Large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjusting erection device for strong turbulence sensitive water area and construction method of large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjusting erection device

Abstract

The invention provides a large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjusting erection device for a strong turbulence sensitive water area and a construction method, and relates to a special device for erection of large-span narrow-width prefabricated concrete box girder segments and a construction method. According to the device, a large floating type supporting platform serves as a carrier, and a multi-degree-of-freedom active wave compensation system, a high-precision real-time attitude monitoring unit, an intelligent cooperative slippage and precise in-place technology system and a central cooperative controller are integrated. Real-time self-adaptive adjustment and stabilization of the position and posture of the box girder in the air in a strong turbulence environment are ensured, and finally butt joint installation with millimeter-level precision is completed; the device can adapt to a strong turbulence environment, sense dynamic disturbance in real time and actively adjust the space posture of the box girder, and safe, accurate and efficient erection is achieved. The problems that current equipment lacks real-time sensing and active compensation capacity for continuous and random dynamic disturbance and is difficult to be directly applied to a strong turbulent water area are effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bridge engineering prefabricated component construction, in particular to a large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjustment erecting device and construction method for strong turbulent sensitive water area. BACKGROUND

[0002] The erecting method of large-span narrow-width prefabricated box girder has been relatively mature in the construction environment of still water or gentle water flow and stable meteorological conditions. When applied to strong turbulent sensitive water area, turbulent flow, high-frequency waves and variable wind field will continuously shake the fixed hoisting equipment of the floating support platform. The mechanical design working environment is static or quasi-static, which has slow response speed, narrow control bandwidth and lacks intelligent cooperation between posture adjustment mechanisms, and cannot completely cope with such high-frequency and random dynamic disturbance, resulting in out-of-control of the posture of the box girder and failure to meet the stable docking state with precision requirements. Moreover, it poses a great threat to the personal safety of the on-site operators, and in the sea area with variable climate, a suitable "window period" may occur only once in several days or even weeks, making the entire project progress full of uncertainty and seriously restricting the technical feasibility and economy of building a bridge under complex hydrological conditions. SUMMARY

[0003] The purpose of the present application is to provide a large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjustment erecting device and construction method for strong turbulent sensitive water area.

[0004] To solve the above technical problems, the present application provides a construction method of a large-span narrow-width prefabricated box girder self-adaptive dynamic posture adjustment erecting device for strong turbulent sensitive water area, comprising the following steps:

[0005] Step one, preliminary preparation and modeling: establish a BIM three-dimensional parametric model of the bridge, lay out GNSS reference stations and calibrate laser range finders and inertial measurement units; Step two, box girder hoisting and preliminary anchoring: pull the prefabricated box girder on the transport ship to the erecting starting station, and complete the preliminary hoisting and initial anchoring with the walking machine with the aid of the floating crane; realize the initial alignment of the box girder central axis and the erecting track through the joint positioning of GNSS receivers and laser range finders; Step three, fixation in turbulent state: temporarily lock the box girder at the current station by starting the walking machine, simultaneously activate the multi-degree-of-freedom active wave compensation system, compensate the wave based on the real-time acceleration and angular velocity data of the inertial measurement unit, and drive the hydraulic oil cylinder and micro-motion pulley to dynamically adjust the support reaction force and displacement; Step four, box girder jacking: start the transverse and longitudinal moving systems to implement segmented jacking of the box girder, and correct the spatial pose deviation of the box girder in real time during the jacking process by receiving the data of GNSS receivers, laser range finders and inertial measurement units; Step five, high-precision positioning of box girder: start the high-precision positioning system, fuse GNSS real-time differential data, target distance sequence of laser range finder and attitude angle increment of inertial measurement unit, solve through multi-source information fusion of extended Kalman filter, output three-dimensional coordinates of the front end of the box girder and pitch, roll and yaw parameters; the central cooperative controller compares the measured position and posture with the preset target position and posture of the BIM model, generates a fine adjustment instruction sequence, and drives the walking machine to implement deviation correction. Step six, fine adjustment and locking under stress monitoring: when the position and posture of the box girder are adjusted to within the tolerance range, start the contact displacement sensor and the pressure sensor to monitor the contact pressure and relative displacement change of the box girder end joint surface; when the contact pressure is uniform and the relative displacement tends to be stable, it is determined that the joint state meets the design requirements, the walking machine is driven to lock, the box girder is connected with the pier top embedded part, and the structure is permanently fixed; Step seven, system conversion and device evacuation: after the box girder is permanently connected and reaches the design bearing strength, sequentially release the temporary restraint between the walking machine and the box girder, and gradually transfer the vertical support load to the pier; the construction system is converted from temporary support to permanent structure, and the full-rotation thruster is started to leave the working area.

[0006] Further, a floating platform support system is included for providing buoyancy to the erecting device, the floating platform support system including a main load-bearing truss and floating boxes, the floating boxes being hingedly connected between adjacent floating boxes, the floating boxes being controllable for water intake or discharge through water inlets to adjust the height of the floating platform support system in water, and ship anchors and steel cables at both ends of the floating boxes being provided for fixing the support platform.

[0007] Further, a main load-bearing truss is provided on the floating box, a pushing platform is installed on the top of the main load-bearing truss, a hydraulic walking machine is arranged on the pushing platform, a wave sensor is arranged on the floating box, and a wind sensor is arranged at the main load-bearing truss to collect meteorological and hydrological information.

