail traffic tracks, and realizes the integration of the process of casting and forming high-speed rail precast box girders (including processes such as feeding, distributing, vibrating, spreading, and troweling). It has a high degree of intelligence and strong safety performance, can greatly reduce the mechanical use cost of the project, and improve the construction efficiency.

[0026] (4) In this application, the closed-loop hydraulic system with self-balancing auxiliary control realizes precise control and power distribution of each action execution mechanism inside the travel mechanism through the coordinated action of the closed-loop hydraulic system and the upper-layer closed-loop auxiliary control program. During the straight-line travel process, even under the interference of various external factors, this system can ensure the overall balance and stability of the travel mechanism.

[0027] (5) This application can simplify the driving operation difficulty by means of the feedback and coordination of various sensors and cameras, and also improve the monitorability, safety, and stability of the overall state of the equipment. Description of the Drawings

[0028] The present invention will be further described below with reference to the drawings.

[0029] Figure 1It is a schematic diagram of the logical control principle of the intelligent walking system of the precast box girder intelligent construction vehicle of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the intelligent walking system of the precast box girder intelligent construction vehicle of the present invention;

[0031] Figure 3 It is a simplified schematic diagram of the intelligent walking system of the precast box girder intelligent construction vehicle of the present invention;

[0032] Figure 4 It is a schematic diagram of the intelligent walking method of the precast box girder intelligent construction vehicle of the present invention.

[0033] In the figure: 1. Precast box girder formwork; 2. Equipment frame; 3. Support mechanism; 4. Walking mechanism; 5. Luffing mechanism. Detailed implementation mode

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention; in the description of the present invention, the meaning of "multiple" and "several" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] Please refer to Figures 1 to 3 As shown, the present invention is an intelligent walking system for a precast box girder intelligent construction vehicle, including a walking speed closed-loop feedback control subsystem, a steering angle closed-loop feedback control subsystem, and a radar obstacle avoidance closed-loop feedback control subsystem that cooperate with each other and restrict each other. During the use of this application, due to the large weight and size of the entire set of equipment, in order to prevent damage to the overall structure of the equipment, precise control of each part of the walking mechanism 4 is extremely important during the movement. The closed-loop feedback controls in the walking mechanism 4 cooperate with each other and restrict each other to jointly achieve precise control and safe obstacle avoidance of the walking system.

[0037] When the designed walking speed closed-loop feedback control subsystem is in use, the walking speed closed-loop feedback control subsystem is used to adjust the actual speed of the walking mechanism 4 to gradually approach or reach the given speed; the walking speed closed-loop feedback control subsystem monitors the actual speed of the walking mechanism 4 in real time through a speed sensor, compares the actual speed with the given speed through a controller, calculates the deviation between the two, and outputs a deviation signal, and the controller adjusts the actual speed of the walking mechanism 4 to gradually approach or reach the given speed according to the output deviation signal.

[0038] In the specific implementation manner, the walking speed closed-loop feedback control subsystem first receives a desired walking speed as a given input, which represents the speed state that the walking mechanism 4 expects to reach. The actual speed of the walking mechanism 4 is monitored in real time through measuring elements such as speed sensors, the measured actual speed is compared with the given input speed, the deviation between the two is calculated, and the controller calculates a control signal by adopting a corresponding control algorithm according to the deviation signal and the system model to adjust the speed of the walking mechanism 4. The walking mechanism 4 can be adjusted according to the output signal of the controller to make the actual speed gradually approach or reach the given speed.

[0039] When the designed steering angle closed-loop feedback control subsystem is in use, the steering angle closed-loop feedback control subsystem is used to adjust the actual steering angle of the walking mechanism 4 to gradually approach or reach the given angle; the steering angle closed-loop feedback control subsystem monitors the actual steering angle of the walking mechanism 4 in real time through an angle sensor, compares the actual steering angle with the given angle through a controller, calculates the deviation between the two, and outputs a deviation signal, and the controller adjusts the actual steering angle of the walking mechanism 4 to gradually approach or reach the given angle according to the output deviation signal.

[0040] In the specific implementation manner, the steering angle closed-loop feedback control subsystem receives a desired steering angle as a given input, monitors the actual steering angle of the walking mechanism 4 in real time through an angle sensor, compares the measured actual steering angle with the given input angle, calculates the deviation, and the controller calculates a corresponding control signal according to the deviation signal to adjust the walking mechanism 4. The walking mechanism 4 can be adjusted according to the output signal of the controller to make the actual steering angle gradually approach or reach the given angle.

