Multifunctional intelligent bridging machine and construction method

Abstract

The application relates to a multifunctional intelligent bridge erecting machine and a construction method, which comprises a single main beam, a front hoisting trolley and a rear hoisting trolley which are slidably connected to the single main beam, a front support leg, a middle support leg and a rear support leg. The top of the front support leg is slidably connected to the single main beam, the bottom of the front support leg is provided with a first walking mechanism, and the support height of the single main beam is vertically adjusted. The top of the middle support leg is slidably connected to the single main beam, and the support height of the single main beam is vertically adjusted. The top of the rear support leg is slidably connected to the single main beam, the bottom of the rear support leg is provided with a second walking mechanism, and the support height of the single main beam is vertically adjusted. The bridge erecting machine can be converted into a portal crane operation mode, an integrated machine operation mode and a bridge operation mode, etc., to meet the erection operation of a prefabricated pier column, a prefabricated cap beam and a prefabricated main beam on the ground and the bridge, and realize the one-machine installation of various bridge components. The front support leg and the rear support leg of the bridge erecting machine can move by themselves, thereby improving the adaptability of the bridge erecting machine.

Description

Technical Field

[0001] This application relates to the field of bridge erecting machine technology, and in particular to a multifunctional intelligent bridge erecting machine and its construction method. Background Technology

[0002] A survey of the current state of urban bridge construction revealed that, on average, there is a grade-separated intersection every 500 meters on existing urban roads, resulting in dense construction breaks for bridge erecting machines and necessitating frequent site relocations. The construction areas are also characterized by complex underground pipelines, high-voltage power lines, signal lines, and other existing infrastructure, limiting the operating space for bridge erecting machines. In existing urban elevated roads, interchange ramps and parallel ramps account for approximately 30%, with many interchange ramps having curve radii less than 200 meters, significantly smaller than those of highway bridges. Parallel ramps exhibit significant elevation differences and close spacing, further restricting operating space. Furthermore, to ensure urban traffic and safety, bridge construction operations are typically limited to the bridge's projected area, with some component installations temporarily occupying 2-3 lanes, further restricting operating space.

[0003] Existing bridge erecting machines are primarily designed for construction in open spaces such as highways and railways. They are large and heavy, failing to consider the frequent loading, unloading, relocation, and transportation requirements of urban bridge construction, as well as the needs of building small-radius interchange ramps and parallel ramps. This makes them unsuitable for the densely structured urban bridge construction environment. Furthermore, existing bridge erecting machines generally can only erect main beams, while bridge piers and cap beams are mostly constructed using cast-in-place methods, resulting in long construction cycles. In contrast, bridge erecting machines capable of erecting piers, cap beams, and main beams are large and complex in structure, requiring long relocation and dismantling times, making them unsuitable for urban environments that require frequent relocation.

[0004] In view of this, there is an urgent need to improve the existing bridge erecting machines and construction methods to meet the needs of prefabricated bridge construction in complex urban environments and improve the efficiency of urban bridge construction. Summary of the Invention

[0005] This application provides a multifunctional intelligent bridge erecting machine and construction method to solve the problems of traditional bridge erecting machines in related technologies, such as large size and weight, single function, long relocation and dismantling time, and difficulty in adapting to the needs of prefabricated bridge construction in complex urban environments.

[0006] The first aspect of this application provides a multifunctional intelligent bridge erecting machine, including: A single main beam, on which a front crane and a rear crane are slidably connected; The front support leg is slidably connected to the single main beam at its top and has a first traveling mechanism at its bottom, which can vertically adjust the support height of the single main beam. The middle support leg is slidably connected to the top of the single main beam, and its support height can be adjusted vertically. The rear support leg is slidably connected to the single main beam at its top and has a second traveling mechanism at its bottom, which can vertically adjust the support height of the single main beam.

[0007] In some embodiments: the single main beam includes multiple detachably connected single main beam segments, which are sequentially extended to form the single main beam; The top of the single main beam is provided with an upper sliding rail for sliding connection between the front and middle outriggers, and the bottom of the single main beam is provided with a lower sliding rail for sliding connection between the rear outriggers, the front crane, and the rear crane.

[0008] In some embodiments, multiple single main beam segments are connected by a quick-connection device, which includes a plug and a socket located between two adjacent single main beam segments that can be plugged into each other, and a cylindrical pin is inserted between the plug and the socket. The bridge erecting machine is equipped with a beam transport vehicle for transporting single main beam segments, precast piers, precast cap beams, and precast main beams.

[0009] In some embodiments, it also includes: An auxiliary support leg is slidably connected to the front end of the single main beam and can vertically adjust the support height of the single main beam. The front telescopic outrigger is slidably connected to the single main beam and can vertically adjust the support height of the single main beam. The rear telescopic outrigger is slidably connected to the rear end of the single main beam and can vertically adjust the support height of the single main beam.

[0010] In some embodiments: the auxiliary leg includes an auxiliary leg beam that slides on the bottom of the single main beam, and both ends of the auxiliary leg beam are connected to first support columns, and a first top support beam is connected between the bottoms of the two first support columns. The bottom of each of the two first support columns is coaxially sleeved with a second support column, and a second top support beam is vertically slidably connected between the two second support columns; The first and second support beams are connected by a first intelligent lifting device. The first intelligent lifting device drives the second support column to move up and down relative to the first support column through telescopic movement. The first support column is fixedly provided with a first automatic pin device that is pluggable to the second support column, and the two ends of the second top support beam are provided with a second automatic pin device that is pluggable to the second support column.

[0011] In some embodiments: the front telescopic outrigger includes a front outrigger crossbeam slidably connected above the single main beam, and both ends of the front outrigger crossbeam are connected to a height-adjustable third support column; A single-column leg lower crossbeam is connected between the bottoms of the two third support columns, and a transverse trolley is connected to the bottom of the single-column leg lower crossbeam. The transverse trolley is supported on the transverse track beam. The front support leg crossbeam, the two third support columns, and the single column support leg lower crossbeam form a rectangular structure. A driving device is connected between the front outrigger crossbeam and the single main beam, and the driving device drives the front telescopic outrigger to move along the length direction of the single main beam.

[0012] In some embodiments: the front support leg includes a first upper frame beam supported at the bottom of the single main beam, the first upper frame beam being a rectangular frame structure; Multiple telescopic columns that can be automatically lifted and locked are fixedly connected to the bottom of the first upper frame crossbeam, and multiple layers of cross bracing are provided between adjacent telescopic columns. The bottom of each of the telescopic columns is connected to a lower column, which is supported on a first traveling mechanism that has the functions of longitudinal movement, lateral movement, and turning. The rear support leg has the same structure as the front support leg.