[0008] Further, a dynamic positioning system is included, the dynamic positioning system including motors and a plurality of full-rotation thrusters arranged around the floating box, the full-rotation thrusters being adjusted in position through a GPS receiver and an underwater sonar.

[0009] Further, a multi-degree-of-freedom active wave compensation system includes a vertical damping thruster, a rotary compensation rod and an attitude sensor, the vertical damping thruster being arranged at the connection between the main load-bearing truss and the floating box to offset the vertical displacement caused by waves, and the attitude sensor being used to monitor the spatial attitude of the box girder in real time.

[0010] Further, the transverse moving system comprises symmetrical transverse hydraulic jacks arranged on both sides of the pushing platform, and a heavy object mover, the transverse hydraulic jack is arranged on the sliding block, the heavy object mover comprises a pulley and a transverse guide rail, the sliding block is driven to move along the transverse guide rail by the pulley, a locking device is used for locking the pulley, and the guide direction of the transverse guide rail is perpendicular to the pushing direction of the transverse hydraulic jack.

[0011] Further, the longitudinal moving system comprises a servo motor for driving a walking machine to drive the box girder to move, a longitudinal jack mounted on the walking machine, the walking machine moves along a longitudinal guide rail, the walking machine is arranged on a base, and the longitudinal guide rail is fixed by a sliding seat; the longitudinal jack is provided with a buckle for locking the box girder, so that the box girder is temporarily fixed in the positioning stage, and the longitudinal guide rail and the transverse guide rail are vertically distributed in the horizontal direction.

[0012] Further, the high-precision positioning system is used for receiving multi-source position data from the attitude sensor, the GNSS reference station and the laser range finder, and realizes real-time solving of the spatial position and attitude of the box girder through data fusion of the GNSS receiver and the inertial measurement unit on the box girder; the laser range finder is used for measuring the real-time distance between the box girder and the temporary support.

[0013] Further, the attitude adjustment system comprises a hydraulic oil cylinder mounted on the walking machine and an inclination instrument mounted on the box girder, the inclination instrument is used for real-time monitoring of the three-dimensional attitude angle change of the box girder, and a rotary hinge is arranged at the connecting interface between the walking machine and the box girder, so that the box girder can realize deflection in the vertical direction, the transverse direction and the rotation direction.

[0014] The application further discloses a large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erecting device for strong-turbulence-sensitive water areas, which is obtained according to the construction method of the large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erecting device for strong-turbulence-sensitive water areas. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a front view of the large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erecting device for strong-turbulence-sensitive water areas. Figure 2 It is a left view of the large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erecting device for strong-turbulence-sensitive water areas. Figure 3 It is a schematic view of the transverse moving system. Figure 4 It is a schematic view of the longitudinal moving system. Figure 5 It is a schematic view of the pushing device. Figure 6 It is a schematic view of the construction method of the large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erecting device for strong-turbulence-sensitive water areas. Fig. 1, main load-bearing truss; 2, pontoon; 3, water inlet; 4, anchor; 5, steel cable; 6, full-revolution propeller; 7, GPS receiver; 8, underwater sonar; 9, wave sensor; 10, wind sensor; 11, motor; 12, vertical shock-absorbing propeller; 13, rotation compensation rod; 14, attitude sensor; 15, pushing platform; 16, transverse hydraulic jack; 17, weight mover; 18, transverse guide rail; 19, servo motor; 20, walking machine; 21, box girder; 22, longitudinal jack; 23, longitudinal guide rail; 24, buckle; 25, GNSS reference station; 26, laser range finder; 27, GNSS receiver; 28, inertial measurement unit; 29, stress and strain sensor; 30, temporary support; 31, hydraulic oil cylinder; 32, micro-motion pulley; 33, inclinometer; 34, rotary hinge; 35, lock; 36, displacement sensor; 37, pressure sensor; 38, alarm; 39, base; 40, sliding seat structure; 41, longitudinal pushing oil cylinder; 42, support platform; 43, pulley; 44, sliding block. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0017] Those skilled in the art should understand that in the disclosure of the present application, the orientations or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above terms cannot be understood as a limitation on the present application.

[0018] It can be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of one element can be one, and in another embodiment, the number of the element can be multiple, and the term "one" cannot be understood as a limitation on the number.

[0019] As Figures 1-6 described, the present application provides a construction method of a large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erection device for strong turbulence sensitive water areas, comprising the following steps: Step one, preparation and modeling: Establish a BIM three-dimensional parametric model of the bridge, integrate design drawings, hydrogeological data and construction environment data, simulate the erection path and risk point pre-performance; GNSS reference station 25 is laid out and sensors such as laser range finder 26 and inertial measurement unit 28 are calibrated, system debugging and control algorithm verification are completed to ensure that the synchronization accuracy of each subsystem meets the millimeter-level docking requirements. The support platform 42 is an important component of the floating platform support system. The floating platform support system moves to the predetermined position through the dynamic positioning system, fills the pontoons 2 through the water inlet 3 to make the whole sink, and connects the pontoons through hinged connection, which has certain flexibility and adaptability, can keep the structure stable in waves, and at the same time, the ship anchor 4 is lowered, so that the ship anchor 4 is embedded into the seabed to realize multi-point anchoring, so that the support platform will not move randomly.