[0041] When the radar obstacle avoidance closed-loop feedback control subsystem is in use, it is used to determine the obstacle avoidance path and speed of the traveling mechanism 4 to avoid collisions with obstacles; the radar obstacle avoidance closed-loop feedback control subsystem monitors the distance and azimuth of obstacles in real time through an obstacle avoidance radar. The controller of the radar obstacle avoidance closed-loop feedback control subsystem makes an obstacle avoidance decision based on the distance and azimuth information of the obstacles, and determines the obstacle avoidance path and speed of the traveling mechanism 4 to avoid collisions with obstacles.

[0042] In the specific implementation, the obstacle avoidance radar transmitter in the radar obstacle avoidance closed-loop feedback control subsystem emits high-frequency electromagnetic waves. When the electromagnetic waves encounter an obstacle, they will be reflected back and received by the radar receiver. The controller processes the received reflected signal, calculates the distance and azimuth of the obstacle, and based on the distance and azimuth information of the obstacle, the system makes an obstacle avoidance decision, determines the obstacle avoidance path and speed of the traveling mechanism 4, and the traveling mechanism 4 adjusts the traveling path and speed according to the obstacle avoidance decision to avoid collisions with obstacles.

[0043] The traveling speed closed-loop feedback control subsystem, the steering angle closed-loop feedback control subsystem, and the radar obstacle avoidance closed-loop feedback control subsystem in this application interact synergistically to jointly ensure the stability and safety of the traveling mechanism 4. For example, when the radar detects an obstacle ahead, the radar obstacle avoidance closed-loop feedback control subsystem will issue instructions to adjust the traveling path and speed, and at the same time, the traveling speed closed-loop feedback control subsystem and the steering angle closed-loop feedback control subsystem will make corresponding adjustments according to the new instructions.

[0044] The traveling speed closed-loop feedback control subsystem, the steering angle closed-loop feedback control subsystem, and the radar obstacle avoidance closed-loop feedback control subsystem in this application restrict each other. For example, when the traveling speed is too fast, the steering angle closed-loop feedback control subsystem may not be able to respond and adjust the steering angle in time, resulting in the traveling mechanism 4 deviating from the predetermined path. At this time, the traveling speed closed-loop feedback control subsystem needs to reduce the speed to ensure precise control of the steering angle. Similarly, when the radar obstacle avoidance closed-loop feedback control subsystem issues an obstacle avoidance instruction, the traveling speed closed-loop feedback control subsystem and the steering angle closed-loop feedback control subsystem also need to make corresponding adjustments according to the instruction to ensure the safety and stability of the traveling system.

[0045] During the design process of the traveling mechanism 4, the traveling mechanism 4 is connected to the four corners of the equipment frame 2 through the support mechanism 3, and the equipment frame 2 is arranged above the precast box girder formwork 1; hydraulic systems are symmetrically distributed at both ends of the equipment frame 2, and each hydraulic system at each end is hydraulically controlled and connected to two traveling mechanisms 4 in the width direction. A given 90° steering gear and a given 5° steering gear for controlling the steering of the traveling wheels are provided on the traveling mechanism 4, so that the hydraulic system is used as the power source, and the hydraulic system is symmetrically distributed and controlled as a whole. There is a hydraulic pump station on each of the front and rear sides of the equipment frame 2, which is responsible for the 2 sets of traveling mechanisms 4 on that side. The provided given 90° steering gear serves for the conversion of large steering angles for lateral movement and longitudinal movement, and the provided given 5° steering gear serves for small correction and deviation rectification during straight-line walking, so as to enable the entire equipment frame 2 to move horizontally or longitudinally in a straight line; it should be understood that the traveling wheels, the given 90° steering gear, and the given 5° steering gear on the traveling mechanism 4 can be designed according to actual requirements.

[0046] In this specific embodiment, when the traveling mechanism 4 is connected to the equipment frame 2 through the support mechanism 3, the hydraulic system is hydraulically controlled and connected to the support mechanism 3 through the support controller; two luffing mechanisms 5 are provided at the middle position in the length direction of the equipment frame 2, and the hydraulic system is hydraulically controlled and connected to the luffing mechanism 5 through the luffing controller. The leveling of the equipment frame 2 can be adjusted by hydraulically driving the support mechanism 3 and the luffing mechanism 5.