[0013] In some embodiments: the middle support leg includes a second upper frame beam slidably connected above the single main beam, the second upper frame beam being a rectangular frame structure; A transverse rotation device is provided at the connection between the second upper frame crossbeam and the single main beam, which can drive the middle support leg to move laterally and rotate along the single main beam. The two ends of the second upper frame beam are vertically slidably connected to two height-adjustable fourth support columns, and each of the fourth support columns is equipped with a third automatic pin device. A conversion beam is vertically slidably connected between the two fourth support columns located on the same side of the single main beam, and a second intelligent lifting device is provided between the conversion beam and the second upper frame beam; The bottom of the fourth support column is connected to the bottom crossbeam of the frame, and the fourth support column and the bottom crossbeam of the frame are connected by a quick-connect device. A transverse movement mechanism is provided on the bottom crossbeam of the frame, and the bottom crossbeam of the frame is supported on the lower transverse track by the transverse movement mechanism. The two ends of the conversion beam are provided with a third automatic pin device for plugging and unplugging the fourth support column, and the end of the second upper frame beam is provided with a fourth automatic pin device for plugging and unplugging the fourth support column.

[0014] In some embodiments: the bottom of the front crane and the rear crane are connected to an upper lifting spreader beam by wire ropes and pulley blocks, and a slewing device is connected to the middle of the upper lifting spreader beam; The bottom of the slewing device is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing device and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. It also includes a pier tilting frame and pad block used in conjunction with the front and rear cranes. The pier tilting frame includes a base and an "L"-shaped tilting frame that tilts and rotates on the base.

[0015] The second aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge-on-the-bridge operation mode. When the bridge erecting machine is converted to gantry crane operation mode: the front and rear outriggers are used to support the single main beam on the ground; When the bridge erecting machine is converted to the integrated machine operation mode: the front outriggers are supported on the ground, while the middle outriggers and the rear telescopic outriggers are supported on the already erected main beam; When the bridge erecting machine is switched to bridge operation mode: it uses auxiliary outriggers and front telescopic outriggers to support the top of the pier in front of the span to be erected, and middle outriggers and rear telescopic outriggers to support the main beam that has already been erected.

[0016] In some embodiments, the method includes converting the bridge erecting machine from gantry crane operation mode to integrated machine operation mode, the steps of which are as follows: The single main beam is supported on the ground by the front and rear outriggers; Control the middle support leg to move forward and adjust its height so that the middle support leg supports the top of the rear end of the erected main beam. Adjust the single main beam to be supported by the middle support leg and the front support leg, and remove the rear support leg. Drive the front outrigger to move the single main beam and the rear telescopic outrigger forward together until the rear telescopic outrigger reaches the vicinity of the middle outrigger. Adjust the height of the rear telescopic outrigger column so that it supports the erected main beam. Adjust the single main beam to be supported by the rear telescopic outriggers and the front outriggers, and move the middle outrigger forward to the top of the front end of the erected main beam; The single main beam is adjusted to be supported by the middle support leg and the front support leg, the rear telescopic support leg is detached, and the front support leg drives the single main beam forward to the pier position, completing the bridge erection machine's bridge mounting operation and switching to integrated machine operation mode.

[0017] In some embodiments, the method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, the steps of which are as follows: The front outrigger is supported on the ground, while the middle and rear telescopic outriggers are supported on the erected main beam. The front outrigger drives the front end of the single main beam to move to the outside of the erected pier column. Move the auxiliary legs and front telescopic legs forward along the length of the single main beam so that the auxiliary legs and front telescopic legs are above the erected pier column, and adjust the support height of the auxiliary legs and front telescopic legs. Adjust the support status of the bridge erecting machine so that the auxiliary outriggers and the front telescopic outriggers are supported on the already erected cap beams on the top of the already erected piers in front of the bridge erection line, and the middle outriggers and the rear telescopic outriggers are supported on the already erected main beams. Disconnect the front outrigger from the single main beam, lower the height of the front outrigger, and drive the front outrigger away to complete the conversion from integrated machine operation mode to bridge operation mode.

[0018] In some embodiments, the method includes switching the bridge erecting machine from a bridge-operated mode to a gantry crane-operated mode, as follows: The single main beam is supported by the front telescopic outriggers and the middle outriggers, while the rear telescopic outriggers are detached. The middle support leg drives the single main beam to move forward, carrying the auxiliary support leg and the rear telescopic support leg, until the rear telescopic support leg reaches the vicinity of the middle support leg. Adjust the single main beam to be supported by the front telescopic outriggers and the rear telescopic outriggers, and drive the middle outrigger to move forward to support the front end of the erected main beam; The single main beam is supported by the middle outrigger and the rear telescopic outrigger, and the front telescopic outrigger is moved to the vicinity of the auxiliary outrigger; Drive the front outrigger to below the single main beam, adjust the position and height of the front outrigger and connect it to the single main beam; Adjust the support status of the bridge erecting machine so that the single main beam is supported by the front outrigger and the rear telescopic outrigger, and the middle outrigger moves towards the middle of the already erected main beam and supports the single main beam. The rear telescopic outrigger is disengaged, and the front outrigger, along with the auxiliary outrigger, the front telescopic outrigger, and the rear telescopic outrigger, moves forward together until the rear telescopic outrigger reaches the vicinity of the middle outrigger. Adjust the support status of the bridge erecting machine so that the single main beam is supported by the front outrigger and the rear telescopic outrigger, and drive the middle outrigger to move forward to the outside of the erected main beam; Drive the rear outrigger to below the single main beam, adjust the position and height of the rear outrigger so that it supports and connects to the single main beam; After the outriggers are detached, the bridge erecting machine is supported by the front and rear outriggers, thus converting the bridge operation mode into the gantry crane operation mode.

[0019] A third aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers transported from the ground on the ground, with the following steps: The bridge erecting machine is supported on the ground by front and rear outriggers. The position of the bridge erecting machine is adjusted by the first and second traveling mechanisms, and the first and second traveling mechanisms are locked. Adjust the support height of the front and rear outriggers, and connect the front and rear overhead cranes to the lifting spreader beam via wire ropes and pulley blocks; The precast pier is transported to the vicinity of the installation hole using a beam transport vehicle. One end of the precast pier is supported on the pier turning frame, and the other end is equipped with a pier lifting lug. The beam transport vehicle adjusts the position of the precast pier so that it is located directly below the bridge erecting machine. After the front and rear overhead cranes lowered the lifting spreader beams and connected them to the lifting lugs of the pier, the front and rear overhead cranes slowly lifted the precast pier, moving backward as they lifted, and slowly lifted the pier under the action of the pier turning frame. After the precast piers are completely lifted vertically, the beam transport vehicle is removed, and the front and rear overhead cranes lift the precast piers to the installation positions for alignment and installation.

