Split modular erection equipment double-vehicle cooperation auxiliary control system and method

Abstract

The invention provides a split modular erection equipment double-vehicle cooperation auxiliary control system and method. A plurality of jacking cross beams on a functional vehicle and second movable lifting stand columns on a transport vehicle form gantry hoisting erection equipment; the control system comprises a guiding alignment system, a synchronous jacking system, a synchronous walking system, a safety monitoring system and a digital twinborn visual platform. The guide alignment system is used for realizing position alignment and accurate connection of the functional vehicle and the transport vehicle; the synchronous jacking system and the synchronous walking system are used for controlling synchronous jacking and synchronous movement of the functional vehicle and the transport vehicle; the safety monitoring system is used for covering safety monitoring of the whole construction process; the digital twinborn visual platform realizes panoramic visualization of the construction process of the functional vehicle and the transport vehicle through a virtual reality fusion technology, and assists an operator in real-time adjustment of double-vehicle cooperative control. The method is suitable for complex construction scenes such as highway reconstruction and extension, and reliable technical support is provided for efficient cooperation of split modular erection equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bridge construction, in particular to a split modular erection equipment double vehicle cooperation auxiliary control system and method. BACKGROUND

[0002] The current highway construction tends to be three-dimensional, and the pier column is often erected in the road joint and the box girder is laid to intensively use the space. However, the pier column cap beam has large volume and complex structure, and the conventional cast-in-place construction has low efficiency, difficult quality control, and also affects the existing traffic; the whole assembly type construction greatly increases the cost, and it is difficult to balance the cost and efficiency. In addition, there are complex conditions such as height limit requirements in the existing highway, and the existing mobile crane and conventional portal crane are difficult to apply, which restricts the pier column construction. In view of these problems, a split modular erection equipment can solve the problems of precast pier column transportation and erection, and the equipment has good passability and can be used under complex conditions of reconstruction and expansion. However, the equipment is composed of two independent engineering vehicles, and there are operation difficulties in aligning, precise connecting, multi-point leveling, synchronous lifting, and synchronous walking of the two vehicles. If the operation is improper, it is easy to cause construction risk, or the construction efficiency is reduced due to long alignment time. Through investigation of the existing lifting equipment cooperation scene, two separate cranes are generally used for independent work, such as double crawler cranes lifting structural objects or double portal cranes lifting structural objects, and there is no connection between the two devices in terms of control or mechanical structure. The behavior of double vehicle cooperation completely relies on manual command, and the construction efficiency is very low.

[0003] Therefore, the present application aims at the operation difficulties such as guiding alignment, precise connection, multi-point leveling, synchronous lifting, and synchronous walking in the double vehicle cooperation scene of split modular erection equipment, and based on the technologies such as Beidou high-precision positioning, laser radar and visual fusion perception, multi-machine pose synchronous modeling and error compensation, an intelligent monitoring system of lifting equipment based on Internet of Things and artificial intelligence is developed, high-precision inclination, load sensor and visual recognition device are integrated, key parameters such as equipment operation posture, hydraulic system pressure, and braking state are collected in real time, and then a split modular erection equipment double vehicle cooperation auxiliary control system and method are proposed, which improves the flexibility and convenience of equipment operation, and further improves the construction efficiency and ensures the construction safety. SUMMARY

[0004] The main purpose of the present application is to provide a split modular erection equipment double vehicle cooperation auxiliary control system and method, which solves the operation problems such as guiding alignment, precise connection, multi-point leveling, synchronous lifting, and synchronous walking in the double vehicle cooperation scene of split modular erection equipment.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is: a split modular erection equipment double-car cooperation auxiliary control system, the erection equipment comprising a functional vehicle and a transport vehicle, a plurality of jacking cross beams on the functional vehicle and second mobile lifting columns on the transport vehicle forming a gantry hoisting erection equipment; The control system comprises a guidance alignment system, a synchronous jacking system, a synchronous walking system, a safety monitoring system and a digital twin visualization platform; The guidance alignment system is used to realize the position alignment and accurate connection of the functional vehicle and the transport vehicle; The synchronous jacking system and the synchronous walking system are used to control the synchronous jacking and synchronous movement of the functional vehicle and the transport vehicle; The safety monitoring system is used to cover the safety monitoring of the whole construction process; The digital twin visualization platform realizes the panoramic visualization of the construction process of the functional vehicle and the transport vehicle through virtual reality fusion technology, and assists the operator to adjust the double-car cooperation operation in real time.

[0006] In the preferred scheme, the structure of the erection equipment is: At least two groups of first mobile lifting columns are slidably connected with a first vehicle frame of the functional vehicle, the two groups of first mobile lifting columns are driven to slide on the first vehicle frame by hydraulic motors, the top of the first mobile lifting column is connected with one end of a jacking cross beam through rotary drive, and a mobile module is arranged on the jacking cross beam and driven to slide on the jacking cross beam by a hydraulic motor; At least two groups of second mobile lifting columns are driven to slide on a second vehicle frame of the transport vehicle by hydraulic motors; The first mobile lifting column and the second mobile lifting column are jacked up by hydraulic cylinders; A plurality of first wheel groups are arranged at the bottom of the first vehicle frame, and a plurality of second wheel groups are arranged at the bottom of the second vehicle frame, the first wheel groups and the second wheel groups are hydraulic lifting wheel groups, and steering mechanisms are arranged at the top of the first wheel groups and the second wheel groups.

[0007] In the preferred scheme, a multi-point leveling system and a synchronous sliding system are further included, The multi-point leveling system is used to adjust the levelness of the functional vehicle and the transport vehicle and keep the height consistent; The synchronous sliding system is used to control the sliding positions of the first mobile lifting columns, the second mobile lifting columns and the mobile module on the functional vehicle and the transport vehicle.

[0008] In the preferred scheme, the guidance alignment system further comprises a plurality of Beidou antennas, laser ranging sensors, angle sensors, 3D cameras and a plurality of oil displacement cylinder displacement sensors; First and second Beidou antennas are arranged at the two ends of the second vehicle frame of the transport vehicle, and third and fourth Beidou antennas are arranged at the two ends of the first vehicle frame of the functional vehicle; The first frame of the functional vehicle is equipped with laser rangefinders at both ends of its side. An angle sensor is installed on the first movable lifting column and the lifting crossbeam of the functional vehicle to measure their rotation positions. A 3D camera is installed on the first or / and second movable lifting column of the functional vehicle or / and transport vehicle; A second sliding cylinder displacement sensor is installed on the moving module on the lifting beam; The first sliding cylinder displacement sensor is installed on both the first and second movable lifting columns.

[0009] In the preferred embodiment, the synchronous lifting system is connected to the first movable lifting column and the second movable lifting column, and the synchronous lifting system is also connected to multiple second dual-axis tilt sensors, which are installed on the lifting beam. The first and second movable lifting columns are equipped with a lifting cylinder displacement sensor group and a lifting cylinder pressure sensor group, which are connected to the synchronous lifting system.

[0010] In the preferred embodiment, the synchronous walking system is connected to the first BeiDou antenna, the second BeiDou antenna, the third BeiDou antenna, and the fourth BeiDou antenna; The laser rangefinders at both ends of the side of the first frame are connected to the synchronous walking system; The synchronous walking system is connected to the first and second wheel groups and controls their movement.

[0011] In the preferred embodiment, the multi-point leveling system is connected to multiple first dual-axis tilt sensors and second dual-axis tilt sensors; The first wheel assembly is equipped with a first suspension cylinder displacement sensor and a first suspension cylinder displacement sensor. The suspension cylinder displacement sensors on the first and second wheel groups are connected to the multi-point leveling system.

[0012] In the preferred embodiment, the synchronous sliding system is connected to multiple first sliding cylinder displacement sensors and multiple second sliding cylinder displacement sensors. The synchronous sliding system controls the synchronous sliding of the first movable lifting column, the second movable lifting column, and the movable module.

[0013] The method includes: S1: Dual-vehicle guidance, alignment, and leveling preparation. The front and rear positions of the two vehicles are detected by the first and second Beidou antennas installed on both sides of the transport vehicle and the third and fourth Beidou antennas on both sides of the functional vehicle. By combining two laser rangefinders on the side of the first frame of the functional vehicle to detect the relative distance between the two vehicles, the first and second wheel sets of the two vehicles are adjusted to keep the two vehicles parallel and aligned front and back, and the first, second, third, and fourth Beidou antennas are arranged in a rectangular shape. S2: Dual-vehicle leveling and height calibration. Using the first dual-axle tilt sensor installed on the transport vehicle and the functional vehicle, the pitch and roll angles of both vehicles are detected, and the tilt data is converted into control displacements for the wheel set suspension cylinders. Combined with the first suspension cylinder displacement sensor on the second wheel set suspension cylinder of the transport vehicle and the first suspension cylinder displacement sensor on the first wheel set suspension cylinder of the functional vehicle, the extension and retraction of the suspension cylinders are gradually adjusted to level the two vehicles. Simultaneously, calibration using the suspension cylinder displacement sensor ensures that the height of the functional vehicle matches that of the transport vehicle. The second suspension cylinder pressure sensor detects cylinder pressure to prevent "false starts." S3: Precise docking of two vehicles. The displacement sensors of the second movable lifting column on the transport vehicle and the first movable lifting column on the first movable lifting column control the alignment of the positions of the second movable lifting column and the first movable lifting column of the two vehicles. The displacement sensor group of the lifting cylinder on the inner / outer cylinder of the second moving lifting column of the transport vehicle controls the height alignment of the moving lifting columns of the two vehicles. Using the rotation angle sensor on the slewing drive of the functional vehicle, the lifting beam is controlled to rotate to a vertical state, so that its end extends to the side of the transport vehicle; the 3D camera on the top of the second moving lifting column of the transport vehicle detects the position of the end of the lifting beam. Once the target is met, the quick clamping device of the transport vehicle is activated to clamp the end of the lifting beam, thus completing the docking of the two vehicles. S4: Synchronous sliding adjustment of the cover beam. After the cover beam is rotated 90° and the spreader beam is installed, the first and second moving lifting columns are controlled to slide synchronously through multiple first sliding cylinder displacement sensors to avoid twisting of the lifting beam. Then, by using the displacement sensor of the second sliding cylinder on the sliding cylinder of the functional vehicle moving module, the moving module is controlled to slide to the position where the cover beam is lifted. S5: Synchronous lifting of the cap beam. Combining the cylinder displacement data collected by the lifting cylinder displacement sensor group, the second moving lifting column of the transport vehicle and the first moving lifting column of the functional vehicle are controlled to lift the cap beam to the designated height. During the process, the levelness of the two crossbeams is detected by the second dual-axis tilt sensor on the lifting crossbeam, and the cylinder pressure is detected by the lifting cylinder pressure sensor group to ensure stable lifting. After the cap beam is lifted, the moving module is moved synchronously by the displacement sensor of the second sliding cylinder to the position of the road center gap; S6: The two vehicles move synchronously and the cap beam is positioned. If the cap beam needs to be moved along the bridge direction, the positions of the two vehicles are collected in real time by the first, second, third, and fourth Beidou antennas. Combined with the monitoring of the relative distance between the two vehicles by the laser rangefinder, the drive parameters of the first and second wheel sets are dynamically adjusted to control the synchronous forward and backward movement of the two vehicles and avoid structural distortion. The cap beam is moved to the preset installation position and the positioning is completed. S7: Safety monitoring and visualization feedback throughout the entire construction process. The safety monitoring system collects data in real time from multiple first dual-axis tilt sensors, multiple second dual-axis tilt sensors, multiple lifting cylinder displacement sensor groups, second suspension cylinder pressure sensors, second suspension cylinder pressure sensors, first suspension cylinder displacement sensors, first suspension cylinder displacement sensors, multiple first sliding cylinder displacement sensors, and multiple second sliding cylinder displacement sensors. At the same time, it uses drones and camera modules to obtain panoramic images of the hoisting site. All data and images are transmitted to a digital twin visualization platform to achieve a panoramic visualization of the construction process, assisting operators in adjusting control strategies in real time and providing timely warnings of safety risks.