[0047] In this specific embodiment, the hydraulic system is a closed-loop hydraulic system with self-balancing auxiliary control. The closed-loop hydraulic system is used to precisely control and distribute power to each actuator inside the traveling mechanism 4. The closed-loop hydraulic system consists of hydraulic actuators (such as oil pump motors), hydraulic power elements (such as oil pump motors), sensors, and a controller. Its working principle is that the sensors sense the working state of the hydraulic system and feed this information back to the controller. The controller controls the hydraulic system based on the feedback signals from the sensors to achieve the stable operation of the system. The principle of self-balancing auxiliary control is that in the closed-loop hydraulic system, sensors are installed on each traveling mechanism 4 to continuously monitor its working state, including parameters such as speed, angle, and displacement. These sensors feed the real-time data back to the controller, providing a basis for the controller's decision-making. An upper-layer closed-loop auxiliary control program runs inside the controller. This program processes and analyzes the data fed back by the sensors according to preset algorithms and logics. This program can limit the action upper limits and action coordination of each actuator to ensure the overall stability and safety of the traveling mechanism 4. When the traveling mechanism 4 is affected by factors such as road surface flatness, internal structure deformation, and wind force, the required output power of each actuator will change. The self-balancing auxiliary control will automatically adjust the power distribution to each actuator according to the data fed back by the sensors and the instructions of the upper-layer closed-loop auxiliary control program. By adjusting the output flow rate of the hydraulic pump, the switching state of the hydraulic valve, etc., precise power distribution and adjustment are achieved.

[0048] Therefore, through the coordinated action of the closed-loop hydraulic system and the upper-layer closed-loop auxiliary control program, the closed-loop hydraulic system with self-balancing auxiliary control achieves precise control and power distribution of each actuator inside the traveling mechanism 4. During straight-line travel, even under the interference of various external factors, the system can ensure the overall balance and stability of the traveling mechanism 4.

[0049] Using the traveling system of the present application can ensure horizontal or vertical straight-line movement. During the movement, automatic correction and adjustment control of the traveling angle are performed. The driving operation is safe and convenient, overcoming the problem that it is difficult to control and adjust existing intelligent operation vehicles. It is applicable during the construction of high-speed rail traffic tracks and realizes the integration of the process of casting and forming high-speed rail precast box girders (including processes such as feeding, distributing concrete, vibrating, paving, and troweling). It has a high degree of intelligence and strong safety performance, can greatly reduce the mechanical use cost of the project, and improve the construction efficiency.

[0050] Combined with Figure 4 As shown, the present invention also provides an intelligent traveling method for a precast box girder intelligent construction vehicle, including the following steps:

[0051] S1. Walking control: A closed-loop feedback control subsystem for walking speed, a closed-loop feedback control subsystem for steering angle, and a closed-loop feedback control subsystem for radar obstacle avoidance, which cooperate with and restrict each other, are adopted to adjust the walking mechanism 4 to walk safely at a given speed and a given angle. The closed-loop feedback control subsystem for walking speed is used to adjust the actual speed of the walking mechanism 4 to gradually approach or reach the given speed. The closed-loop feedback control subsystem for steering angle is used to adjust the actual steering angle of the walking mechanism 4 to gradually approach or reach the given angle. The closed-loop feedback control subsystem for radar obstacle avoidance is used to determine the obstacle avoidance path and speed of the walking mechanism 4 to avoid collisions with obstacles.

[0052] In this step, the closed-loop feedback controls cooperate with and restrict each other to jointly achieve the precise control and safe obstacle avoidance of the walking system.

[0053] S2. Self-balancing control: A closed-loop hydraulic system with self-balancing auxiliary control is adopted to adjust and precisely control and distribute power to each action execution mechanism inside the walking mechanism 4. Through the cooperation of the closed-loop hydraulic system and the upper-layer closed-loop auxiliary control program, the closed-loop hydraulic system with self-balancing auxiliary control realizes the precise control and power distribution of each action execution mechanism inside the walking mechanism 4. During straight-line walking, even under the interference of various external factors, the system can ensure the overall balance and stability of the walking mechanism 4.

[0054] S3. Intelligent control: Through the feedback and coordinated work of angle sensors, speed sensors, displacement sensors, cameras, and obstacle avoidance radars, the simplification and intelligent control of driving operations are realized.

[0055] The specific methods for simplifying driving operations and intelligent control are as follows: Various sensors (such as speed sensors, angle sensors, etc.) and cameras installed on the equipment frame 2 can collect the environmental information around the equipment and its own status information in real time. This information is transmitted to the upper-layer control program to provide data support for driving operations. The upper-layer control program performs complex algorithm calculations based on the received sensor and camera data, and the calculation results are used to guide the driving operations of the equipment, such as one-key straight-line walking at a specified distance. During driving, the speed sensors and angle sensors of each walking trolley continuously feedback the real-time status of the equipment. The upper-layer control program adjusts the driving trajectory and speed of the equipment according to these feedback data to ensure that the equipment can travel according to the predetermined route and strategy. Through continuous deviation correction and adjustment, the equipment can accurately reach the target position at the specified input distance.