[0020] As preferred, based on the geological survey and meteorological and tidal data of the construction area, a high-precision BIM initial model is established, and the structural mechanics parameters and environmental load boundary conditions are integrated. The sensor layout scheme is simulated and optimized to determine the key monitoring section and redundant node layout. Coordinate system calibration and debugging test are performed on the pushing equipment to ensure the unity of the control system and the measurement reference. A cloud-based collaborative management platform is simultaneously built, and a multi-level permission management system and data encryption channel are configured. The initial mapping of the digital twin system is completed, the design model and construction schedule are imported, and the 4D progress-model association is realized. All modeling data are frozen after checking, which serves as the subsequent dynamic correction reference. The floating platform support system is a multifunctional, self-adapting and adjustable water construction platform. All processes from box girder hoisting, preliminary anchoring, pushing, positioning to final docking are carried out on the floating platform support system. The water level in the pontoon can be adjusted to control the height of the platform in the water, adapt to different water levels and construction stages, provide stable physical support, and provide an installation foundation for other systems.

[0021] Step two, precast box girder 21 hoisting and preliminary anchoring: Before hoisting, the model predicts the size of the wind and wave within a few hours, combined with the results of current velocity and wave spectrum analysis, to select an optimal working window. The impact of waves on hoisting and pushing is minimized. If the sea wave suddenly becomes large, the alarm 38 will be activated to remind the staff to suspend work. The precast box girder 21 on the transport ship is pulled to the erection starting station, and the floating crane is used to complete the preliminary hoisting and initial anchoring with the walking machine 20; through the joint positioning of GNSS receiver 27 and laser range finder 26, the initial alignment of the central axis of the precast box girder 21 and the erection track is realized.

[0022] As a preferred, the reference point coordinates and elevation control network are checked before the prefabricated box girder 21 is hoisted, to ensure that the installation axis deviation is less than 2mm. The multi-point synchronous measurement and control system is used to monitor the spatial posture of the girder body in real time during hoisting, to ensure the positioning accuracy. The walking machine 20 is used to fine-tune and position the prefabricated box girder 21, to complete the temporary anchoring of vertical support and horizontal limiting. At the same time, the pressure sensor 37 and the displacement sensor 36 are activated to collect the reaction force and deformation of each support point in real time, to ensure the preliminary accurate positioning.

[0023] Step three, fixed in turbulent state: start the buckle 24 of the walking machine 20 to fix the hydraulic jack 22 at the current position, temporarily place the box girder 21 at the current work station, to prevent the height change of the jack caused by water flow impact; simultaneously activate the multi-degree-of-freedom active wave compensation system, compensate the wave through the vertical shock-absorbing thruster 12 and the rotary compensation rod 13, and apply an opposite equivalent static thrust through the vertical shock-absorbing thruster 12 to offset the flow load generated by turbulence. The rotary compensation rod 13 uses spring energy storage elements, when the component is deflected due to its own gravity, the spring is twisted or stretched, and the opposite torque generated by the spring is opposite in direction and matched in size with the gravity torque, thereby playing a balancing role to offset the gravity. Based on the real-time acceleration and angular velocity data of the inertial measurement unit 28, combined with the wave spectrum prediction model, after Kalman filtering fusion, input the central cooperative controller; the controller drives the hydraulic oil cylinder 31 and the micro-motion pulley 32 according to the preset compensation strategy, the hydraulic oil cylinder 31 is inside the longitudinal jack 22, which can be adjusted in a small range to offset the height change of turbulence, and the micro-motion pulley 32 is located outside the heavy object mover 17, which dynamically offsets the horizontal displacement, to ensure that the box girder maintains a stable posture during the jacking process.

[0024] As a preferred, based on real-time flow field monitoring data, the thrust vector distribution is corrected in real time through the full-back thruster, to ensure the posture stability of the box girder in complex hydrodynamic environment. The thruster cluster uses an adaptive PID control algorithm, dynamically adjusts the output power according to the changes of flow velocity and direction, and suppresses the lateral drift and torsional vibration. The vertical shock-absorbing thruster and the horizontal constraint system are linked to form a six-degree-of-freedom active stability control, effectively suppressing the high-frequency vibration caused by wave impact. The vortex-induced vibration torque is offset by the rotary compensation rod, to ensure that the box girder maintains the design axis in strong tidal turbulence.

[0025] Step four, box girder jacking: first hoist the box girder to the temporary support 30, the horizontal and vertical moving systems are on the same plane jacking platform, start the horizontal and vertical moving systems, first jack up the box girder 21 by the horizontal hydraulic jack 16, then move the box girder 21 along the horizontal direction by the heavy object mover 17, then jack up the box girder 21 by the vertical jack 22 of the walking machine 20, to implement segmented jacking. During the jacking process, the central cooperative controller receives the data of the GNSS receiver 27, the laser range finder 26 and the inertial measurement unit 28 in real time, and dynamically corrects the spatial posture deviation of the box girder.

[0026] As a preferred method, during the jacking process, the path planning generated by BIM pre-simulation drives the walking jacking equipment to operate synchronously through lateral and longitudinal movement commands. Real-time data on displacement, pressure, and attitude of each support point is collected and fed back to the control center in a closed loop for dynamic correction. A laser rangefinder and inertial navigation unit jointly calibrate the jacking displacement to ensure that the cumulative travel error is less than 3 mm.