[0014] The method includes: A1. In the alignment system, the sensor self-test and initial positioning are performed to verify the accuracy of the first Beidou antenna, the second Beidou antenna, the third Beidou antenna, the fourth Beidou antenna and the laser ranging sensor. The initial positions of the functional vehicle and the transport vehicle are collected through the Beidou positioning algorithm and the data is uploaded to the digital twin visualization platform. A2. The two vehicles are precisely aligned. The PID position control algorithm is used to adjust the wheel group to achieve initial parallelism. The relative distance is finely adjusted by combining the laser ranging algorithm. Then, the first and second moving and lifting columns are aligned by the displacement closed-loop control algorithm. The beam docking and clamping is achieved by using a PID rotation control algorithm to drive the lifting beam vertically, positioning it through a feature point matching algorithm, and triggering a rapid clamping device to complete the docking. A3. In the security monitoring system, sensor data is collected at 100-120ms / time, and panoramic images are simultaneously collected at 25-30 frames / second via drone and camera modules. Standard datasets are generated using Kalman filtering algorithm and image denoising algorithm. Risk warning and control: a safety threshold judgment algorithm is used to identify sensors exceeding thresholds, and the YOLO target detection algorithm is used to identify people / obstacles, triggering graded warnings. The data association analysis algorithm is used to locate the cause and generate emergency instructions. Results verification and archiving: Verify the risk elimination status; after construction, use data integration algorithms to integrate sensor data and UAV images to generate a safety report and archive it. A4. In the digital twin visualization platform, the model and parameters are initialized, the 3D models of the construction scene of the functional vehicle 1 and the transport vehicle 2 are loaded, sensor thresholds and UAV monitoring parameters are imported, and the visualization foundation is built. The data mapping and drone fusion display uses a virtual reality fusion algorithm to map sensor data to the model, and simultaneously overlays panoramic images collected by the drone onto the corresponding viewpoint of the model using an image perspective transformation algorithm, achieving a triple synchronous display of "physical equipment + drone real scene - virtual model", supporting multi-view switching. Assist in decision-making and archiving: use decision tree algorithms to analyze the causes of deviations / early warnings and issue optimization instructions; archive sensor data, UAV images, and model animations after construction and generate summary reports.

[0015] This invention provides a dual-vehicle collaborative auxiliary control system and method for modular erection equipment. Addressing the operational challenges of guided alignment, precise connection, multi-point leveling, synchronous lifting, and synchronous movement in dual-vehicle collaborative scenarios for modular erection equipment, this invention utilizes technologies such as BeiDou high-precision positioning, LiDAR and visual fusion perception, and multi-machine posture synchronous modeling and error compensation. It develops an intelligent monitoring system for lifting equipment based on the Internet of Things and artificial intelligence, integrating high-precision tilt and load sensors and visual recognition devices to collect key parameters such as equipment operating posture, hydraulic system pressure, and braking status in real time. This leads to a dual-vehicle collaborative auxiliary control system and method for modular erection equipment, improving the flexibility and convenience of equipment operation, thereby increasing construction efficiency and ensuring construction safety.

[0016] (1) Install two Beidou antennas at the front and rear of the two vehicles respectively. Through Beidou navigation, assist in controlling the position alignment, precise connection and synchronous movement of the two vehicles, ensuring the parallelism and position coordination of the two vehicles, thereby ensuring alignment efficiency and improving construction efficiency. (2) Install dual-axis tilt sensors on the two vehicle bodies respectively to detect the pitch angle and roll angle of the vehicle body. Then, in combination with the displacement sensor of the active suspension cylinder, adjust the levelness and height of the vehicle to ensure alignment efficiency and improve construction efficiency. (3) Install laser displacement sensors at the front and rear of the two vehicles respectively to detect the alignment and alignment of the two vehicles. Combined with the omnidirectional control of the active suspension wheel set, the alignment of the two vehicles can be further realized, thereby ensuring alignment efficiency and improving construction efficiency. (4) An integrated angle encoder is installed on the rotary drive, which can accurately adjust the rotation angle of the lifting beam to ensure alignment accuracy; (5) Integrate a 3D camera and use the 3D camera vision system to detect the position of the lifting beam, assisting manual docking of the two vehicles and improving the alignment accuracy and speed.

[0017] (6) Install a dual-axis tilt sensor on the lifting beam to detect the pitch and tilt angles of the lifting beam. Then, in combination with the displacement sensor of the lifting cylinder, adjust the levelness and height of the two lifting beams to ensure the synchronous lifting of the two lifting beams and ensure construction safety and efficiency. (7) A pressure sensor is integrated into the lifting cylinder to detect the pressure of the lifting cylinder, thereby enabling precise control of the force and safety conditions during the lifting process; (8) Integrate drones and vision systems to monitor the safety of the hoisting process during hoisting construction by taking off from the drone; (9) Through the data collection of the above multi-sensor, a digital twin system and a safety monitoring system for the entire construction process are established to ensure construction efficiency and safety and to realize the visualization of the construction process. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a structural diagram of the overall composition of the dual-vehicle cooperative auxiliary control system of the modular and modular installation equipment of this invention. Figure 2 This is an axle-view structural diagram of the functional vehicle of the present invention; Figure 3 This is an axonometric structural diagram of the transport vehicle of the present invention; Figure 4 This is a schematic diagram of the arrangement of various sensors in the dual-vehicle cooperative auxiliary control system of the modular and modular equipment of the present invention. Figure 5 This is a schematic diagram illustrating the alignment of the two vehicles guided by the BeiDou system and laser ranging sensor of this invention. Figure 6 This is a schematic diagram illustrating how the multi-point leveling system of the present invention achieves horizontal adjustment and height alignment of two vehicles; Figure 7 This is a schematic diagram of the structure of the functional vehicle and the transport vehicle after initial alignment. Figure 8 This is a schematic diagram of the structure after the functional vehicle and the transport vehicle of the present invention have been precisely connected; Figure 9 This is a schematic diagram of the structure of the dual-vehicle cooperative lifting of the cover beam of the present invention; Figure 10 This is a schematic diagram of the structure of the present invention that lifts the cap beam to the center seam of the road; Figure 11 This is a schematic diagram of the structure of the present invention, which moves the cover beam to a preset installation position.

[0019] In the diagram: Functional vehicle 1; First frame 101; First wheel set 102; First movable lifting column 103; Rotary drive 104; Lifting crossbeam 105; Movable module 106; Transport vehicle 2; Second frame 201; Second wheel set 202; Second movable lifting column 203; Quick clamping device 204; Turntable 205; Cover beam 3; First Beidou antenna 601; Second Beidou antenna 602; Third Beidou antenna 603; Fourth Beidou antenna 604; First dual-axis tilt sensor 701; Second dual-axis tilt sensor 702; Laser rangefinder sensor 801; 3D Camera 901; First suspension cylinder displacement sensor 1101; First suspension cylinder displacement sensor 1102; Second suspension cylinder pressure sensor 1201; Second suspension cylinder pressure sensor 1202; Angle sensor 1301; Lifting cylinder displacement sensor group 1401; Lifting cylinder pressure sensor group 1501; First sliding cylinder displacement sensor 1601; Second sliding cylinder displacement sensor 1602; UAV and camera module 17. Detailed Implementation

[0020] Example 1 like Figures 1-11 As shown, a split modular erection equipment dual-vehicle cooperative auxiliary control system is provided. The erection equipment includes a functional vehicle 1 and a transport vehicle 2. Multiple lifting beams 105 on the functional vehicle 1 and the second movable lifting column 203 on the transport vehicle 2 form a gantry crane erection equipment. The control system includes a guidance and alignment system, a synchronous lifting system, a synchronous walking system, a safety monitoring system, and a digital twin visualization platform; The alignment system is used to achieve precise alignment and connection between functional vehicle 1 and transport vehicle 2; The synchronous lifting system and synchronous walking system are used to control the synchronous lifting and synchronous movement of functional vehicle 1 and transport vehicle 2; The safety monitoring system is used to cover safety monitoring throughout the entire construction process; The digital twin visualization platform uses virtual reality fusion technology to achieve panoramic visualization of the construction process of functional vehicle 1 and transport vehicle 2, assisting operators in adjusting the collaborative control of the two vehicles in real time.