[0056] The specific method of intelligent control in terms of safety protection is as follows: Sensors such as cameras and lidar can continuously sense the environmental obstacles around the device. When an obstacle is detected, the upper control program will immediately trigger the obstacle avoidance algorithm. The algorithm calculates the optimal obstacle avoidance path and speed, and controls the device to automatically decelerate or turn to avoid the obstacle. During the obstacle avoidance process, if the device cannot avoid the obstacle or there are serious safety hazards, the upper control program will trigger the alarm system. The alarm system will remind the operator through means such as sound and light. In case of an emergency, the upper control program can also control the device to automatically stop to avoid accidents. Intelligent control can also be equipped with various safety protection mechanisms, such as emergency braking, anti-rollover, and anti-overturning. These mechanisms will be automatically activated when potential safety risks are detected, providing comprehensive safety protection for the device.

[0057] During the driving operation of intelligent control in this step, with the help of the feedback and coordination of various sensors and cameras, not only the difficulty of driving operation is simplified, but also the monitorability, safety, and stability of the overall device state are improved.

[0058] The above has described a specific embodiment of the present invention in detail, but the content described is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the present invention application should still fall within the patent coverage scope of the present invention.

Claims

1. The intelligent walking system of the prefabricated box girder intelligent construction vehicle is characterized by: Including the walking speed closed-loop feedback control subsystem, steering angle closed-loop feedback control subsystem and radar obstacle avoidance closed-loop feedback control subsystem with mutual coordination and mutual restriction; The walking speed closed-loop feedback control subsystem is used to adjust the actual speed of the walking mechanism to gradually approach or reach a given speed; The steering angle closed-loop feedback control subsystem is used to adjust the actual steering angle of the walking mechanism to gradually approach or reach a given angle; The radar obstacle avoidance closed-loop feedback control subsystem is used to determine the obstacle avoidance path and speed of the walking mechanism to avoid collision with obstacles.

2. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 1 is characterized in that: The walking speed closed-loop feedback control subsystem monitors the actual speed of the walking mechanism in real time through a speed sensor. The walking speed closed-loop feedback control subsystem compares the actual speed with the given speed through a controller, calculates the deviation between the two, and outputs a deviation signal. The controller adjusts the actual speed of the walking mechanism according to the output deviation signal to gradually approach or reach the given speed.

3. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 1 is characterized in that: The steering angle closed-loop feedback control subsystem monitors the actual steering angle of the walking mechanism in real time through an angle sensor. The steering angle closed-loop feedback control subsystem compares the actual steering angle with a given angle through a controller, calculates the deviation between the two, and outputs a deviation signal. The controller adjusts the actual steering angle of the walking mechanism according to the output deviation signal to gradually approach or reach the given angle.

4. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 1 is characterized in that: The radar obstacle avoidance closed-loop feedback control subsystem monitors the distance and direction of obstacles in real time through the obstacle avoidance radar. The controller of the radar obstacle avoidance closed-loop feedback control subsystem makes obstacle avoidance decisions based on the distance and direction information of the obstacle, and determines the obstacle avoidance path and speed of the walking mechanism to avoid collision with the obstacle.

5. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 1 is characterized in that: The walking mechanism is connected to the four corners of the equipment frame through a supporting mechanism, and the equipment frame is arranged above the prefabricated box beam formwork.

6. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 5 is characterized in that: The hydraulic systems are symmetrically distributed at both ends of the equipment frame, and the hydraulic system at each end is respectively hydraulically controlled and connected to the two traveling mechanisms in the width direction. The traveling mechanisms are provided with a given 90° steering gear and a given 5° steering gear for steering control of the traveling wheels.

7. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 6 is characterized in that: When the walking mechanism is connected to the equipment frame via a supporting mechanism, the hydraulic system is hydraulically controlled and connected to the supporting mechanism via a supporting controller.

8. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 6 is characterized in that: Two amplitude-changing mechanisms are arranged at the middle position in the length direction of the equipment frame, and the hydraulic system is hydraulically controlled and connected with the amplitude-changing mechanisms through an amplitude-changing controller.

9. The intelligent walking system of the prefabricated box girder intelligent construction vehicle according to claim 6 is characterized in that: The hydraulic system is a closed-loop hydraulic system with self-balancing auxiliary control, and the closed-loop hydraulic system is used to accurately control and distribute power to various action execution mechanisms inside the walking mechanism.

10. Intelligent walking method of prefabricated box girder intelligent construction vehicle, characterized in that: The following steps are involved: S1, walking control, using the walking speed closed-loop feedback control subsystem, steering angle closed-loop feedback control subsystem, and radar obstacle avoidance closed-loop feedback control subsystem that cooperate and restrict each other to adjust the walking mechanism to walk safely at a given speed and given angle; S2, self-balancing control, using a closed-loop hydraulic system with self-balancing auxiliary control to adjust the various action actuators inside the walking mechanism for precise control and power distribution; S3, intelligent control, through the feedback and coordinated work of angle sensors, speed sensors, displacement sensors, cameras and obstacle avoidance radars, simplifies driving operations and realizes intelligent control.

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