[0027] Step 5, High-precision positioning of the box girder: The high-precision positioning subsystem is activated, integrating GNSS real-time differential data, target distance sequence from laser rangefinder 26, and attitude angle increment from inertial measurement unit 28. Multi-source information fusion calculation is performed through extended Kalman filtering. Coordinates are obtained through GPS, and inertial measurement unit 28 and inclinometer 33 obtain inclination and attitude angles. A state equation is established based on the jacking process, and the jacking thrust and jacking speed are input to obtain the optimal jacking state estimate. Correction is made based on the existing error, and the coordinate inclination and attitude angles at the next moment are obtained to obtain the optimal jacking attitude. Correction is made based on the error, and this process is repeated. The central collaborative controller compares the measured pose with the preset target pose of the BIM model, generates a fine-tuning command sequence, and drives the vertical and horizontal fine-tuning hydraulic cylinders 31 of the walking machine 20 to perform sub-millimeter-level correction until the spatial error of the docking end face is less than 3mm.

[0028] As a preferred method, after the box girder is jacked into place, the spatial coordinates of its final position are calculated using a high-precision total station and a GNSS dual-mode calibration system to ensure that the axis deviation is controlled within 1.5 mm. Based on point cloud matching technology, the measured profile is compared with the BIM design model to generate a three-dimensional deviation heat map and trigger a local fine-tuning program. Six sets of servo jacks work in concert, combined with pressure-displacement dual-parameter closed-loop control to achieve sub-millimeter precision positioning.

[0029] Step Six: Fine-tuning and Locking under Stress Monitoring: Real-time acquisition of strain and stress distribution data at key sections of the box girder, combined with a finite element analysis model to dynamically assess the structural stress state; once the position is adjusted to within the tolerance range, the contact displacement sensor 36 and pressure sensor 37 are activated to monitor the contact pressure and relative displacement changes at the docking surfaces of the box girder 21. When the contact pressure distribution is uniform and the relative displacement tends to stabilize, the docking state is determined to meet the design requirements, triggering the automatic locking mechanism, driving the buckle 24 of the walking machine 20 to lock synchronously with the anchoring device, performing welding operations, and firmly connecting the box girder 21 to the pre-embedded parts on the pier top, completing the permanent fixation of the structure.

[0030] As a preferred approach, the stress distribution at key sections of the beam is acquired in real time, and the stress state of the structure is dynamically assessed by combining displacement and stress sensors. An optimization and adjustment strategy is generated based on the finite element analysis model, and a servo system is used to perform graded unloading and reaction force redistribution of temporary supports to ensure uniform stress transmission. When the stress gradient tends to stabilize and the deviation value meets the code requirements, the permanent support locking procedure is initiated, completing the structural system conversion.

[0031] Step 7: System Conversion and Equipment Removal. After the box girder is permanently connected and reaches its design bearing capacity, the temporary constraints between the walking machine 20 and the box girder 21 are released sequentially, and the vertical support load is gradually transferred to the piers; the hydraulic lines are retrieved and the power supply is stopped, and the hydraulic pump station is shut down; finally, the heavy object mover 17 and the transverse hydraulic jack 16 are withdrawn, and the entire erection device is removed, completing the smooth conversion of the construction system from temporary support to permanent structure. The full-rotation thruster 6 is activated to move the platform away from the working platform.

[0032] As a preferred method, after releasing the temporary support constraints, the permanent support anchoring mechanism is activated according to a predetermined sequence to achieve a smooth transfer of load to the design load-bearing system. Simultaneously, a multi-channel hydraulic recovery system is activated to gradually withdraw the jacking equipment and measuring devices, ensuring the controllable redistribution of internal forces within the structure. A distributed fiber optic sensor network is used to monitor strain changes throughout the system transition, verifying the consistency between the theoretical model and measured data. The device withdrawal path is dynamically checked using BIM to avoid disturbing the completed structure.

[0033] The present invention also discloses an adaptive dynamic attitude adjustment erection device for large-span narrow-width precast box girders in waters sensitive to strong turbulence, including a floating platform support system, a dynamic positioning system, a multi-degree-of-freedom active wave compensation system, a lateral movement system, a longitudinal movement system, a high-precision positioning system, and an attitude adjustment system.

[0034] The erection device utilizes buoyancy provided by pontoon 2 to support the floating platform system. Pontoon 2 is secured to the turbulent waterway by anchor 4. A main load-bearing truss 1 is erected on pontoon 2, with a jacking platform 15 mounted on top. The jacking platform 15 is equipped with a hydraulic walking machine 20 and horizontal and vertical jacks and guide wheel systems to achieve precise sliding of the box girder 21 segments. Lateral attitude adjustment mechanisms are installed on both sides of the main load-bearing truss 1, combined with multi-degree-of-freedom wave compensation, to offset the six-degree-of-freedom displacement caused by water flow disturbance in real time. A high-precision positioning system integrates GNSS, inertial navigation, and laser tracking data, providing closed-loop feedback to the central control unit to drive the attitude adjustment system to dynamically correct the spatial configuration of the box girder. Wave sensors 9 are installed on the pontoon, and wind sensors 10 are installed on the main load-bearing truss 1 to collect meteorological and hydrological information.

[0035] The floating platform support system includes a main load-bearing truss 1 and a pontoon 2. The pontoon 2 uses a water inlet 3 and a water pump to control water intake or drainage, thereby adjusting the height of the floating platform support system in the water. The support platform 42 is fixed in place by anchors 4 at both ends of the pontoon 2 and steel cables 5. (Step 1 explanation) Preferably, the floating platform support system is composed of multiple hinged pontoon 2 modules, possessing good anti-overturning stability and expandability. It can adapt to different spans and load requirements. The pontoons 2 are connected by a hydraulic locking mechanism, combining flexibility and overall rigidity, and can be quickly disassembled and transported.