[0021] This system is compatible with modular erection equipment consisting of a functional vehicle (1) and a transport vehicle (2). The multiple lifting beams (105) on the functional vehicle (1) and the second movable lifting column (203) on the transport vehicle (2) together constitute the gantry hoisting erection equipment, which can meet the erection requirements of components such as piers and cap beams in bridge prefabricated construction. The core of the system includes five major functional modules: the alignment system is responsible for achieving parallel alignment and precise structural connection of the functional vehicle (1) and the transport vehicle (2) through multi-sensor collaboration, laying the foundation for subsequent cooperation between the two vehicles; the synchronous lifting system controls the synchronous movement of the lifting structure of the functional vehicle (1) and the transport vehicle (2) by collecting real-time data on cylinder displacement, pressure and tilt angle, ensuring the smooth lifting of components; the synchronous walking system relies on positioning and ranging technology to dynamically adjust the driving parameters of the two vehicle wheelsets, achieving synchronous advance and retreat of the two vehicles and precise transfer of components; the safety monitoring system collects equipment posture, hydraulic pressure, displacement and environmental image data throughout the process, and promptly warns of risks through threshold judgment to ensure construction safety; the digital twin visualization platform is based on virtual reality fusion technology, which maps the construction process and sensor data of physical equipment to the virtual model in real time, realizing panoramic visualization display, assisting operators to intuitively grasp the status of the two vehicles and adjust the control strategy.

[0022] In the preferred embodiment, the structure of the erected equipment is as follows: At least two sets of first movable lifting columns 103 are slidably connected to the first frame 101 of the functional vehicle 1. The two sets of first movable lifting columns 103 are driven by hydraulic motors to slide on the first frame 101. The top of the first movable lifting column 103 is connected to one end of the lifting beam 105 through a rotary drive 104. The lifting beam 105 is provided with a movable module 106. The movable module 106 is driven by a hydraulic motor to slide on the lifting beam 105. At least two sets of second movable lifting columns 203 slide on the second frame 201 of the transport vehicle 2 via hydraulic motors; Both the first movable lifting column 103 and the second movable lifting column 203 are lifted by hydraulic cylinders; The bottom of the first frame 101 is provided with multiple sets of first wheel sets 102, and the bottom of the second frame 201 is also provided with multiple sets of second wheel sets 202. Both the first wheel sets 102 and the second wheel sets 202 are hydraulic lifting wheel sets, and the top of the first wheel sets 102 and the second wheel sets 202 are provided with steering mechanisms.

[0023] This system is compatible with modular erection equipment consisting of a functional vehicle 1 and a transport vehicle 2. The multiple lifting beams 105 on the functional vehicle 1 and the second movable lifting column 203 on the transport vehicle 2 together constitute the gantry crane erection equipment, which can meet the erection requirements of components such as piers and cap beams in bridge prefabricated construction. The core of the system comprises five major functional modules: the alignment system, which uses multi-sensor collaboration to achieve parallel alignment and precise structural connection between functional vehicle 1 and transport vehicle 2, laying the foundation for subsequent collaboration between the two vehicles; the synchronous lifting system, which controls the synchronous movement of the lifting structures of functional vehicle 1 and transport vehicle 2 by real-time acquisition of cylinder displacement, pressure, and tilt angle data, ensuring stable lifting of components; the synchronous walking system, relying on positioning and ranging technology, dynamically adjusts the drive parameters of the two vehicle wheelsets to achieve synchronous forward and backward movement of the two vehicles and precise transfer of components; the safety monitoring system, which collects equipment posture, hydraulic pressure, displacement, and environmental image data throughout the process, and uses threshold judgment to provide timely warnings of risks, ensuring construction safety; and the digital twin visualization platform, based on virtual reality fusion technology, maps the construction process and sensor data of the physical equipment to a virtual model in real time, achieving panoramic visualization and assisting operators in intuitively grasping the status of the two vehicles and adjusting control strategies.

[0024] This system, through multi-technology collaboration of the alignment system, solves the problems of low efficiency and poor accuracy in dual-vehicle alignment under traditional manual command, significantly shortening alignment time and improving construction efficiency. Precise control of the synchronous lifting and synchronous walking systems ensures coordinated movements of functional vehicle 1 and transport vehicle 2, avoiding uneven stress on components or structural distortion, and guaranteeing construction accuracy and component safety. The safety monitoring system's full-process monitoring and tiered early warning can promptly identify risks such as "false legs," overload, and personnel intrusion, reducing construction safety hazards. The panoramic display and decision-making support functions of the digital twin visualization platform allow operators to intuitively grasp the construction status, reducing misoperation caused by information asymmetry and improving ease of operation. Overall, the system effectively balances efficiency and safety in bridge prefabricated construction, adapts to complex construction scenarios such as highway reconstruction and expansion, and provides reliable technical support for the efficient collaboration of modular erection equipment.

[0025] The preferred solution also includes a multi-point leveling system and a synchronous sliding system. The multi-point leveling system is used to ensure that the level and height of the functional vehicle 1 and the transport vehicle 2 are consistent. The synchronous sliding system is used to control the sliding positions of the first movable lifting column 103, the second movable lifting column 203, and the movable module 106 on the functional vehicle 1 and the transport vehicle 2.

[0026] The core of this modular erection equipment consists of a functional vehicle 1 and a transport vehicle 2. At least two sets of first movable lifting columns 103 are slidably connected to the first frame 101 of the functional vehicle 1. These two sets of columns are driven by hydraulic motors to slide along the length of the frame, and the spacing can be adjusted according to the component size. The top of each first movable lifting column 103 is connected to one end of a lifting beam 105 via a rotary drive 104, allowing the lifting beam 105 to rotate 360° to accommodate different docking angles. A movable module 106 on the lifting beam 105 is driven by a hydraulic motor to slide, allowing for fine-tuning of the component support position. On the second frame 201 of the transport vehicle 2, at least two sets of second movable lifting columns 203 are driven by hydraulic motors to slide, working in conjunction with the first movable lifting columns 103 of the functional vehicle 1 to support the components. Simultaneously, both the first and second movable lifting columns 103 rely on hydraulic cylinders for height lifting, meeting different erection height requirements. In addition, the multiple sets of first wheel sets 102 at the bottom of the first frame 101 and the multiple sets of second wheel sets 202 at the bottom of the second frame 201 are all hydraulic lifting wheel sets, which can be independently adjusted in height to adapt to uneven ground, and the steering mechanism on the top of the wheel set supports omnidirectional travel, improving the equipment's passability in complex construction scenarios.

[0027] When using this erection equipment, firstly, based on the size and support requirements of the component to be erected, such as a cap beam, the first movable lifting column 103 of the functional vehicle 1 is driven by a hydraulic motor to slide on the first frame 101, and the second movable lifting column 203 of the transport vehicle 2 is driven by a hydraulic motor to slide on the second frame 201, adjusting the distance between the two sets of columns to a position suitable for supporting the component; then, the hydraulic lifting function and steering mechanism of the first wheel set 102 and the second wheel set 202 are operated to drive the functional vehicle 1 and the transport vehicle 2 to the component storage location, and the vehicle body angle is adjusted by the steering mechanism to align the lifting beam 105 with the component; subsequently... The rotary drive 104 is activated to adjust the rotation angle of the lifting beam 105. In conjunction with the hydraulic motor drive of the moving module 106 on the lifting beam 105, the moving module 106 is slid to precisely contact the component support point. Then, the hydraulic cylinders of the first moving lifting column 103 and the second moving lifting column 203 are controlled to lift the component off the ground to a safe height. Finally, the steering and driving functions of the first wheel set 102 and the second wheel set 202 are used to control the two vehicles to travel synchronously to the component installation position. After fine-tuning the column height, the position of the moving module 106 and the vehicle body angle, the component is slowly lowered to complete the erection.

[0028] In the preferred embodiment, the alignment system also includes multiple BeiDou antennas, a laser rangefinder sensor 801, a rotation sensor 1301, a 3D camera 901, and multiple oil cylinder displacement sensors. The second frame 201 of the transport vehicle 2 is equipped with a first Beidou antenna 601 and a second Beidou antenna 602 at both ends, and the first frame 101 of the functional vehicle 1 is equipped with a third Beidou antenna 603 and a fourth Beidou antenna 604 at both ends. Laser rangefinders 801 are respectively installed at both ends of the side of the first frame 101 of the functional vehicle 1; An angle sensor 1301 is installed on the first movable lifting column 103 and the lifting crossbeam 105 on the functional vehicle 1 to measure their rotational positions. A 3D camera 901 is installed on the first movable lifting column 103 and / or the second movable lifting column 203 of the functional vehicle 1 or / and the transport vehicle 2; A second sliding cylinder displacement sensor 1602 is installed on the moving module 106 on the lifting beam 105; A first sliding cylinder displacement sensor 1601 is installed on both the first movable lifting column 103 and the second movable lifting column 203.

[0029] The system includes multiple BeiDou antennas, a laser rangefinder sensor 801, an angle sensor 1301, a 3D camera 901, and multiple sliding cylinder displacement sensors. The second frame 201 of the transport vehicle 2 is equipped with a first BeiDou antenna 601 and a second BeiDou antenna 602 at both ends, respectively. The first frame 101 of the functional vehicle 1 is equipped with a third BeiDou antenna 603 and a fourth BeiDou antenna 604 at both ends for real-time acquisition of the position coordinates of the two vehicles. A laser rangefinder sensor 801 is installed at each end of the side of the first frame 101 of the functional vehicle 1 to assist in calibrating the relative distance between the two vehicles. An angle sensor 1301 is installed at the rotational connection between the first movable lifting column 103 and the lifting beam 105 of the functional vehicle 1 to monitor the rotation angle of the lifting beam 105. The 3D camera 901 is installed on the first movable lifting column 103 or / and / The second movable lifting column 203 of the transport vehicle 2 is used to position the docking position between the lifting beam 105 and the column; among the sliding cylinder displacement sensors, the first sliding cylinder displacement sensor 1601 is installed on the first movable lifting column 103 and the second movable lifting column 203 respectively to monitor the sliding displacement of the column, and the second sliding cylinder displacement sensor 1602 is arranged on the movable module 106 of the lifting beam 105 to detect the sliding position of the module.