[0020] In some embodiments, the method includes installing precast cap beams transported on the ground using a bridge erecting machine, with the following steps: The front and rear outriggers of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first and second traveling mechanisms, and the first and second traveling mechanisms are locked. Adjust the support height of the front and rear outriggers, and install the slewing device and the lower lifting beam on the upper lifting beam; The precast cap beams are transported to the vicinity of the installation holes using a beam transport vehicle; The driving beam transport vehicle rotates the precast cap beam from the longitudinal direction of the bridge to the transverse direction in the plane and places it directly below the bridge erecting machine; The front and rear overhead cranes lower the slewing hoist and the upper lifting spreader beam, connect them to the precast cap beam, and slowly lift the precast cap beam so that the bottom of the precast cap beam is higher than the anchoring steel bars of the erected pier column. The front and rear overhead cranes are coordinated to move and lift the precast cap beams onto the erected piers. The drive slewing device, the first telescopic mechanism, and the second telescopic mechanism are used to precisely adjust the posture of the precast cap beam and align it with the top of the erected pier column for installation.

[0021] In some embodiments, the method further includes installing precast main beams transported on the ground using a bridge erecting machine, with the following steps: The front and rear outriggers of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first and second traveling mechanisms, and the first and second traveling mechanisms are locked. Adjust the support height of the front and rear outriggers; The precast main beams are transported to the vicinity of the span to be erected using a beam transport vehicle and placed along the direction of the bridge line, so that the rear end of the precast main beam is behind the next erected cap beam and the front end of the precast main beam is outside the previous erected cap beam. The front and rear overhead cranes work together to lift and raise the precast main beam; When the rear end of the precast main beam is close to the top of the previous pier and the bottom of the existing cap beam, the rear crane stops lifting and the front crane continues to lift, so that the front end of the precast main beam is higher than the top of the previous pier and the existing cap beam, and the precast main beam is in an inclined state. Control the front and rear overhead cranes to move forward so that the rear end of the precast main beam is located outside the front side of the already erected cap beam on the top of the next erected pier column; Keeping the height and position of the front crane unchanged, the rear crane lifts the precast main beam, adjusting it from an inclined state to a horizontal state. The front and rear overhead cranes move backward in coordination to lift the precast main beam to the designed position for lowering and alignment installation.

[0022] The fourth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers transported from the bridge deck on the ground, with the following steps: The front outrigger of the bridge erecting machine is supported on the ground, while the middle outrigger and rear telescopic outrigger are supported on the already erected main beam. Adjust the bridge erecting machine to a suitable height. Two beam transport vehicles, one in front and one behind, are used to transport the precast piers from the erected main beams to the rear of the bridge erecting machine, so that the front end of the precast pier is located below the front crane. The front crane lifts the precast pier column, so that the front end of the precast pier column is suspended on the front crane and the rear end is supported on the rear beam transport vehicle, and the front beam transport vehicle is moved away. The coordinated control of the front crane and the rear beam transport vehicle moves forward to position the rear end of the precast pier column at the lifting position of the rear crane. The rear crane lifts the precast pier column, suspending it on the front and rear cranes, and controls the front and rear cranes to move forward to the vicinity of the installation hole. The front and rear overhead cranes lower the precast piers, so that one end of the precast pier is supported on the pier turning frame on the ground, and the other end is supported on the pad blocks on the ground. Adjust the positions of the front and rear overhead cranes and install the upper lifting spreader beam. The lifting rope of the upper lifting spreader beam is installed on the top of the precast pier column in preparation for lifting. The front and rear overhead cranes are coordinated and moved backward while lifting, so that the precast pier is slowly lifted and adjusted from a horizontal to a vertical position. The front and rear overhead cranes work together to vertically lift the precast piers to the installation positions for alignment and installation.

[0023] In some embodiments, the method includes installing precast cap beams transported from the bridge deck onto the ground using a bridge erecting machine, with the following steps: The front outrigger of the bridge erecting machine is supported on the ground, while the middle outrigger and rear telescopic outrigger are supported on the already erected main beam. Adjust the bridge erecting machine to a suitable height. Adjust the positions of the front and rear overhead cranes, and install the slewing device and the lower lifting spreader beam on the upper lifting spreader beam; The precast cap beam is transported from the erected main beam to the tail of the bridge erecting machine using a beam transport vehicle, so that the precast cap beam is located below the slewing hoist and the lower lifting spreader beam. After the lower lifting beam is connected to the precast cap beam, the front and rear overhead cranes lift the precast cap beam and move the beam transport vehicle away. The front and rear overhead cranes are coordinated to lift the precast cap beams to the outside of the erected main beams, and the precast cap beams are adjusted from the longitudinal direction of the bridge to the transverse direction by using a slewing hoist. Continue to control the front and rear overhead cranes to lift the precast cap beams forward to above the erected pier columns; The drive slewing device, the first telescopic mechanism, and the second telescopic mechanism are used to precisely adjust the posture of the precast cap beam and align it with the top of the erected pier column for installation.

[0024] In some embodiments, the method includes installing precast main beams transported on the bridge deck using a bridge erecting machine on the ground, with the following steps: The front outrigger of the bridge erecting machine is supported on the ground, while the middle outrigger and rear telescopic outrigger are supported on the already erected main beam. Adjust the bridge erecting machine to a suitable height. Two beam transport vehicles, one in front and one behind, are used to transport the precast main beam from the erected main beam to the rear of the bridge erecting machine, so that the front end of the precast main beam is located below the front crane. The front crane lifts the precast main beam, so that the front end of the precast main beam is suspended on the front crane and the rear end is supported on the beam transport vehicle at the rear. The beam transport vehicle at the front is then moved away. The front crane and the rear beam transport vehicle are moved forward in coordination to position the rear end of the precast main beam at the lifting position of the rear crane. The rear crane lifts the precast main beam, suspending it on the front and rear cranes, and controls the front and rear cranes to move forward to the vicinity of the installation hole. After the front and rear overhead cranes are adjusted to the designed position, they lower and install the precast main beam.