[0036] The dynamic positioning system includes multiple azimuth thrusters 6 driven by motors 11 and arranged around the pontoon 2. It coordinates positioning with GPS receivers 7 and underwater sonar 8 to ensure spatial stability in strong turbulent currents. Environmental data is collected in real time by wave sensors 9 mounted on the pontoon 2 and wind sensors 10 on the main load-bearing truss 1. This information is transmitted to a central coordinating controller, which, after calculation by a dynamic prediction model, outputs commands to adjust the azimuth thrusters 6 at each position.

[0037] Preferably, the dynamic positioning system is equipped with a 360-degree azimuth thruster and an electrically driven mooring system for coordinated control. Combined with real-time hydrological data, the system dynamically adjusts the platform's position, maintaining stable positioning within the floating platform's accuracy range to ensure the platform does not drift during construction. Furthermore, it can move freely between work areas, saving on equipment relocation and transportation costs and time. The multi-degree azimuth thruster also allows for omnidirectional movement, enabling precise positioning under complex water flow conditions.

[0038] The multi-degree-of-freedom active wave compensation system includes a vertical damping thruster 12, a rotary compensating rod 13, and an attitude sensor 14. The rotary compensating rod 13 achieves real-time compensation in pitch, roll, and yaw directions through a six-degree-of-freedom electric drive. The vertical damping thruster 12 is arranged on the upper part of the main load-bearing truss 1 to counteract the vertical displacement caused by waves. The attitude sensor 14 monitors the spatial attitude of the box girder in real time and feeds the data back to the central coordinating controller.

[0039] Preferably, the active wave compensation system employs a six-degree-of-freedom platform controlled by electro-hydraulic servo. It uses high-response frequency displacement sensors and accelerometers to detect wave disturbances in real time, and dynamically adjusts the extension and retraction stroke of the support legs using predictive algorithms. This effectively suppresses heave, roll, and pitch, ensuring the box girder remains stable and under control throughout the jacking process. The system works in conjunction with the attitude adjustment module to form a multi-dimensional compensation closed loop, significantly improving the operational window and construction safety under adverse sea conditions.

[0040] The lateral movement system consists of lateral hydraulic jacks 16 and a load transfer device 17 symmetrically arranged on both sides of the jacking platform 15 on the upper part of the main load-bearing truss 1. The lateral hydraulic jacks 16 are arranged on the slider 44. The load transfer device 17 integrates pulleys 43 and lateral guide rails 18. The slider 44 is driven by the pulleys 43 along the lateral guide rails 18. It is equipped with a locking device 35 to lock the pulleys 43. The guiding direction of the lateral guide rails 18 is perpendicular to the jacking direction of the lateral hydraulic jacks 16 to ensure jacking stability.

[0041] The longitudinal movement system includes a servo motor 19 for driving the walking machine 20 to move the box girder 21. The longitudinal jacks 22 installed on the walking machine 20 provide longitudinal jacking force. The walking machine 20 moves along the longitudinal guide rails 23 on the main load-bearing truss 1 to realize the continuous and stable longitudinal movement of the box girder 21. The longitudinal jacks 22 have a locking function of buckles 24 to temporarily fix the box girder 21 during the positioning stage. The longitudinal guide rails 23 and the transverse guide rails 18 are perpendicular to each other in the horizontal direction.

[0042] Preferably, the lateral and longitudinal movement systems employ high-precision servo motor-driven rack and pinion mechanisms, combined with displacement sensors and laser rangefinders, to achieve millimeter-level stroke control, ensuring the trajectory accuracy of the box girder segments during the jacking process. The lateral and longitudinal systems work collaboratively, dynamically correcting the motion posture based on real-time calculation data from the central control unit, avoiding path deviations caused by uneven loading or water flow impact. The system features adaptive load adjustment, automatically optimizing the driving torque distribution according to the weight distribution of the box girder, improving operational stability and energy efficiency.

[0043] A high-precision positioning system receives multi-source position data from attitude sensor 14, GNSS reference station 25, and laser rangefinder 26. This data is fused with data from GNSS receiver 27 on box girder 21 and inertial measurement unit 28 to achieve real-time calculation of the spatial position and attitude of box girder 21, outputting control commands to each actuator. Stress-strain sensor 29 on walking machine 20 ensures no overload. Simultaneously, the central coordinating controller dynamically adjusts the driving force distribution at each jacking point based on feedback data from stress-strain sensor 29, avoiding localized stress concentration. Laser rangefinder 26 measures the real-time distance between box girder and temporary support 30, and, combined with data from GNSS receiver 27 and inertial measurement unit 28, constructs a spatial attitude correction model for the end of box girder, dynamically optimizing jacking stroke and attitude adjustment parameters. When the monitored deviation exceeds a set threshold, the central coordinating controller immediately triggers a multi-degree-of-freedom compensation mechanism.