[0030] First, initiate the sensor self-test of the alignment system to ensure that the signals of the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604 are stable, and that the data acquisition of the laser rangefinder 801, the angle sensor 1301, the 3D camera 901, the first sliding cylinder displacement sensor 1601, and the second sliding cylinder displacement sensor 1602 is normal.

[0031] Subsequently, the real-time position coordinates of the functional vehicle 1 and the transport vehicle 2 are collected by four sets of Beidou antennas, and the two vehicles are initially moved to make the first frame 101 and the second frame 201 roughly parallel. At this time, the laser range sensor 801 on the side of the first frame 101 of the functional vehicle 1 is activated to detect the relative distance between the two vehicles. Combined with the Beidou positioning data, the wheel sets of the two vehicles are finely adjusted to ensure that the two vehicles are aligned front and back and the spacing error meets the requirements. Next, based on the requirements of the components to be docked, the displacement is monitored by the first sliding cylinder displacement sensor 1601, and the first moving lifting column 103 is controlled to slide on the first frame 101 and the second moving lifting column 203 on the second frame 201 to adjust the column spacing. At the same time, with the angle data fed back by the angle sensor 1301, the rotary structure at the top of the first moving lifting column 103 is driven to rotate the lifting beam 105 to the target angle. The 3D camera 901 captures the relative position of the lifting beam 105 and the column in real time, guiding the two to accurately dock. If the component support point needs to be finely adjusted, the displacement of the moving module 106 is monitored by the second sliding cylinder displacement sensor 1602, and it is controlled to slide on the lifting beam 105 to the designated position to complete the guided alignment process.

[0032] The deployment of multiple BeiDou antennas enables real-time acquisition of high-precision position information for both vehicles. Combined with distance calibration using the laser rangefinder 801, this solves the problems of low efficiency and poor accuracy associated with traditional manual alignment, significantly reducing vehicle alignment time and improving construction efficiency. The coordinated use of the angle sensor 1301 and the 3D camera 901 precisely controls the rotation angle and docking position of the lifting beam 105, preventing docking failures due to angular deviations and ensuring structural connection stability. The first sliding cylinder displacement sensor 1601 and the second sliding cylinder displacement sensor 1602 monitor the sliding displacement of the column and the moving module 106 respectively, enabling precise control of the actions of each component. This adapts to the erection requirements of components of different sizes and types, improving system versatility. Furthermore, the integrated design of the sensors and equipment structure eliminates the need for additional complex devices, balancing ease of operation and structural compactness. This allows it to adapt to complex construction scenarios such as highway reconstruction and expansion, providing reliable technical support for the efficient collaboration of modular erection equipment.

[0033] In the preferred embodiment, the synchronous lifting system is connected to the first movable lifting column 103 and the second movable lifting column 203, and the synchronous lifting system is also connected to multiple second dual-axis tilt sensors 702, which are mounted on the lifting beam 105. The first movable lifting column 103 and the second movable lifting column 203 are equipped with a lifting cylinder displacement sensor group 1401 and a lifting cylinder pressure sensor group 1501, which are connected to the synchronous lifting system.

[0034] The synchronous lifting system is directly connected to the first movable lifting column 103 of the functional vehicle 1 and the second movable lifting column 203 of the transport vehicle 2, achieving coordinated lifting by controlling the lifting actions of the two sets of columns. Simultaneously, the synchronous lifting system is also connected to multiple second dual-axis tilt sensors 702 installed on the lifting beam 105, which can collect real-time data on the pitch and tilt angles of the lifting beam 105 to ensure that the beam remains horizontal during the lifting process. Furthermore, both the first movable lifting column 103 and the second movable lifting column 203 are equipped with a lifting cylinder displacement sensor group 1401 and a lifting cylinder pressure sensor group 1501, and both groups of sensors are connected to the synchronous lifting system. The lifting cylinder displacement sensor group 1401 monitors the extension and retraction displacement of the column lifting cylinder, providing real-time feedback on the column lifting height, while the lifting cylinder pressure sensor group 1501 detects changes in pressure within the cylinder, preventing the risk of "false lifting" or overload.

[0035] During operation, the synchronous lifting system and associated sensors are first activated for self-testing to confirm that the data acquisition functions of the lifting cylinder displacement sensor group 1401, the lifting cylinder pressure sensor group 1501, and the second dual-axis tilt sensor 702 are normal, and that there is no leakage in the cylinders of the first moving lifting column 103 and the second moving lifting column 203. After the alignment system completes the docking of the two vehicles and the components, the synchronous lifting system sends initial lifting commands to the lifting cylinders of the first moving lifting column 103 and the second moving lifting column 203 according to the lifting height requirements of the components. At this time, the lifting cylinder displacement sensor group 1401 collects the cylinder displacement data of the two sets of columns in real time and feeds the data back to the synchronous lifting system. The system dynamically adjusts the oil supply rate of the cylinders by comparing the displacement difference between the two sets to ensure that the lifting speed of the two sets of columns is consistent and to avoid the components tilting due to the height difference. During the lifting process, the second dual-axis tilt sensor 702 installed on the lifting beam 105 continuously monitors the tilt angle change of the beam. If the pitch angle or side tilt angle exceeds the safety threshold, the synchronous lifting system immediately triggers the tilt angle correction mechanism. By finely adjusting the lifting amount of the corresponding column cylinder, the beam is restored to a horizontal state. At the same time, the lifting cylinder pressure sensor group 1501 monitors the cylinder pressure in real time. If the pressure of a certain cylinder is lower than the safety value or higher than the overload threshold, the system immediately suspends the lifting action, prioritizes adjusting the pressure to the safe range, and resumes the lifting command after both the pressure and tilt angle meet the requirements until the component is lifted to the target height.

[0036] The direct connection between the synchronous jacking system and the two sets of movable lifting columns, combined with the real-time displacement feedback from the jacking cylinder displacement sensor group 1401, achieves precise synchronization of the column jacking action. This solves the height difference problem that easily occurs in traditional independent jacking, ensuring uniform stress on the components during the jacking process and preventing damage caused by excessive local stress. The second dual-axis tilt sensor 702 monitors the tilt angle of the jacking crossbeam 105 in real time, promptly capturing the horizontal deviation of the crossbeam. Through dynamic system correction, it ensures construction accuracy, making it particularly suitable for the erection of components with stringent horizontal requirements, such as cap beams. In addition, the pressure monitoring function of the jacking cylinder pressure sensor group 1501 can effectively prevent safety risks such as "false legs" and cylinder overload, reducing the incidence of construction accidents. The collaborative work of each sensor and the synchronous jacking system forms a "displacement-tilt-pressure" triple monitoring closed loop, which not only improves the stability and safety of the jacking process but also reduces the frequency of manual intervention, significantly improving construction efficiency and adapting to the component erection needs in complex construction environments such as highway reconstruction and expansion.

[0037] In the preferred embodiment, the synchronous walking system is connected to the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604; The laser rangefinders 801 at both ends of the side of the first frame 101 are connected to the synchronous walking system; The synchronous walking system is connected to the first wheel group 102 and the second wheel group 202 to control the walking of the first wheel group 102 and the second wheel group 202.

[0038] The synchronous walking system establishes data connections with the first Beidou antenna 601 and the second Beidou antenna 602 at both ends of the second frame 201 of the transport vehicle 2, and the third Beidou antenna 603 and the fourth Beidou antenna 604 at both ends of the first frame 101 of the functional vehicle 1, respectively, and obtains the high-precision position coordinates of the two vehicles in real time through the four sets of Beidou antennas. At the same time, the synchronous walking system is also connected to the laser rangefinder 801 at both ends of the side of the first frame 101 of the functional vehicle 1 to receive the relative distance data between the two vehicles fed back by the sensor. In addition, the synchronous walking system is directly connected to the first wheel set 102 at the bottom of the functional vehicle 1 and the second wheel set 202 at the bottom of the transport vehicle 2, and can output drive and steering control commands to regulate the wheel set movement.

[0039] During use, the synchronous walking system and associated equipment are first self-checked to confirm that the signal strength and positioning accuracy of the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604 meet the standards, the data acquisition function of the laser rangefinder 801 is normal, and the hydraulic drive and steering mechanisms of the first wheel set 102 and the second wheel set 202 are fault-free. After the synchronous lifting system lifts the component to a safe height, the synchronous walking system collects the current position of the functional vehicle 1 and the transport vehicle 2 in real time through the four sets of Beidou antennas according to the coordinate parameters of the target installation position of the component, calculates the displacement difference between the two vehicles and the target position and the travel route; at the same time, the laser rangefinder 801 continuously detects the relative distance between the two vehicles to ensure that the two vehicles maintain a preset distance during the movement. Subsequently, the synchronous walking system sends coordinated drive commands to the first wheel group 102 and the second wheel group 202, controlling both wheel groups to move at the same speed. If the Beidou positioning data shows that one vehicle deviates from the preset route, or the laser ranging sensor 801 detects that the relative distance between the two vehicles exceeds the error range, the system immediately fine-tunes the drive speed and steering angle of the corresponding wheel group to correct the positional deviation of the two vehicles. When approaching the target installation position, the synchronous walking system reduces the speed of the wheel groups, and combined with the high-precision positioning of the Beidou antenna and the distance calibration of the laser ranging sensor 801, gradually and accurately parks the two vehicles in the designated position, laying the foundation for the subsequent component installation.