[0025] The fifth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes installing a precast main beam for a curved bridge transported on the bridge deck using the bridge erecting machine, with the following steps: The front outrigger of the bridge erecting machine is supported on the ground, while the middle outrigger and the rear telescopic outrigger are supported on the already erected main beam. The bridge erecting machine is then positioned to the inside of the curved bridge. Two beam transport vehicles, one in front and one behind, are used to transport the outermost precast main beam of the curved bridge to the tail of the bridge erecting machine on the already erected main beam. After the front end of the precast main beam reaches the designed lifting position of the front crane, the front crane lifts the front end of the precast main beam, and the rear end of the precast main beam is supported on the beam transport vehicle at the rear. The bridge erecting machine is supported by the front and middle legs. The bridge erecting machine and the beam transport vehicle are controlled in coordination. By controlling the transverse rotation device of the middle leg, the single main beam rotates around the center of the middle leg, so that the precast main beam moves forward and gradually adjusts its angle until it is parallel to the single main beam. When the rear end of the precast main beam reaches the designed lifting position of the rear crane, the rear crane lifts the rear end of the precast main beam. At this time, the precast main beam is suspended on the front crane and the rear crane. The bridge erecting machine hoists and moves the precast main beam laterally to the designed installation position, lowers it for alignment and installation, and completes the erection of the outermost precast main beam. Repeat the above steps, with the bridge erecting machine and beam transport vehicle rotating and feeding beams in tandem, completing the installation of the remaining precast main beams from the outer arc to the inner arc of the curved bridge.

[0026] The sixth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine's self-transfer to another location, and the steps are as follows: Before the relocation, if there are no obstacles in front of the bridge erecting machine and the relocation distance is short, the front and rear outriggers can be driven directly for autonomous relocation. For bridge erecting machines with height restrictions in front of them, the following steps can be used for self-transfer: Adjust the bridge erecting machine so that it is supported by the front and rear outriggers, and lower the front and rear outriggers to their lowest height. Extend the front and rear telescopic outriggers to their maximum length, adjust the bridge erecting machine to be supported by the front and rear telescopic outriggers, and disconnect the front and rear outriggers from the single main beam. Adjust the height of the front and rear telescopic outriggers to their lowest positions. Remove the upper structure of the front and rear outriggers, and move the first and second traveling mechanisms to the bottom of the single main beam and connect them with the support of the single main beam. At this time, the bridge erecting machine can pass through height-limiting obstacles through the first and second traveling mechanisms, and the whole machine can be moved to the site by itself. For locations requiring long-distance relocation, the following steps can be used for self-relocation: The bridge erecting machine is lowered to its lowest height and supported by the first and second traveling mechanisms; Drive the transfer module transport vehicle so that two transfer module transport vehicles are set under each single main beam segment below the bridge erecting machine. Adjust the support height of the transfer module transport vehicle so that the single main beam is supported on the transfer module transport vehicle. The bridge erecting machine is supported by a transfer module transport vehicle. The connection between the single main beam segments is disconnected, so that the single main beam is decomposed into multiple single main beam segments. Each single main beam segment is transported in sections by the transfer module transport vehicle, thus completing the long-distance rapid transfer operation of the bridge erecting machine.

[0027] The seventh aspect of this application provides a multifunctional intelligent bridge erecting machine, including: a bridge erecting machine body, a digital twin control console, a control subsystem, a production subsystem, a quality subsystem, and a safety subsystem; The digital twin control console is used to simulate and pre-run the work instructions output by the control subsystem, considering the feasibility of control, quality boundaries, safety risks, and matching degree with the construction plan. The control subsystem is used to control the bridge erection operation based on the simulation results and work instructions; The production subsystem is used to adjust the work plan for bridge erection operations and obtain the plan adjustment results; The quality subsystem is used to perform quality inspection on bridge erection operations and generate quality results. The safety subsystem is used to detect safety risks in bridge erection operations and generate safety results. Among them, the output of any one of the production subsystem, quality subsystem, and safety subsystem is fed back to one or more other subsystems so that the other subsystems can adjust their working status. The bridge erecting machine body includes a single main beam, auxiliary legs, front telescopic legs, front legs, middle legs, rear legs, and rear telescopic legs. The single main beam is slidably connected to a front crane and a rear crane. The auxiliary support leg is slidably connected to the front end of the single main beam; The front telescopic outrigger is slidably connected to the single main beam; The top of the front support leg is slidably connected to the single main beam, and the bottom is provided with a first traveling mechanism; The top of the middle support leg is slidably connected to the single main beam; The top of the rear support leg is slidably connected to the single main beam, and a second traveling mechanism is provided at the bottom; The rear telescopic outrigger is slidably connected to the rear end of the single main beam; The auxiliary outrigger, front telescopic outrigger, front outrigger, middle outrigger, rear outrigger, and rear telescopic outrigger are used to vertically adjust the support height of the single main beam.

[0028] In some embodiments: the single main beam includes multiple detachably connected single main beam segments, which are sequentially extended to form the single main beam; The top of the single main beam is provided with an upper sliding rail for sliding connection between the front and middle outriggers, and the bottom of the single main beam is provided with a lower sliding rail for sliding connection between the rear outriggers, the front crane, and the rear crane.

[0029] In some embodiments, multiple single main beam segments are connected by a quick-connection device, which includes a plug and a socket located between two adjacent single main beam segments that can be plugged into each other, and a cylindrical pin is inserted between the plug and the socket. The bridge erecting machine is equipped with a beam transport vehicle for transporting single main beam segments, precast piers, precast cap beams, and precast main beams.

[0030] In some embodiments: the auxiliary leg includes an auxiliary leg beam that slides on the bottom of the single main beam, and both ends of the auxiliary leg beam are connected to first support columns, and a first top support beam is connected between the bottoms of the two first support columns. The bottom of each of the two first support columns is coaxially sleeved with a second support column, and a second top support beam is vertically slidably connected between the two second support columns; The first and second support beams are connected by a first intelligent lifting device. The first intelligent lifting device drives the second support column to move up and down relative to the first support column through telescopic movement. The first support column is fixedly provided with a first automatic pin device that is pluggable to the second support column, and the two ends of the second top support beam are provided with a second automatic pin device that is pluggable to the second support column.