[0044] As a preferred option, the high-precision positioning system uses a sampling frequency of 100Hz and combines Kalman filtering algorithm to fuse and solve multi-source data, outputting centimeter-level 3D coordinates in real time. The positioning results are linked with the BIM model to automatically check the spatial attitude deviation of box girder segments and trigger dynamic adjustments to the compensation system. The system supports remote monitoring and historical trajectory backtracking, providing data support for construction quality traceability. In complex turbulent environments, a water level correction model pre-compensates for the impact of water level changes, ensuring stable accuracy during continuous operation. The positioning system synchronously integrates GNSS and total station data, fusing inertial navigation unit output to effectively overcome the defects of single signal source obstruction or drift. Under high sea state conditions, the system automatically switches to a multi-source redundant solution mode to ensure positioning continuity and reliability. Real-time coordinate data is encrypted and transmitted to a cloud management platform, supporting multi-terminal collaborative monitoring and decision analysis. Digital twin technology is used to construct a dynamic simulation of the entire construction process, allowing for advance rehearsals of key working conditions and optimization of the jacking path planning. All sensor data and operation logs are automatically archived, meeting the requirements for engineering quality traceability and maritime supervision. The system's built-in intelligent diagnostic module can assess the health status of each subsystem in real time, provide early warnings of potential fault risks, and, combined with AR remote assistance, guide maintenance personnel to quickly troubleshoot problems.

[0045] The attitude adjustment system includes a hydraulic cylinder 31 mounted on the walking machine 20 for vertical fine-tuning. Horizontal adjustment is achieved via micro-pulleys 32 on the longitudinal guide rail 23 and the transverse guide rail 18. An inclinometer 33 mounted on the box girder 21 monitors the three-dimensional attitude angle changes of the box girder in real time. Its output signal forms a closed-loop control circuit with the hydraulic cylinder 31 and the micro-pulleys 32. Based on the attitude deviation fed back by the inclinometer 33, the central coordinating controller achieves multi-degree-of-freedom attitude fine-tuning via a rotary hinge 34 on the walking machine 20. The rotary hinge 34 is integrated into the connection interface between the walking machine 20 and the box girder 21, allowing the box girder to achieve adaptive deflection within ±5° in the vertical, transverse, and angular directions.

[0046] As a preferred option, the attitude adjustment system employs a fusion of multi-axis gyroscopes and tilt sensors to perceive the spatial attitude of the box girder, calculating pitch, roll, and torsion angle deviations in real time, and performing millisecond-level dynamic adjustments via a hydraulic leveling cylinder array. The system is linked with anemometers and wave meters to predict external disturbance trends and intervene in advance for attitude correction, ensuring segment connection accuracy better than 3 millimeters. Under strong crosswinds or asymmetrical loading conditions, it automatically activates an anti-eccentric load control strategy, coordinating with the lateral movement system to apply a reverse correction torque. All adjustments are made autonomously based on BIM simulation preset parameters, supporting remote manual intervention and verification. Attitude data is updated 10 times per second and synchronized to the command center, forming a fully traceable digital log. The system has power failure memory and anomaly recovery functions; after an unexpected shutdown, it can automatically revert to the most recent stable state, avoiding time losses caused by repeated adjustments. In cross-sea construction scenarios, sensors and junction boxes with an IP68 salt spray corrosion protection level ensure long-term operational reliability, and all hydraulic pipelines adopt a self-sealing quick-connect design to reduce maintenance difficulty.

[0047] As a preferred option, the control system adopts a dual-redundant PLC architecture, with hot-swappable switching between primary and backup modules to ensure continuous operation of the jacking operation. Core algorithms are embedded, with a response latency of less than 50 milliseconds, meeting the real-time control requirements of highly dynamic operating conditions. The system supports multi-mode switching, adapting to jacking processes on straight lines, curves, and slope variations, and autonomously generates optimal control parameters based on BIM pre-simulation data. The human-machine interface integrates a 3D attitude visualization module, dynamically mapping key parameters to a digital twin model, improving the intuitiveness and accuracy of decision-making. All operation commands are encrypted with permissions and undergo double verification to prevent accidental triggering. Under abnormal operating conditions, the system automatically freezes execution units, triggers a tiered alarm mechanism, and uploads a snapshot of the current state to the cloud for root cause analysis. The maintenance team can access the entire lifecycle data stream of the equipment through AR glasses, overlaying it with real-time on-site data for remote diagnostics.

[0048] In one embodiment of this scheme, based on the environmental characteristics of the strong-flow water area during actual jacking, local hydrological and meteorological data are collected. Combined with historical wave, flow velocity, and wind parameters, a dynamic simulation model of the water environment is established to analyze the stress and attitude changes during the box girder erection process under different working conditions. Safety thresholds are set and control strategies are pre-simulated, optimizing the response logic of the six-degree-of-freedom compensation mechanism to ensure the stability of the jacking platform under transient turbulent impacts. Simultaneously, the buoyancy reserve of the pontoon and the tension distribution of the mooring system are checked to verify the adaptability of the device under extreme working conditions, providing data support and technical assurance for subsequent on-site construction. Furthermore, the maximum possible deviation value during the jacking process is simulated, and corresponding contingency plans are developed, clarifying the timing and execution path for correction.