[0040] The beneficial effects of this solution are reflected in three aspects: First, through the collaboration of four sets of Beidou antennas and laser ranging sensor 801, a dual monitoring system of "absolute position + relative distance" is formed, which solves the problems of asynchrony and route deviation that are prone to occur in the traditional manual command of the two vehicles, ensuring the accuracy of the two vehicles' travel trajectory and the stability of the component transportation process; Second, the synchronous walking system directly controls the first wheel group 102 and the second wheel group 202, which can dynamically correct the wheel group's movement in real time, avoiding travel deviations caused by uneven ground or uneven load, and is especially suitable for the walking needs of complex sites such as highway reconstruction and expansion; Third, there is no need for frequent manual intervention in the walking rhythm of the two vehicles, which greatly reduces the labor intensity of operators, while shortening the transportation time of components from lifting to the installation position, improving the overall construction efficiency, and ensuring the safety and accuracy of the modular erection equipment in the collaborative movement process.

[0041] In the preferred embodiment, the multi-point leveling system is connected to multiple first dual-axis tilt sensors 701 and second dual-axis tilt sensors 702; The first suspension cylinder displacement sensor 1101 and the first suspension cylinder displacement sensor 1102 are installed on the first wheel assembly 102; The suspension cylinder displacement sensors on the first and second wheel groups 102 and 202 are connected to the multi-point leveling system.

[0042] The multi-point leveling system establishes data connections with multiple first dual-axis tilt sensors 701 and second dual-axis tilt sensors 702, respectively, and collects equipment level status data in real time through the two types of sensors. At the same time, the first wheel set 102 of the functional vehicle 1 is equipped with a first suspension cylinder displacement sensor 1101 and a first suspension cylinder displacement sensor 1102, and all suspension cylinder displacement sensors on the first wheel set 102 and the second wheel set 202 of the transport vehicle 2 are connected to the multi-point leveling system, providing displacement feedback for the leveling action and forming a leveling closed loop of "tilt detection - displacement control".

[0043] During use, the multi-point leveling system and associated sensors are first activated for self-testing to confirm that the tilt angle acquisition accuracy of the first dual-axis tilt sensor 701 and the second dual-axis tilt sensor 702 meets the standards, that there are no abnormal data from the first suspension cylinder displacement sensor 1101, the first suspension cylinder displacement sensor 1102, and the suspension cylinder displacement sensors on the second wheel set 202, and that the suspension cylinder drive functions of the first wheel set 102 and the second wheel set 202 are normal. After the two vehicles enter the construction area or complete the initial alignment, the first dual-axis tilt sensor 701 and the second dual-axis tilt sensor 702 synchronously detect the pitch and roll angles of the functional vehicle 1 and the transport vehicle 2, and transmit the tilt angle data to the multi-point leveling system in real time. The system calculates the extension / retraction amount that each wheel set suspension cylinder needs to be adjusted based on a preset levelness threshold. Subsequently, the multi-point leveling system sends control commands to the suspension cylinders of the first wheel set 102 and the second wheel set 202. At the same time, it monitors the extension and retraction displacement of the cylinders in real time through the first suspension cylinder displacement sensor 1101, the first suspension cylinder displacement sensor 1102, and the suspension cylinder displacement sensor of the second wheel set 202, and dynamically corrects the control commands. If the tilt angle of a certain wheel set exceeds the standard, the system increases the extension of the suspension cylinder on that side until the first dual-axis tilt sensor 701 and the second dual-axis tilt sensor 702 detect that the levelness of the two vehicles meets the requirements. In addition, during the leveling process, the system also ensures that the height of the functional vehicle 1 and the transport vehicle 2 is consistent through the feedback data of the suspension cylinder displacement sensors, laying the foundation for subsequent guidance, alignment, and synchronous lifting.

[0044] In the preferred embodiment, the synchronous sliding system is connected to multiple first sliding cylinder displacement sensors 1601 and multiple second sliding cylinder displacement sensors 1602. The synchronous sliding system controls the synchronous sliding of the first movable lifting column 103, the second movable lifting column 203, and the movable module 106.

[0045] The synchronous sliding system establishes data connections with multiple first sliding cylinder displacement sensors 1601 and multiple second sliding cylinder displacement sensors 1602, respectively, and collects displacement data of the sliding components in real time through the two types of sensors. At the same time, the synchronous sliding system directly outputs control commands to regulate the sliding movements of the first movable lifting column 103 of the functional vehicle 1, the second movable lifting column 203 of the transport vehicle 2, and the movable module 106 on the lifting beam 105 of the functional vehicle 1, ensuring that the three maintain coordination during the sliding process.

[0046] In use, the synchronous sliding system and associated sensors are first activated for self-testing to confirm that the data acquisition accuracy of the first sliding cylinder displacement sensor 1601 and the second sliding cylinder displacement sensor 1602 meets the standards, and that the sliding drive mechanisms of the first moving lifting column 103, the second moving lifting column 203, and the moving module 106 are free from jamming or leakage. During the alignment stage, based on the size of the component to be erected and the position of the support point, the synchronous sliding system receives the target displacement parameters and monitors the displacement in real time through the first sliding cylinder displacement sensor 1601. It then controls the first moving lifting column 103 to slide along the first frame 101 of the functional vehicle 1 and the second moving lifting column 203 to slide along the second frame 201 of the transport vehicle 2, adjusting the distance between the two sets of columns to match the size of the component support. If it is necessary to fine-tune the support position of the component on the lifting beam 105, the synchronous sliding system controls the moving module 106 to slide along the lifting beam 105 to the designated support point through the displacement data of the moving module 106 fed back by the second sliding cylinder displacement sensor 1602. During the stage of moving components after synchronous lifting, if it is necessary to adjust the lateral position of the components, such as aligning them with the center seam of the road, the synchronous sliding system will once again coordinate the control of the first moving lifting column 103, the second moving lifting column 203, and the moving module 106 to slide. During the process, the displacement difference of each component is compared in real time through two types of displacement sensors, and the sliding speed is dynamically corrected to ensure that the three are synchronized and to avoid the lifting beam 105 from twisting or the components from shifting due to asynchronous sliding.

[0047] Example 2 Further explanation in conjunction with Example 1, such as Figures 1-4 The structure shown. Guiding alignment system: The core is used to achieve the position alignment and precise connection between functional vehicle 1 and transport vehicle 2. It needs to be equipped with Beidou antenna, laser range sensor, angle sensor, 3D camera, and sliding cylinder displacement sensor. Through multi-device data collaboration, it controls the two vehicles to keep parallel and aligned front and back, and completes the docking of lifting beam 105 and quick clamping device 204. Multi-point leveling system: responsible for adjusting the levelness and height consistency of functional vehicle 1 and transport vehicle 2. It relies on dual-axis tilt sensors, suspension cylinder displacement sensors, and suspension cylinder pressure sensors to convert the vehicle body tilt angle into suspension cylinder control displacement, and simultaneously monitor the cylinder pressure to avoid "false starts" and ensure that the two vehicles are level and height matched. Synchronous Lifting System: Used to control the synchronous lifting of the lifting column of the functional vehicle 1 and the transport vehicle 2 to lift the cover beam 3. It needs to be combined with dual-axis tilt sensors 703 and 704, lifting cylinder displacement sensor group and lifting cylinder pressure sensor group to detect the levelness of the lifting beam 105, cylinder displacement and pressure in real time to ensure the stability and safety of the lifting process. Synchronous walking system: Enables the synchronous advance and retreat of the two vehicles to adjust the position of the cover beam 3. It reuses the Beidou antenna and laser rangefinder to collect the position and relative distance data of the two vehicles in real time, and controls the drive parameters of wheel sets 102 and 202 to avoid structural distortion during the movement of the two vehicles. Synchronous sliding system: controls the synchronous sliding of the moving lifting column and the moving module 106 to prevent the lifting beam 105 from twisting. The core relies on the sliding cylinder displacement sensor, which realizes "separate control and synchronous action" by detecting the sliding position. Safety monitoring system: Covers the entire construction process for safety monitoring, integrating dual-axis tilt sensors, lifting cylinder displacement sensor group, suspension cylinder pressure sensor, sliding cylinder displacement sensor and drone and camera module 17, to monitor equipment attitude, hydraulic pressure and structural position in real time, and avoid risks such as horizontal imbalance, abnormal pressure and blind spots. Digital Twin Visualization Platform: As the core of system data integration and display, it uses virtual reality fusion technology to map the position, angle, pressure, displacement and other data collected by the six subsystems onto the digital model of the construction scene and equipment, realizing panoramic visualization of the construction process and assisting operators to adjust the dual-vehicle collaborative control strategy in real time.