[0031] In some embodiments: the front telescopic outrigger includes a front outrigger crossbeam slidably connected above the single main beam, and both ends of the front outrigger crossbeam are connected to a height-adjustable third support column; A single-column leg lower crossbeam is connected between the bottoms of the two third support columns, and a transverse trolley is connected to the bottom of the single-column leg lower crossbeam. The transverse trolley is supported on the transverse track beam. The front support leg crossbeam, the two third support columns, and the single column support leg lower crossbeam form a rectangular structure. A driving device is connected between the front outrigger crossbeam and the single main beam, and the driving device drives the front telescopic outrigger to move along the length direction of the single main beam.

[0032] In some embodiments: the front support leg includes a first upper frame beam supported at the bottom of the single main beam, the first upper frame beam being a rectangular frame structure; Multiple telescopic columns that can be automatically lifted and locked are fixedly connected to the bottom of the first upper frame crossbeam, and multiple layers of cross bracing are provided between adjacent telescopic columns. The bottom of each of the telescopic columns is connected to a lower column, which is supported on a first traveling mechanism that has the functions of longitudinal movement, lateral movement, and turning. The rear support leg has the same structure as the front support leg.

[0033] In some embodiments: the middle support leg includes a second upper frame beam slidably connected above the single main beam, the second upper frame beam being a rectangular frame structure; A transverse rotation device is provided at the connection between the second upper frame crossbeam and the single main beam, which can drive the middle support leg to move and rotate along the longitudinal direction of the single main beam. The two ends of the second upper frame beam are vertically slidably connected to two height-adjustable fourth support columns, and each of the fourth support columns is equipped with a third automatic pin device. A conversion beam is vertically slidably connected between the two fourth support columns located on the same side of the single main beam, and a second intelligent lifting device is provided between the conversion beam and the second upper frame beam; The bottom of the fourth support column is connected to the bottom crossbeam of the frame, and the fourth support column and the bottom crossbeam of the frame are connected by a quick-connect device. A transverse movement mechanism is provided on the bottom crossbeam of the frame, and the bottom crossbeam of the frame is supported on the lower transverse track by the transverse movement mechanism. The two ends of the conversion beam are provided with a third automatic pin device for plugging and unplugging the fourth support column, and the end of the second upper frame beam is provided with a fourth automatic pin device for plugging and unplugging the fourth support column.

[0034] In some embodiments: the bottom of the front crane and the rear crane are connected to an upper lifting spreader beam by wire ropes and pulley blocks, and a slewing device is connected to the middle of the upper lifting spreader beam; The bottom of the slewing device is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing device and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. It also includes a pier tilting frame and pad block used in conjunction with the front and rear cranes. The pier tilting frame includes a base and an "L"-shaped tilting frame that tilts and rotates on the base.

[0035] In some embodiments: during the process of the control subsystem controlling the bridge erection operation, the control subsystem is specifically used for: The error vector is determined based on the real-time displacement and target displacement corresponding to the middle outrigger and the crane respectively, as well as the longitudinal swing angle and lateral swing angle corresponding to the load. The crane is a front crane and / or a rear crane. Based on the error vector and the second-order nonlinear dynamic matrix equation containing external lumped disturbances, the basic traction torque required for the outriggers and crane to overcome track friction and approach the target displacement during forced drive is determined. The anti-sway reverse damping compensation torque corresponding to the error vector is determined by using an Actor-Critic dual neural network and minimizing the performance evaluation cost function. The total driving torque is determined based on the basic traction torque and the anti-sway reverse damping compensation torque; The operation of the outriggers and the overhead crane is controlled based on the total driving torque.

[0036] In some embodiments: during the process of the control subsystem controlling the movement of the bridge erecting machine body, the control subsystem is specifically used for: Global path planning is performed based on the target A-star algorithm to determine the target path corresponding to the bridge erecting machine body; The heuristic function for the Target A algorithm is:

[0037]

[0038] In the formula, Indicates the coordinates of the current probe node. Indicates the coordinates of the target beam drop position point; This represents the integral of energy consumption cost. Indicates the coefficient of track friction. The total mass of the machine and the load being lifted. and These represent instantaneous velocity and acceleration, respectively. Indicates the wind penalty weight; This indicates the wind field intensity at the current altitude; This indicates the theoretical maximum wind speed limit that allows for operation. Let represent the repulsive term of the artificial potential field, t represent the upper limit of integration, and h represent the integration variable.

[0039] In some embodiments: after the grouting operation during bridge erection is completed, the quality subsystem is specifically used for: The multi-view phased array ultrasonic image of the target corresponding to the grouting sleeve is cropped to obtain the target ultrasonic image corresponding to the inside of the grouting sleeve. Defect segmentation is performed on the target ultrasound image based on the target SAM model to generate a target defect segmentation image; The grout fullness is determined by the area of ​​the target defect segmentation image and the area of ​​the target multi-view phased array ultrasonic image. Grouting quality is tested based on the grouting fullness, and grouting quality results are generated.

[0040] In some embodiments: the target SAM model includes a feature extractor and a multi-view cue pyramid module; The feature extractor is used to extract features from the output features of the ViT module in the image encoder of the target SAM model to obtain a multi-view image feature map; The multi-view cue pyramid module is used to perform multi-level pooling operations on the feature maps of multi-view images. After convolution processing of each pooling result, multiple local features are obtained. After upsampling operation of each local feature, multiple upsampled features are obtained. After channel concatenation of all upsampled features, residual fusion is performed with the feature maps of multi-view images. The fusion result is then subjected to convolution operation and flattening processing in sequence to obtain self-generated cue, which is used by the mask decoder in the target SAM model to perform defect segmentation of the target ultrasound image based on the self-generated cue.

[0041] In some embodiments: any one of the production subsystem, quality subsystem, and safety subsystem generates a target event based on its output, and triggers other subsystems to adjust their working status by sending the target event.

[0042] In some embodiments: the digital twin control console is also used for: The priority of each data stream is determined based on the data transmission cycle, data frame length, and business weight coefficient of the data streams output by each subsystem. All data streams are controlled through a multi-level transmission mechanism using a time-sensitive network and in descending order of priority. The data flow includes the control flow output by the control subsystem, the safety flow output by the safety subsystem, the quality flow output by the quality subsystem, and the production flow output by the production subsystem. The data flows with the business weight coefficient from high to low are the control flow, safety flow, quality flow, and production flow, respectively.

[0043] In some embodiments: during the safety risk detection process for bridge erection operations, the safety subsystem is specifically used for: Key points are extracted from the target image corresponding to the bridge construction operation using the YOLO-Pose model to obtain the target key points; All target key points are stacked to obtain 3D heat map data; The 3D heatmap data is subjected to multi-level nonlinear transformation by a multi-scale feature fusion module to obtain feature maps of different scales. The feature maps of different scales are densely connected to obtain a fused feature map. Global average pooling is performed on the fused feature map, and channel weights are assigned to the pooled feature map to output the target feature map. The action recognition module performs global average pooling and fully connected processing on the target feature map to obtain the classification result corresponding to the target image, and outputs the security risk result based on the classification result.