[0049] Based on the coordinates of the jacking operation, the dynamic positioning system is activated. Using a GPS receiver, the system updates its coordinates in real time and compares them with differential data from a GNSS reference station to ensure correct positioning. Upon reaching the designated position, the anchor is lowered to secure the hull, and the multi-steering thrusters are activated to resist some of the water flow impact and maintain hull stability. A floating crane is used to precisely lift the precast box girder to the designated position and initially anchor it using temporary supports to ensure initial stability in turbulent conditions. A multi-degree-of-freedom active wave compensation system uses vertical damping thrusters and rotating compensating rods to perform six-degree-of-freedom real-time attitude adjustments on the jacking platform, effectively counteracting heave, roll, and pitch caused by waves. Based on feedback data from attitude sensors above the box girder, the compensation torque is dynamically adjusted to ensure the box girder maintains a horizontal attitude during the jacking process. Lateral jacks and a load transfer device are used to move the box girder to the designated area, and locking devices are activated to lock the pulleys and sliders, preventing lateral displacement of the box girder during longitudinal jacking and affecting jacking efficiency. The longitudinal jacks and longitudinal jacking cylinders 41 are activated to propel the box girder forward smoothly along the predetermined track. Real-time monitoring of jacking speed and resistance changes is conducted, and the jacking force distribution is dynamically adjusted based on data from attitude sensors and inertial measurement units to ensure synchronized movement. Simultaneously, the laser rangefinder is monitored to track the distance to the designated jacking endpoint, ensuring positioning accuracy is controlled within ±5mm.

[0050] Ten meters before reaching the final jacking point, the jacking speed is gradually reduced to 0.5 meters per minute, and the high-precision positioning system is activated to compare the design axis with the actual displacement deviation in real time. When 5 meters from the final point, the system switches to jog mode, controlling each advance distance to within 50 millimeters, and uses real-time feedback data from the total station for path correction. Simultaneously, the stress monitoring system is activated to collect strain values ​​at key sections of the box girder to verify whether the structural stress state is within the safe threshold range. If a significant deviation occurs due to waves, an alarm is triggered, and all personnel working on the jacking platform evacuate. When 1 meter from the final point, the jacking operation is suspended, and a laser rangefinder is used to verify the alignment accuracy between the box girder end face and the pier embedded parts. If the deviation exceeds 3 millimeters, an automatic correction procedure is triggered. Based on feedback data from the attitude sensors above the box girder, the output power of the vertical vibration-damping thrusters is dynamically adjusted to ensure millimeter-level precision alignment between the box girder end face and the pier embedded parts. After confirming the box girder is level, the axial deviation is less than 2 mm, and the tilt angle is within the allowable range, the hydraulic locking device is activated to rigidly connect the box girder to the pier's embedded parts. Simultaneously, the longitudinal jack load is released to prevent stress concentration. At the same time, the box girder's displacement and stress-strain data are monitored. If the stress and strain exceed the box girder's bearing capacity, the hydraulic cylinders and micro-pulleys are activated to monitor and adjust the box girder's posture in real time, adjusting the compensation torque to ensure structural safety. Once the stress and strain data stabilize within the design allowable range, the connection accuracy is checked again. After confirmation, permanent fixing welding is performed.

[0051] After the permanent welding of the box girder is completed, the device retracts. Following a pre-programmed procedure, the hydraulic locking devices are released sequentially according to the subsequent jacking tasks, slowly releasing residual stress to avoid disturbing the welded structure. The reverse jacking mode is then activated, using pulley blocks and a load transfer device to smoothly return the jacking platform to its starting position. During this process, track resistance and platform attitude are monitored in real time to ensure stability during the return journey. Simultaneously, the working status of the jacks, cylinders, and sensors is checked, data is zeroed, and the system is reset to prepare for the next round of jacking operations. Once the platform is fully reset, a maintenance reminder is automatically triggered, recording all parameters of the jacking process and uploading them to the engineering management system, completing the task loop. If there are no subsequent lifting tasks, the device is prepared for removal. It automatically enters removal mode, sequentially shutting down the hydraulic system, power module, and sensor array, and locking the moving mechanism to ensure transportation safety. The tracked transfer device is activated via remote command or a pre-programmed procedure, smoothly transferring the entire equipment along the construction access road to the storage area. Upon arrival, a final data backup and health status check are performed, marking items to be inspected for subsequent maintenance. Before the entire system was powered off, the environment was cleaned up to ensure that no debris remained that could affect on-site safety. The entire evacuation process was unmanned, relying on GPS to ensure the safety of the travel path and uploading location information to the project dispatch center in real time to ensure that the entire equipment transfer was under visual monitoring.

[0052] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A construction method of a large-span narrow-width prefabricated box girder adaptive dynamic attitude erection device for strong turbulence sensitive water areas, characterized in that, The method comprises the following steps: Step one, preparation and modeling: establish a BIM three-dimensional parametric model of the bridge, set up a GNSS reference station (25) and calibrate a laser range finder (26) and an inertial measurement unit (28); Step two, box girder (21) hoisting and preliminary anchoring: pull the prefabricated box girder (21) on the transport ship to the erection starting position, use a floating crane to complete the preliminary hoisting and initial anchoring with the walking machine (20); through the joint positioning of the GNSS receiver (27) and the laser range finder (26), the initial alignment of the central axis of the box girder (21) and the erection track is realized; Step three, fixed in turbulent state: start the walking machine (20) to temporarily lock the box girder (21) at the current working position, simultaneously activate the multi-degree-of-freedom active wave compensation system, compensate the wave based on the real-time acceleration and angular velocity data of the inertial measurement unit (28); drive the hydraulic oil cylinder (31) and the micro-motion pulley (32) to dynamically adjust the supporting reaction force and displacement; Step four, box girder jacking: start the transverse and longitudinal moving systems to implement segmented pushing of the box girder (21), during the pushing process, real-time data of the GNSS receiver (27), the laser range finder (26) and the inertial measurement unit (28) are received to correct the spatial pose deviation of the box girder (21); Step five, high-precision positioning of the box girder: start the high-precision positioning system, fuse GNSS real-time differential data, target distance sequences of the laser range finder (26) and attitude angle increments of the inertial measurement unit (28), perform multi-source information fusion calculation through extended Kalman filtering, and output the three-dimensional coordinates of the front end of the box girder (21) and the pitch, roll and yaw parameters; the central cooperative controller compares the measured pose with the preset target pose of the BIM model to generate a fine-tuning instruction sequence, and drives the walking machine (20) to implement deviation correction; Step six, fine-tuning and locking under stress monitoring: when the pose of the box girder (21) is adjusted to within the tolerance range, start the contact displacement sensor (36) and the pressure sensor (37) to monitor the contact pressure and relative displacement change of the end abutting surface of the box girder (21); when the contact pressure is uniformly distributed and the relative displacement tends to be stable, it is determined that the abutting state meets the design requirements, the walking machine (20) is driven to lock, the box girder (21) is connected with the pier top embedded part, and the structure is permanently fixed; Step seven, system conversion and device evacuation: after the box girder (21) is permanently connected and reaches the design bearing strength, the temporary constraints between the walking machine (20) and the box girder (21) are released in sequence, and the vertical support load is gradually transferred to the pier; the construction system is converted from the temporary support to the permanent structure, and the full-rotation thruster (6) is started to leave the working area.

2. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water areas according to claim 1, characterized in that: The floating platform support system is used to provide buoyancy for the erection device, and comprises a main load-bearing truss (1) and floating boxes (2). The floating boxes (2) are connected through hinged joints. The floating boxes (2) control water inflow or outflow through water inlet ports (3) to adjust the height of the floating platform support system in water. Ship anchors (4) and steel cables (5) at both ends of the floating boxes (2) fix the support platform (42).

3. The construction method of the large-span narrow-width prefabricated box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water areas according to claim 2, characterized in that: The main load-bearing truss (1) is arranged on the floating box (2), the top of the main load-bearing truss (1) is provided with a pushing platform (15), the pushing platform (15) is provided with a hydraulic walking machine (20), the floating box (2) is provided with a wave sensor (9), and the main load-bearing truss (1) is provided with a wind sensor (10) to collect meteorological and hydrological information.

4. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water area according to claim 2, characterized in that: The power positioning system comprises a motor (11), a plurality of full-rotation propellers (6) arranged around the floating box (2), and a GPS receiver (7) and an underwater sonar (8) for positioning to adjust the full-rotation propeller (6) at each position.

5. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water areas according to claim 2, characterized in that: The multi-degree-of-freedom active wave compensation system comprises a vertical damping propeller (12), a rotary compensation rod (13) and an attitude sensor (14), the vertical damping propeller (12) is arranged at the connection between the main load-bearing truss (1) and the floating box (2) to offset the vertical displacement caused by waves, and the attitude sensor (14) monitors the spatial attitude of the box girder (21) in real time.

6. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water area according to claim 2, characterized in that: The transverse moving system comprises transverse hydraulic jacks (16) and weight movers (17) symmetrically arranged on both sides of the pushing platform (15), the transverse hydraulic jacks (16) are arranged on sliding blocks (44), the weight movers (17) comprise pulleys (43) and transverse guide rails (18), the sliding blocks (44) are driven to move along the transverse guide rails (18) by the pulleys (43), the pulleys (43) are locked by lockers (35), and the guide direction of the transverse guide rails (18) is perpendicular to the pushing direction of the transverse hydraulic jacks (16).

7. The construction method of the large-span narrow-width prefabricated box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water areas according to claim 6, characterized in that: The longitudinal moving system comprises a servo motor (19) for driving the walking machine (20) to move the box girder (21), and longitudinal jacks (22) mounted on the walking machine (20), the walking machine (20) moves along longitudinal guide rails (23), the walking machine (20) is arranged on a base (39), and the longitudinal guide rails (23) are fixed by a sliding seat (40); the longitudinal jacks (22) are provided with buckles (24) for locking the box girder (21) to temporarily fix the box girder (21) in the positioning stage, and the longitudinal guide rails (23) are vertically distributed with the transverse guide rails (18) in the horizontal direction.

8. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water area according to claim 1, characterized in that: The high-precision positioning system is used for receiving multi-source position data from the attitude sensor (14), a GNSS reference station (25) and a laser range finder (26), and fusing data through a GNSS receiver (27) and an inertial measurement unit (28) on the box girder (21) to realize real-time calculation of the spatial position and attitude of the box girder (21); and the laser range finder (26) is used for measuring the real-time distance between the box girder (21) and the temporary support (30).

9. The construction method of the large-span narrow-width precast box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water area according to claim 1, characterized in that: The attitude adjusting system comprises hydraulic cylinders (31) mounted on the walking machine (20) and inclinometers (33) mounted on the box girder (21), the inclinometers (33) are used for monitoring the three-dimensional attitude angle change of the box girder (21) in real time, and rotary hinges (34) are arranged at the connecting interface between the walking machine (20) and the box girder (21) to enable the box girder (21) to deflect in the vertical direction, the transverse direction and the turning direction.

10. A large-span narrow-width prefabricated box girder adaptive dynamic attitude adjustment erection device for strong turbulence sensitive water area, characterized in that: The construction method of the large-span narrow-width prefabricated box girder adaptive dynamic alignment erecting device for strong turbulence sensitive water areas according to any one of claims 1-9 is constructed.

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