[0048] Example 3 Further explanation in conjunction with Example 1, such as Figures 1-11 As shown in the structure, S1: Dual-vehicle guidance, alignment and leveling preparation, the front and rear positions of the two vehicles are detected by the first Beidou antenna 601 and the second Beidou antenna 602 installed on both sides of the transport vehicle 2 and the third Beidou antenna 603 and the fourth Beidou antenna 604 installed on both sides of the functional vehicle 1 respectively. By combining the two laser rangefinders 801 on the side of the first frame 101 of the functional vehicle 1 to detect the relative distance between the two vehicles, the first wheel set 102 and the second wheel set 202 of the two vehicles are adjusted to keep the two vehicles parallel and aligned front and back, and the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604 are arranged in a rectangular shape. S2: Dual-vehicle leveling and height calibration. Using the first dual-axle tilt sensor 701 installed on the transport vehicle 2 and the functional vehicle 1, the pitch angle and roll angle of the two vehicles are detected respectively, and the tilt angle data is converted into the control displacement of the wheel set suspension cylinder. Combined with the first suspension cylinder displacement sensor 1101 on the second wheel set 202 suspension cylinder of the transport vehicle 2 and the first suspension cylinder displacement sensor 1102 on the first wheel set 102 suspension cylinder of the functional vehicle 1, the extension and retraction of the suspension cylinders are gradually adjusted to level the two vehicles respectively. At the same time, through the calibration of the suspension cylinder displacement sensor, the height of the functional vehicle 1 is made consistent with that of the transport vehicle 2, and the cylinder pressure is detected by the second suspension cylinder pressure sensor 1201 and the second suspension cylinder pressure sensor 1202 to avoid the occurrence of "false legs". S3: Precise docking of the two vehicles. The displacement sensor 1601 of the first sliding cylinder on the second movable lifting column 203 and the first movable lifting column 103 on the transport vehicle 2 and the functional vehicle 1 controls the alignment of the positions of the second movable lifting column 203 and the first movable lifting column 103 of the two vehicles. The displacement sensor group 1401 on the inner / outer cylinder of the second movable lifting column 203 of the transport vehicle 2 controls the height alignment of the two movable lifting columns by means of the displacement sensor group 1401 on the inner / outer cylinder of the first movable lifting column 103 of the functional vehicle 1. Using the rotation angle sensor 1301 on the rotary drive 104 of the functional vehicle 1, the lifting beam 105 is controlled to rotate to a vertical state, so that its end extends to the side of the transport vehicle 2; the 3D camera 901 on the top of the second moving lifting column 203 of the transport vehicle 2 detects the position of the end of the lifting beam 105. After the target is met, the quick clamping device 204 of the transport vehicle 2 is activated to clamp the end of the lifting beam 105, thus completing the docking of the two vehicles. S4: Synchronous sliding adjustment of the cover beam. After the cover beam 3 is rotated 90° and the spreader beam is installed, the first moving lifting column 103 and the second moving lifting column 203 are controlled to slide synchronously through multiple first sliding cylinder displacement sensors 1601 to avoid twisting of the lifting beam 105. Then, the second sliding cylinder displacement sensor 1602 on the sliding cylinder of the moving module 106 of the functional vehicle 1 controls the moving module 106 to slide to the lifting position of the cover beam 3. S5: Synchronous lifting of the cover beam. Combining the cylinder displacement data collected by the lifting cylinder displacement sensor group 1401, the second mobile lifting column 203 of the transport vehicle 2 and the first mobile lifting column 103 of the functional vehicle 1 are controlled to lift the cover beam 3 to the designated height. During the process, the levelness of the two crossbeams is detected by the second dual-axis tilt sensor 702 on the lifting crossbeam 105, and the cylinder pressure is detected by the lifting cylinder pressure sensor group 1501 to ensure stable lifting. After the cover beam 3 is lifted, the moving module 106 is controlled to slide synchronously by the displacement sensor 1602 of the second sliding cylinder to move the cover beam 3 to the position of the road center seam. S6: Synchronous movement of the two vehicles and placement of the cap beam. If it is necessary to move the cap beam 3 along the longitudinal direction of the bridge, the positions of the two vehicles are collected in real time by the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604. Combined with the monitoring of the relative distance between the two vehicles by the laser rangefinder sensor 801, the driving parameters of the first wheel group 102 and the second wheel group 202 are dynamically adjusted to control the synchronous forward and backward movement of the two vehicles and avoid structural distortion. The cap beam 3 is moved to the preset installation position and the placement is completed. S7: Safety monitoring and visualization feedback throughout the construction process. The safety monitoring system collects data in real time from multiple first dual-axis tilt sensors 701, multiple second dual-axis tilt sensors 702, multiple lifting cylinder displacement sensor groups 1401, second suspension cylinder pressure sensors 1201 and 1202, first suspension cylinder displacement sensors 1101 and 1102, multiple first sliding cylinder displacement sensors 1601, and multiple second sliding cylinder displacement sensors 1602. At the same time, it uses drones and camera modules 17 to obtain panoramic images of the hoisting site. All data and images are transmitted to the digital twin visualization platform to realize panoramic visualization of the construction process, assist operators in adjusting control strategies in real time, and provide timely warnings of safety risks.

[0049] Example 4 Further explanation in conjunction with Example 1, such as Figures 1-11 As shown in the structure, A1, in the guidance and alignment system, the sensor self-test and initial positioning are performed to verify the accuracy of the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, the fourth Beidou antenna 604 and the laser ranging sensor 801. The initial positions of the functional vehicle 1 and the transport vehicle 2 are collected through the Beidou positioning algorithm and the data is uploaded to the digital twin visualization platform. A2. The two vehicles are precisely aligned. The PID position control algorithm is used to adjust the wheel group to achieve initial parallelism. The relative distance is finely adjusted by combining the laser ranging algorithm. Then, the first moving lifting column 103 and the second moving lifting column 203 are aligned by the displacement closed-loop control algorithm. The crossbeam is clamped and connected. The PID rotation control algorithm drives the lifting crossbeam 105 to be vertical. The feature point matching algorithm is used for positioning, which triggers the quick clamping device 204 to complete the connection. A3. In the security monitoring system, sensor data is collected at 100-120ms / time, and panoramic images are simultaneously collected at 25-30 frames / second via the drone and camera module 17. Standard datasets are generated by Kalman filtering algorithm and image denoising algorithm. Risk warning and control: a safety threshold judgment algorithm is used to identify sensors exceeding thresholds, and the YOLO target detection algorithm is used to identify people / obstacles, triggering graded warnings. The data association analysis algorithm is used to locate the cause and generate emergency instructions. Results verification and archiving: Verify the risk elimination status; after construction, use data integration algorithms to integrate sensor data and UAV images to generate a safety report and archive it. A4. In the digital twin visualization platform, the model and parameters are initialized, the 3D models of the construction scene of the functional vehicle 1 and the transport vehicle 2 are loaded, sensor thresholds and UAV monitoring parameters are imported, and the visualization foundation is built. The data mapping and drone fusion display uses a virtual reality fusion algorithm to map sensor data to the model, and simultaneously overlays panoramic images collected by the drone onto the corresponding viewpoint of the model using an image perspective transformation algorithm, achieving a triple synchronous display of "physical equipment + drone real scene - virtual model", supporting multi-view switching. Assist in decision-making and archiving: use decision tree algorithms to analyze the causes of deviations / early warnings and issue optimization instructions; archive sensor data, UAV images, and model animations after construction and generate summary reports.

[0050] The specific steps are as follows: I. Guided Alignment System Algorithm Steps System initialization and sensor self-test: After the alignment system is started, it first performs self-tests on its sensors, including signal strength detection of the first Beidou antenna 601, the second Beidou antenna 602, the third Beidou antenna 603, and the fourth Beidou antenna 604; zero-point calibration of the laser rangefinder sensor 801; verification of the image acquisition function of the 3D camera 901; angle accuracy verification of the angle sensor 1301; and multiple first sliding cylinder displacement sensors 1601 and second sliding cylinder displacement sensors 1602. After the self-tests are passed, the initial state data is uploaded to the digital twin visualization platform, awaiting collaborative instructions.

[0051] The two vehicles are initially aligned, based on BeiDou positioning: The system receives the target position parameters of the two vehicles from the digital twin visualization platform. The preset distribution is a rectangular shape, meaning that the long sides of the functional vehicle 1 and the transport vehicle 2 are parallel and the front and rear alignment deviation is ≤5mm. The system collects the real-time position coordinates of the front and rear ends of the transport vehicle 2 through the first Beidou antenna 601 and the second Beidou antenna 602, and collects the real-time position coordinates of the front and rear ends of the functional vehicle 1 through the third Beidou antenna 603 and the fourth Beidou antenna 604. The system uses a PID position control algorithm, taking the deviation between the target position and the real-time position as input, to calculate the driving amount of the first wheel set 102 of the functional vehicle 1 and the second wheel set 202 of the transport vehicle 2, including the steering angle and driving speed, and controls the movement of the two vehicles to gradually reduce the position deviation until the two vehicles are initially parallel.

[0052] Precise calibration of the relative distance between the two vehicles, based on laser ranging: The laser rangefinder 801 is activated to collect the relative distance between the front and rear ends of the side of the first frame 101 of the functional vehicle 1 and the side of the second frame 201 of the transport vehicle 2 in real time. The collected distance data is compared with the target relative distance, which is preset to a fixed value with an allowable deviation range of ±2mm. If there is a deviation, a distance correction signal is generated and fed back to the wheel drive module. By fine-tuning the driving speed of the first wheel set 102 and the second wheel set 202, the relative position of the two vehicles is corrected to ensure that the relative distance error between the front and rear ends is ≤2mm, thus achieving precise alignment of the two vehicles.

[0053] The position and height of the movable lifting column are aligned based on displacement sensing. According to the target alignment parameters of the first mobile lifting column 103 and the second mobile lifting column 203 issued by the digital twin visualization platform, the first sliding cylinder displacement sensor 1601 collects the sliding displacement of the second mobile lifting column 203 of the transport vehicle 2 and the first mobile lifting column 103 of the functional vehicle 1 in real time. A displacement closed-loop control algorithm is adopted, with displacement deviation as input, to control the extension and retraction of the sliding cylinder, so that the first moving lifting column 103 and the second moving lifting column 203 are aligned; at the same time, multiple lifting cylinder displacement sensor groups 1401 collect the column cylinder displacement and control the column lifting and lowering to achieve height alignment.

[0054] The lifting beam docking and clamping are based on vision and corner sensors: The rotation angle sensor 1301 collects the rotation angle of the slewing drive 104 in real time and uses a PID rotation control algorithm to drive the slewing drive 104 to rotate the lifting beam 105 until the lifting beam 105 is in a vertical state. The 3D camera 901 starts image acquisition and identifies the feature points at the end of the lifting beam 105 through a feature point matching algorithm. It compares these points with the target docking position at the top of the second moving lifting column 203, generates a position correction signal, and finely adjusts the sliding displacement of the first moving lifting column 103 to ensure that the end of the lifting beam 105 accurately reaches the docking position. When the 3D camera 901 detects a position deviation ≤1mm, it triggers the quick clamping device 204 to clamp the end of the lifting beam 105, completing the guided alignment process.

[0055] II. Algorithm Steps for Security Monitoring System Real-time acquisition and preprocessing of sensor data: The safety monitoring system synchronously collects data from various related sensors at a frequency of 100ms / time: including tilt data from the first dual-axis tilt sensor 701 and the second dual-axis tilt sensor 702, displacement data from the lifting cylinder displacement sensor group 1401, the first suspension cylinder displacement sensor 1101, the first suspension cylinder displacement sensor 1102, and the first sliding cylinder displacement sensor 1601, and pressure data from the second suspension cylinder pressure sensor 1201, the second suspension cylinder pressure sensor 1202, and the lifting cylinder pressure sensor group 1501; simultaneously, the UAV and camera module 17 acquire panoramic construction images at a rate of 25 frames / second; the acquired heterogeneous data is preprocessed, including Kalman filtering, image denoising, unifying data timestamps and coordinate systems, and generating a standardized dataset.