[0044] The eighth aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge-on-line operation mode. When the bridge erecting machine is switched to gantry crane operation mode: the control subsystem controls the front and rear outriggers to support the single main beam on the ground; When the bridge erecting machine is switched to integrated machine operation mode: the control subsystem controls the front outrigger to support on the ground, and the middle outrigger and rear telescopic outrigger to support on the erected main beam; When the bridge erecting machine is switched to bridge operation mode: the control subsystem controls the auxiliary outriggers and the front telescopic outriggers to support the pier top in front of the span to be erected, and the middle outriggers and the rear telescopic outriggers to support the already erected main beam.

[0045] In some embodiments, the method includes converting the bridge erecting machine from gantry crane operation mode to integrated machine operation mode, the steps of which are as follows: The control subsystem controls the single main beam to be supported on the ground by the front and rear outriggers; The control subsystem controls the middle support leg to move forward and adjust its height so that the middle support leg supports the top of the rear end of the erected main beam. The single main beam is then adjusted to be supported by the middle support leg and the front support leg, and the rear support leg is removed. The control subsystem drives the front outrigger, causing the single main beam and the rear telescopic outrigger to move forward together until the rear telescopic outrigger reaches the vicinity of the middle outrigger. The height of the rear telescopic outrigger column is then adjusted so that it is supported on the erected main beam. The control subsystem adjusts the single main beam to be supported by the rear telescopic outriggers and the front outriggers, and moves the middle outrigger forward to the top of the front end of the erected main beam; The control subsystem adjusts the single main beam to be supported by the middle and front outriggers, detaches the rear telescopic outriggers, and drives the single main beam forward to the pier position, completing the bridge erection machine's bridge mounting operation and switching to integrated machine operation mode.

[0046] In some embodiments, the method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, the steps of which are as follows: The control subsystem controls the front outrigger to support on the ground, the middle outrigger and the rear telescopic outrigger to support on the erected main beam, and controls the front outrigger to drive the front end of the single main beam to the outside of the erected pier column. The control subsystem controls the auxiliary outriggers and the front telescopic outriggers to move forward along the length of the single main beam, so that the auxiliary outriggers and the front telescopic outriggers are positioned above the erected piers, and adjusts the support height of the auxiliary outriggers and the front telescopic outriggers. The control subsystem adjusts the support status of the bridge erecting machine. The auxiliary outriggers and the front telescopic outriggers are supported on the already erected cap beams on the top of the already erected piers in front of the bridge erection line, while the middle outriggers and the rear telescopic outriggers are supported on the already erected main beams. The control subsystem disconnects the front outrigger from the single main beam, lowers the height of the front outrigger, and drives the front outrigger away, thus completing the conversion from integrated machine operation mode to bridge operation mode.

[0047] In some embodiments, the method includes switching the bridge erecting machine from a bridge-operated mode to a gantry crane-operated mode, as follows: The control subsystem controls the main beam to be supported by the front telescopic outriggers and the middle outriggers, while detaching the rear telescopic outriggers. The control subsystem controls the middle outrigger to drive the single main beam, carrying the auxiliary outrigger and the rear telescopic outrigger, to move forward until the rear telescopic outrigger reaches the vicinity of the middle outrigger. The control subsystem adjusts the single main beam to be supported by the front telescopic outriggers and the rear telescopic outriggers, and drives the middle outrigger to move forward to support the front end of the erected main beam. The control subsystem controls the main beam to be supported by the middle outrigger and the rear telescopic outrigger, and moves the front telescopic outrigger to the vicinity of the auxiliary outrigger; The control subsystem drives the front outrigger to below the single main beam, adjusts the position and height of the front outrigger, and connects it to the single main beam. The control subsystem adjusts the support status of the bridge erecting machine so that the single main beam is supported by the front outrigger and the rear telescopic outrigger, and the middle outrigger moves towards the middle of the erected main beam and supports the single main beam. The control subsystem controls the rear telescopic outrigger to disengage, and the front outrigger, along with the auxiliary outrigger, the front telescopic outrigger, and the rear telescopic outrigger, moves forward until the rear telescopic outrigger reaches the vicinity of the middle outrigger. The control subsystem adjusts the support status of the bridge erecting machine so that the single main beam is supported by the front outrigger and the rear telescopic outrigger, and drives the middle outrigger to move forward to the outside of the erected main beam. The control subsystem drives the rear outrigger to a position under the single main beam, adjusts the position and height of the rear outrigger so that it is supported and connected under the single main beam; The control subsystem controls the telescopic outriggers to disengage, allowing the bridge erecting machine to be supported by the front and rear outriggers, thus converting the bridge operation mode to the gantry crane operation mode.

[0048] The ninth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers transported from the ground on the ground, with the following steps: The control subsystem is supported on the ground by front and rear outriggers, and the position of the bridge erecting machine is adjusted by the first and second traveling mechanisms, and the first and second traveling mechanisms are locked. The control subsystem adjusts the support height of the front and rear outriggers, and the front and rear cranes are connected to the lifting spreader beam via wire ropes and pulley blocks; The precast pier is transported to the vicinity of the installation hole using a beam transport vehicle, with one end of the precast pier supported on the pier turning frame and the other end equipped with a pier lifting lug. The beam transport vehicle is then adjusted to position the precast pier so that it is directly below the bridge erecting machine. The quality subsystem detects the transportation deformation of the precast piers using real-time point cloud data corresponding to the precast piers. If there is no transportation deformation, the control subsystem is triggered to control the front and rear overhead cranes to lower the lifting spreader beam and connect it with the pier lifting lugs, so that the front and rear overhead cranes slowly lift the precast piers and move backward while lifting. Under the action of the pier turning frame, the piers are slowly lifted. After the precast pier column is completely lifted vertically, the control subsystem removes the beam transport vehicle, allowing the front and rear overhead cranes to lift the precast pier column above the installation hole for alignment and installation.

[0049] In some embodiments, the method includes installing precast cap beams transported on the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front and rear outriggers to support the ground, adjusts the position of the bridge erecting machine using the first and second traveling mechanisms, and locks the first and second traveling mechanisms. The control subsystem adjusts the support height of the front and rear outriggers, and installs the slewing device and the lower lifting beam on the upper lifting beam. The precast cap beams are transported to the vicinity of the installation holes using a beam transport vehicle; The driving beam transport vehicle rotates the precast cap beam from the longitudinal direction of the bridge to the transverse direction in the plane and places it directly below the bridge erecting machine; The quality subsystem detects the transportation deformation of the precast cap beam by using real-time point cloud data corresponding to the precast cap beam. If there is no transportation deformation of the precast cap beam, the control subsystem is triggered to control the front and rear cranes to lower the slewing hoist and raise the lifting spreader beam to connect with the precast cap beam, and slowly lift the precast cap beam so that the bottom of the precast cap beam is higher than the pre-reserved anchoring steel bars of the erected pier column. The control subsystem coordinates the movement of the front and rear overhead cranes to lift the precast cap beams onto the erected piers. The control subsystem drives the slewing hoist, the first telescopic mechanism, and the second telescopic mechanism to precisely adjust the posture of the precast cap beam and align it with the top of the erected pier column for installation.

[0050] In some embodiments, the method further includes installing precast main beams transported on the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front and rear outriggers to support the ground, adjusts the position of the bridge erecting machine using the first and second traveling mechanisms, and locks the first and second traveling mechanisms. The control subsystem adjusts the support height of the front and rear outriggers; The precast main beams are transported to the vicinity of the span to be erected using a beam transport vehicle and placed along the direction of the bridge line, so that the rear end of the precast main beam is behind the next erected cap beam and the front end of the precast main beam is outside the previous erected cap beam. The quality subsystem detects the transportation deformation of the precast main beam by using real-time point cloud data corresponding to the precast main beam. If there is no transportation deformation of the precast main beam, the control subsystem is triggered to coordinate the control of the front crane and the rear crane to lift the precast main beam. When the rear end of the precast main beam is close to the top of the previous pier and the bottom of the existing cap beam, the control subsystem controls the rear crane to stop lifting, while the front crane continues to lift, so that the front end of the precast main beam is higher than the top of the previous pier and the existing cap beam, making the precast main beam tilted. The control subsystem controls the front and rear cranes to move forward, so that the rear end of the precast main beam is located outside the front side of the cap beam on the top of the next erected pier column; The control subsystem controls the front crane to maintain its height and position, while the rear crane lifts the precast main beam, adjusting it from an inclined state to a horizontal state. The control subsystem coordinates with the front and rear overhead cranes to move backward, hoisting the precast main beam to the designed position for lowering and alignment installation.

[0051] The tenth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers transported from the bridge deck on the ground, with the following steps: The control subsystem controls the front outriggers to support on the ground, and the middle and rear telescopic outriggers to support on the erected main beam, adjusting the bridge erecting machine to a suitable height. Two beam transport vehicles, one in front and one behind, are used to transport the precast piers from the erected main beams to the rear of the bridge erecting machine, so that the front end of the precast pier is located below the front crane. The quality subsystem detects the transportation deformation of the precast piers by using real-time point cloud data corresponding to the precast piers. If there is no transportation deformation of the precast piers, the control subsystem is triggered to control the front crane to lift the precast piers, so that the front end of the precast piers is suspended on the front crane and the rear end is supported on the rear beam transport vehicle, and the front beam transport vehicle is moved away. The control subsystem coordinates the movement of the front crane and the rear beam transport vehicle forward to position the rear end of the precast pier column at the lifting position of the rear crane. The control subsystem controls the rear crane to lift the precast pier, suspending the precast pier on the front and rear cranes, and controls the front and rear cranes to move forward to the vicinity of the hole to be installed. The control subsystem controls the front and rear cranes to lower the precast pier, so that one end of the precast pier is supported on the pier turning frame on the ground and the other end is supported on the ground pad. The control subsystem adjusts the positions of the front and rear cranes and installs the upper lifting spreader beam. The lifting rope of the upper lifting spreader beam is installed on the top of the precast pier column in preparation for lifting. The control subsystem coordinates the front and rear cranes to lift and move backward simultaneously, so that the precast pier is slowly lifted and adjusted from a horizontal to a vertical position. The control subsystem coordinates the front and rear overhead cranes to vertically lift the precast piers to the installation positions for alignment and installation.

[0052] In some embodiments, the method includes installing precast cap beams transported from the bridge deck onto the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front outriggers to support on the ground, and the middle and rear telescopic outriggers to support on the erected main beam, adjusting the bridge erecting machine to a suitable height. The control subsystem adjusts the positions of the front and rear cranes, and installs the slewing device and the lower lifting beam on the upper lifting spreader beam; The precast cap beam is transported from the erected main beam to the tail of the bridge erecting machine using a beam transport vehicle, so that the precast cap beam is located below the slewing hoist and the lower lifting spreader beam. After the lower lifting spreader beam is connected to the precast cap beam, the quality subsystem detects the transportation deformation of the precast cap beam through real-time point cloud data corresponding to the precast cap beam. If there is no transportation deformation of the precast cap beam, the trigger control subsystem controls the front crane and the rear crane to lift the precast cap beam and remove the beam transport vehicle. The control subsystem coordinates the front and rear overhead cranes to lift the precast cap beam to the outside of the erected main beam, and uses a slewing hoist to adjust the precast cap beam from the longitudinal direction of the bridge to the transverse direction of the bridge. The control subsystem continues to control the front and rear overhead cranes to lift the precast cap beams forward to above the erected pier columns; The control subsystem drives the slewing hoist, the first telescopic mechanism, and the second telescopic mechanism to precisely adjust the posture of the precast cap beam and align it with the top of the erected pier column for installation.

[0053] In some embodiments, the method includes installing precast main beams transported on the bridge deck using a bridge erecting machine on the ground, with the following steps: The control subsystem controls the front outriggers to support on the ground, and the middle and rear telescopic outriggers to support on the erected main beam, adjusting the bridge erecting machine to a suitable height. Two beam transport vehicles, one in front and one behind, are used to transport the precast main beam from the erected main beam to the rear of the bridge erecting machine, so that the front end of the precast main beam is located below the front crane. The quality subsystem detects the transportation deformation of the precast main beam by using real-time point cloud data corresponding to the precast main beam. If there is no transportation deformation of the precast main beam, the control subsystem is triggered to control the front crane to lift the precast main beam, so that the front end of the precast main beam is suspended on the front crane and the rear end is supported on the rear beam transport vehicle, and the front beam transport vehicle is moved away. The control subsystem coordinates the movement of the front crane and the rear beam transport vehicle forward, positioning the rear end of the precast main beam at the lifting position of the rear crane. The control subsystem controls the rear crane to lift the precast main beam, suspending the precast main beam on the front and rear cranes, and controls the front and rear cranes to move forward to the vicinity of the installation hole. After the control subsystem controls the front and rear cranes to adjust the precast main beam to the design position, the front and rear cranes will lower and align the precast main beam for installation.