[0056] Safety threshold determination and graded early warning: The safety threshold determination algorithm is invoked to compare the preprocessed sensor data with the preset safety threshold: Tilt angle threshold: The maximum allowable tilt angle of the dual-axis tilt sensor is ±0.5°. If a tilt angle > 0.5° is detected, a level one warning is triggered. Pressure threshold: The safe pressure range for suspension cylinders and lifting cylinders is 5-30MPa. If the pressure is <5MPa (determined as "false leg") or >35MPa (determined as overload), a level two warning is triggered (all actuators are stopped immediately and cylinder locking is initiated). Displacement threshold: When the real-time displacement of each displacement sensor deviates from the target displacement by more than 15mm, a level 3 warning is triggered (the corresponding system is paused and a recalibration prompt is given). Image recognition: The images collected by the drone and camera module (17) are analyzed by the target detection algorithm (YOLO algorithm). If unauthorized personnel or obstacles are detected in the construction area, a level 4 warning is triggered (the equipment is stopped and an evacuation prompt is issued); all warning information is pushed to the digital twin visualization platform and the operator's terminal in real time.

[0057] Risk cause identification and emergency control: Once an alert is triggered, the safety monitoring system automatically retrieves sensor data and image data from 5 seconds before and after the alert time, and uses a data correlation analysis algorithm to pinpoint the cause of the risk. If the tilt angle exceeds the standard, analyze the correlation between the data from the dual-axis tilt angle sensor and the corresponding cylinder displacement and pressure data to determine whether it is caused by uneven cylinder extension and retraction. If the pressure is abnormal, compare the pressure data of different cylinders in the same equipment to determine whether it is caused by a single cylinder failure or uneven load distribution. If the risk is related to image recognition, locate the coordinates of the target in physical space (based on the drone's GPS and image perspective transformation). Based on the cause of the risk, emergency control commands are automatically generated: if the cylinder extension and retraction are uneven, the corresponding cylinder drive parameters are adjusted; if a single cylinder fails, the faulty cylinder is locked and the backup control mode is switched; if a risky target intrudes, the control equipment stops and a drive-away signal is issued.

[0058] Verification of early warning handling results: After the emergency control command is executed, the safety monitoring system continuously collects corresponding sensor data and image data to verify whether the risk has been eliminated. Tilt angle exceeding the limit warning: Monitor whether the data from the dual-axis tilt sensor returns to the range of ±0.5° and remains stable for more than 3 seconds; Pressure anomaly warning: Monitor whether the cylinder pressure returns to the range of 5-30MPa and the pressure fluctuation is ≤2MPa; Displacement deviation warning: Monitor whether the displacement deviation has decreased to ≤15mm; Image recognition risk: Monitor whether the risky target has left the construction area; Once verification is successful, the warning status is lifted, and a "risk cleared" signal is sent to the digital twin visualization platform, allowing the corresponding subsystem to resume operation; if verification fails, emergency control instructions will be continuously adjusted until the risk is cleared or an emergency shutdown is triggered.

[0059] Security data logging and archiving: The safety monitoring system records sensor data, early warning information, emergency control commands, and execution results throughout the entire construction process in real time, generating a safety log in the format of "time-sensor type-data value-status". After construction is completed, the safety log is integrated with panoramic images collected by drones and control data from various subsystems to generate a safety report (including the number of early warnings, risk type, processing time, and safety indicator compliance rate), which is then archived in the database of the digital twin visualization platform for easy traceability and safety optimization in subsequent construction.

[0060] III. Algorithm Steps for Digital Twin Visualization Platform 3D model loading and parameter configuration: After the digital twin visualization platform is launched, it loads high-precision 3D models of functional vehicle 1 and transport vehicle 2, as well as a construction scene model; at the same time, it imports preset parameters of each subsystem, including sensor safety thresholds, dual-vehicle collaborative target parameters, and control algorithm parameters, and completes the platform initialization.

[0061] Multi-source data reception and mapping: Through the IoT interface, standardized datasets (including position, tilt angle, pressure, displacement, and image data) uploaded in real time from subsystems such as the alignment system and safety monitoring system are received; virtual reality fusion algorithms are then invoked to map the data to 3D models according to their type. Position mapping: Based on the position coordinates collected by the Beidou antenna, update the real-time positions of functional vehicle 1 and transport vehicle 2 in the scene model, with a mapping error ≤1mm; Attitude mapping: Based on the tilt data from the dual-axis tilt sensor, adjust the pitch and roll angles of the 3D model to restore the real-time attitude of the device; Status mapping: The status of components is marked with color codes (green = normal, yellow = warning, red = fault). For example, when the lifting cylinder pressure is >30MPa, the corresponding cylinder is displayed in red in the model. Image mapping: The panoramic images captured by the drone and camera module 17 are superimposed onto the corresponding viewpoint of the scene model to achieve a fusion display of "virtual model + real image".

[0062] Visualization and interaction of the construction process: Based on the mapped 3D model, a dynamic animation of the entire construction process is generated, supporting multi-view interaction by operators through the platform interface. Global perspective: Showcasing the overall positional relationship and collaborative process of functional vehicle 1, transport vehicle 2, and cap beam 3 in the construction scenario; Local view: Supports zooming in to view the detailed status of key components and displays real-time sensor data; Historical data review: Supports retrieving construction data for any time period and replaying the corresponding period's visual animation, facilitating the analysis and control of problems during the process; Meanwhile, the platform provides a data query function, which can generate sensor data trend curves, including the displacement-time curve and pressure-time curve of the lifting cylinder, to help operators understand the operating rules of the equipment.

[0063] Decision support and instruction issuance: When a subsystem fails to meet control accuracy standards or triggers an early warning, the digital twin visualization platform invokes a decision tree algorithm, combining historical construction data with preset rules, to analyze the causes of the deviation / early warning. If the problem is due to sensor data drift, it is recommended to recalibrate the corresponding sensor. If the PID control parameters are unreasonable, calculate the optimized proportional coefficient and integral time and recommend them. If the load distribution is uneven, it is suggested to adjust the position of the support point 3 of the cap beam; After the operator confirms the decision recommendation, the platform will issue optimization instructions to the corresponding subsystems to correct the control strategy in real time; at the same time, it will track the execution effect of the instructions and update the model status and data curves in the visualization interface.

[0064] Construction completion and data archiving: Once the alignment system and synchronous walking system have completed the installation of the cap beam 3, and the safety monitoring system determines that all parameters remain within a safe range for 10 seconds, the digital twin visualization platform generates a "construction completed" signal, notifying each subsystem to stop the actuators. Subsequently, the platform integrates all construction process data, including control commands from each subsystem, raw sensor data, safety logs, and visualization animation files, and archives them into the database according to the naming convention of "project name - construction date - equipment number". At the same time, it automatically generates a construction summary report, compiles key indicators, and provides data support and model reuse basis for subsequent similar constructions.

[0065] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A modular, modularly mounted dual-vehicle cooperative auxiliary control system, characterized by: The erection equipment includes a functional vehicle (1) and a transport vehicle (2). Multiple lifting beams (105) on the functional vehicle (1) and the second movable lifting column (203) on the transport vehicle (2) form a gantry crane erection equipment. The control system includes a guidance and alignment system, a synchronous lifting system, a synchronous walking system, a safety monitoring system, and a digital twin visualization platform; The alignment system is used to achieve the positional alignment and precise connection between the functional vehicle (1) and the transport vehicle (2); The synchronous lifting system and synchronous walking system are used to control the synchronous lifting and synchronous movement of the functional vehicle (1) and the transport vehicle (2); The safety monitoring system is used to cover safety monitoring throughout the entire construction process; The digital twin visualization platform uses virtual reality fusion technology to achieve panoramic visualization of the construction process of the functional vehicle (1) and the transport vehicle (2), and assists the operators in adjusting the collaborative operation of the two vehicles in real time.

2. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 2, characterized in that: The structure of the erected equipment is as follows: At least two sets of first movable lifting columns (103) are slidably connected to the first frame (101) of the functional vehicle (1). The two sets of first movable lifting columns (103) are driven by hydraulic motors to slide on the first frame (101). The top of the first movable lifting column (103) is connected to one end of the lifting beam (105) through a rotary drive (104). The lifting beam (105) is provided with a movable module (106). The movable module (106) is driven by a hydraulic motor to slide on the lifting beam (105). At least two sets of second movable lifting columns (203) slide on the second frame (201) of the transport vehicle (2) driven by hydraulic motors; Both the first movable lifting column (103) and the second movable lifting column (203) are lifted by hydraulic cylinders; The bottom of the first frame (101) is provided with multiple sets of first wheel sets (102), and the bottom of the second frame (201) is also provided with multiple sets of second wheel sets (202). Both the first wheel set (102) and the second wheel set (202) are hydraulic lifting wheel sets, and the top of the first wheel set (102) and the second wheel set (202) are provided with steering mechanisms.

3. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 2, characterized in that: It also includes a multi-point leveling system and a synchronous sliding system. The multi-point leveling system is used to adjust the levelness and height of the functional vehicle (1) and the transport vehicle (2) to maintain consistency; The synchronous sliding system is used to control the sliding positions of the first movable lifting column (103), the second movable lifting column (203), and the movable module (106) on the functional vehicle (1) and the transport vehicle (2).

4. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 2, characterized in that: The guidance and alignment system also includes multiple Beidou antennas, a laser rangefinder (801), an angle sensor (1301), a 3D camera (901), and multiple oil cylinder displacement sensors; The second frame (201) of the transport vehicle (2) is equipped with a first Beidou antenna (601) and a second Beidou antenna (602) at both ends, and the first frame (101) of the functional vehicle (1) is equipped with a third Beidou antenna (603) and a fourth Beidou antenna (604) at both ends. Laser rangefinders (801) are respectively installed at both ends of the side of the first frame (101) of the functional vehicle (1); An angle sensor (1301) is installed on the first movable lifting column (103) and the lifting beam (105) on the functional vehicle (1) to measure their rotation positions. A 3D camera (901) is installed on the first movable lifting column (103) or / and the second movable lifting column (203) of the functional vehicle (1) or / and the transport vehicle (2); A second sliding cylinder displacement sensor (1602) is installed on the moving module (106) on the lifting beam (105); The first sliding cylinder displacement sensor (1601) is installed on both the first movable lifting column (103) and the second movable lifting column (203).

5. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 2, characterized in that: The synchronous lifting system is connected to the first movable lifting column (103) and the second movable lifting column (203), and the synchronous lifting system is also connected to multiple second dual-axis tilt sensors (702), which are installed on the lifting beam (105); The first movable lifting column (103) and the second movable lifting column (203) are equipped with a lifting cylinder displacement sensor group (1401) and a lifting cylinder pressure sensor group (1501), which are connected to the synchronous lifting system.

6. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 4, characterized in that: The synchronous walking system is connected to the first Beidou antenna (601), the second Beidou antenna (602), the third Beidou antenna (603), and the fourth Beidou antenna (604); The laser rangefinders (801) at both ends of the side of the first frame (101) are connected to the synchronous walking system; The synchronous walking system is connected to the first wheel group (102) and the second wheel group (202) to control the walking of the first wheel group (102) and the second wheel group (202).

7. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 3, characterized in that: The multi-point leveling system is connected to multiple first dual-axis tilt sensors (701) and second dual-axis tilt sensors (702); The first suspension cylinder displacement sensor (1101) and the first suspension cylinder displacement sensor (1102) are provided on the first wheel assembly (102). The suspension cylinder displacement sensor on the first wheel group (102) and the second wheel group (202) are connected to the multi-point leveling system.

8. The dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 3, characterized in that: The synchronous sliding system is connected to multiple first sliding cylinder displacement sensors (1601) and multiple second sliding cylinder displacement sensors (1602). The synchronous sliding system controls the synchronous sliding of the first movable lifting column (103), the second movable lifting column (203), and the movable module (106).

9. A dual-vehicle cooperative auxiliary control system for modular erection equipment according to any one of claims 1-8, characterized in that: The method includes: S1: Dual vehicle guidance alignment and leveling preparation, the front and rear positions of the two vehicles are detected by the first Beidou antenna (601) and the second Beidou antenna (602) installed on both sides of the transport vehicle (2) and the third Beidou antenna (603) and the fourth Beidou antenna (604) installed on both sides of the functional vehicle (1); By combining the two laser rangefinders (801) on the side of the first frame (101) of the functional vehicle (1) to detect the relative distance between the two vehicles, the first wheel set (102) and the second wheel set (202) of the two vehicles are adjusted so that the two vehicles are parallel and aligned front and back, and the first Beidou antenna (601), the second Beidou antenna (602), the third Beidou antenna (603), and the fourth Beidou antenna (604) are arranged in a rectangular shape. S2: Dual vehicle level and height calibration. Using the first dual-axis tilt sensor (701) installed on the transport vehicle (2) and the functional vehicle (1), the pitch angle and roll angle of the two vehicles are detected respectively, and the tilt angle data is converted into the control displacement of the wheel set suspension cylinder. Combined with the first suspension cylinder displacement sensor (1101) on the second wheel set (202) suspension cylinder of the transport vehicle (2) and the first suspension cylinder displacement sensor (1102) on the first wheel set (102) suspension cylinder of the functional vehicle (1), the extension and retraction of the suspension cylinder are gradually adjusted to level the two vehicles respectively. At the same time, through the suspension cylinder displacement sensor calibration, the height of the functional vehicle (1) is made consistent with that of the transport vehicle (2), and the cylinder pressure is detected by the second suspension cylinder pressure sensor (1201) and the second suspension cylinder pressure sensor (1202) to avoid the occurrence of "false legs". S3: The two vehicles are precisely docked. The displacement sensor (1601) of the first sliding cylinder on the second movable lifting column (203) on the transport vehicle (2) and the first movable lifting column (103) on the first movable lifting column (103) controls the position alignment of the second movable lifting column (203) and the first movable lifting column (103) of the two vehicles. The lifting cylinder displacement sensor group (1401) on the inner / outer cylinder of the second movable lifting column (203) of the transport vehicle (2) controls the height alignment of the two movable lifting columns by means of the lifting cylinder displacement sensor group (1401) on the inner / outer cylinder of the first movable lifting column (103) of the functional vehicle (1). Using the rotation angle sensor (1301) on the rotary drive (104) of the functional vehicle (1), the lifting beam (105) is controlled to rotate to a vertical state, so that its end extends to the side of the transport vehicle (2); the 3D camera (901) on the top of the second moving lifting column (203) of the transport vehicle (2) detects the position of the end of the lifting beam (105). After the target is met, the quick clamping device (204) of the transport vehicle (2) is activated to clamp the end of the lifting beam (105) and complete the docking of the two vehicles. S4: Synchronous sliding adjustment of the cover beam. After the cover beam (3) is rotated 90° and the spreader beam is installed, the first moving lifting column (103) and the second moving lifting column (203) are controlled to slide synchronously through multiple first sliding cylinder displacement sensors (1601) to avoid twisting of the lifting beam (105). Then, by using the second sliding cylinder displacement sensor (1602) on the sliding cylinder of the moving module (106) of the functional vehicle (1), the moving module (106) is controlled to slide to the lifting position of the cover beam (3); S5: The cover beam is lifted synchronously. Combined with the cylinder displacement data collected by the lifting cylinder displacement sensor group (1401), the second moving lifting column (203) of the transport vehicle (2) and the first moving lifting column (103) of the functional vehicle (1) are controlled to lift synchronously, lifting the cover beam (3) to the specified height. During the process, the horizontality of the two crossbeams is detected by the second dual-axis tilt sensor (702) on the lifting crossbeam (105), and the cylinder pressure is detected by the lifting cylinder pressure sensor group (1501) to ensure stable lifting. After the cap beam (3) is lifted, the moving module (106) is controlled to slide synchronously by the displacement sensor (1602) of the second sliding cylinder to move the cap beam (3) to the middle seam of the road. S6: The two vehicles move synchronously and the cap beam is positioned. If the cap beam (3) needs to be moved along the bridge direction, the positions of the two vehicles are collected in real time by the first Beidou antenna (601), the second Beidou antenna (602), the third Beidou antenna (603), and the fourth Beidou antenna (604). Combined with the laser rangefinder (801) to monitor the relative distance between the two vehicles, the driving parameters of the first wheel group (102) and the second wheel group (202) are dynamically adjusted to control the synchronous advance and retreat of the two vehicles and avoid structural distortion. The cap beam (3) is moved to the preset installation position and the positioning is completed. S7: Safety monitoring and visualization feedback throughout the construction process. The safety monitoring system collects data in real time from multiple first dual-axis tilt sensors (701), multiple second dual-axis tilt sensors (702), multiple lifting cylinder displacement sensor groups (1401), second suspension cylinder pressure sensor (1201), second suspension cylinder pressure sensor (1202), first suspension cylinder displacement sensor (1101), first suspension cylinder displacement sensor (1102), multiple first sliding cylinder displacement sensor (1601), and multiple second sliding cylinder displacement sensor (1602). At the same time, it uses drones and camera modules (17) to obtain panoramic images of the hoisting site. All data and images are transmitted to the digital twin visualization platform to realize panoramic visualization of the construction process, assist operators in adjusting control strategies in real time, and provide timely warnings of safety risks.

10. The control method for a dual-vehicle cooperative auxiliary control system for modular erection equipment according to claim 9, characterized in that: The method includes: A1. In the guidance alignment system, the sensor self-test and initial positioning are performed to verify the accuracy of the first Beidou antenna (601), the second Beidou antenna (602), the third Beidou antenna (603), the fourth Beidou antenna (604) and the laser ranging sensor (801). The initial positions of the functional vehicle (1) and the transport vehicle (2) are collected through the Beidou positioning algorithm and the data is uploaded to the digital twin visualization platform. A2. The two vehicles are precisely aligned. The PID position control algorithm is used to adjust the wheel group to achieve initial parallelism. The relative distance is finely adjusted by combining the laser ranging algorithm. Then, the first moving lifting column (103) and the second moving lifting column (203) are aligned by the displacement closed-loop control algorithm. The crossbeam is clamped and connected. The PID rotation control algorithm drives the lifting crossbeam (105) to be vertical. The feature point matching algorithm is used to locate the crossbeam and trigger the quick clamping device (204) to complete the connection. A3. In the security monitoring system, sensor data is collected at 100-120ms / time, and panoramic images are collected simultaneously through the UAV and camera module (17) at 25-30 frames / second. Standard datasets are generated by Kalman filtering algorithm and image denoising algorithm. Risk warning and control: a safety threshold judgment algorithm is used to identify sensors exceeding thresholds, and the YOLO target detection algorithm is used to identify people / obstacles, triggering graded warnings. The data association analysis algorithm is used to locate the cause and generate emergency instructions. Results verification and archiving: Verify the risk elimination status; after construction, use data integration algorithms to integrate sensor data and UAV images to generate a safety report and archive it. A4. In the digital twin visualization platform, the model and parameters are initialized, the three-dimensional models of the construction scene of the functional vehicle (1) and the transport vehicle (2) are loaded, the sensor thresholds and UAV monitoring parameters are imported, and the visualization foundation is built. The data mapping and drone fusion display uses a virtual reality fusion algorithm to map sensor data to the model, and simultaneously overlays panoramic images collected by the drone onto the corresponding viewpoint of the model according to the image perspective transformation algorithm, realizing a triple synchronous display of "physical device + drone real scene - virtual model", supporting multi-view switching. Assist in decision-making and archiving: use decision tree algorithms to analyze the causes of deviations / early warnings and issue optimization instructions; archive sensor data, UAV images, and model animations after construction and generate summary reports.

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