[0054] The eleventh aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes installing a precast main beam for a curved bridge transported on the bridge deck using the bridge erecting machine. The steps are as follows: The control subsystem controls the front outriggers to support on the ground, and the middle and rear telescopic outriggers to support on the already erected main beam, adjusting the bridge erecting machine's position to the inside of the curved bridge. Two beam transport vehicles, one in front and one behind, are used to transport the outermost precast main beam of the curved bridge to the tail of the bridge erecting machine on the already erected main beam. After the front end of the precast main beam reaches the designed lifting position of the front crane, the quality subsystem detects the transportation deformation of the precast main beam through real-time point cloud data corresponding to the precast main beam. If there is no transportation deformation of the precast main beam, the control subsystem is triggered to control the front crane to lift the front end of the precast main beam, and the rear end of the precast main beam is supported on the beam transport vehicle at the rear. The control subsystem adjusts the bridge erecting machine to be supported by the front and middle legs, and coordinates the control of the bridge erecting machine and the beam transport vehicle. By controlling the transverse rotation device of the middle leg, the single main beam rotates around the center of the middle leg, so that the precast main beam moves forward while gradually adjusting the angle until it is parallel to the single main beam. When the rear end of the precast main beam reaches the designed lifting position of the rear crane, the control subsystem controls the rear crane to lift the rear end of the precast main beam. At this time, the precast main beam is suspended on the front crane and the rear crane. The control subsystem controls the bridge erecting machine to hoist the precast main beam and move it laterally to the designed installation position, then lowers it for alignment and installation, completing the erection of the outermost side beam; Repeat the above steps, with the bridge erecting machine and beam transport vehicle rotating and feeding beams in tandem, completing the installation of the remaining precast main beams from the outer arc to the inner arc of the curved bridge.

[0055] The twelfth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine's self-transfer to another location, and the steps are as follows: Before the relocation, if there are no obstacles in front of the bridge erecting machine and the relocation distance is short, the front and rear outriggers can be driven directly for autonomous relocation. For bridge erecting machines with height restrictions in front of them, the following steps can be used for self-transfer: The control subsystem adjusts the bridge erecting machine to be supported by the front and rear outriggers, lowering the front and rear outriggers to their lowest possible height. The control subsystem extends the front and rear telescopic outriggers to their maximum length, adjusts the bridge erecting machine to be supported by the front and rear telescopic outriggers, and disconnects the front and rear outriggers from the single main beam. The control subsystem adjusts the height of the front and rear telescopic outriggers to their lowest possible levels. The upper structures of the front and rear outriggers are removed, and the control subsystem controls the first and second traveling mechanisms to travel to the bottom of the single main beam and connect with the support of the single main beam. At this time, the bridge erecting machine can pass through height-limiting obstacles through the first and second traveling mechanisms to realize the self-transfer of the entire machine. For locations requiring long-distance relocation, the following steps can be used for self-relocation: The control subsystem lowers the bridge erecting machine to its lowest height, where it is supported by the first and second traveling mechanisms. Drive the transfer module transport vehicle so that two transfer module transport vehicles are set under each single main beam segment below the bridge erecting machine. Adjust the support height of the transfer module transport vehicle so that the single main beam is supported on the transfer module transport vehicle. The bridge erecting machine is supported by a transfer module transport vehicle. The connection between the single main beam segments is disconnected, so that the single main beam is decomposed into multiple single main beam segments. Each single main beam segment is transported in sections by the transfer module transport vehicle, thus completing the long-distance rapid transfer operation of the bridge erecting machine.

[0056] The beneficial effects of the technical solution provided in this application include: This application provides a multifunctional intelligent bridge erecting machine and construction method. The multifunctional intelligent bridge erecting machine features a single main beam with a front crane and a rear crane slidably connected to it. A front outrigger has its top slidably connected to the single main beam and its bottom equipped with a first traveling mechanism that vertically adjusts the support height of the single main beam. A middle outrigger also has its top slidably connected to the single main beam and vertically adjusts its support height. Finally, a rear outrigger has its top slidably connected to the single main beam and its bottom equipped with a second traveling mechanism that vertically adjusts the support height of the single main beam.

[0057] Therefore, the front, middle, and rear outriggers of the multifunctional intelligent bridge erecting machine of this application can not only move along the length of a single main beam, but also extend and retract, thereby supporting the single main beam to a set height and allowing for mutual support conversion to meet different construction scenarios. The bottom of the front and rear outriggers are respectively connected to a first traveling mechanism and a second traveling mechanism. The first and second traveling mechanisms can actively drive the front and rear outriggers and the bridge erecting machine to steer and move, adapting to different construction scenarios.

[0058] The bridge erecting machine described in this application can be converted into gantry crane operation mode, integrated machine operation mode, and bridge-based operation mode. In these modes, it can perform erection operations on precast piers, precast cap beams, and precast main beams in both ground and bridge deck scenarios, enabling the installation of various bridge components on a single machine. The front and rear outriggers of the bridge erecting machine are self-moving, enhancing its adaptability. Furthermore, based on the segmented design of the single main beam, the machine can be disassembled and quickly transported to different locations using a beam transport vehicle, meeting the needs of prefabricated bridge construction in complex urban environments.

[0059] Furthermore, the bridge erecting machine of this application realizes the simulation and pre-play of the entire construction control process through a digital twin central control console, and simultaneously verifies the pre-conditions for quality, safety risk boundaries, and the matching degree of the construction plan, including efficiency, energy consumption, and plan matching degree. This effectively avoids the risk of misoperation under complex urban conditions. In addition, by combining the control subsystem, production subsystem, quality subsystem, and safety subsystem, it realizes multi-level two-way interaction of the physical entity, digital twin central control console, control closed loop, safety closed loop, production closed loop, and quality closed loop of bridge construction in complex urban scenarios, thereby effectively improving the efficiency and quality of bridge construction. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of the structure of the multifunctional intelligent bridge erecting machine according to an embodiment of this application; Figure 2 This is a structural schematic diagram of a single main beam according to an embodiment of this application; Figure 3 This is a schematic diagram of the auxiliary support leg in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the telescopic outrigger in an embodiment of this application; Figure 5 This is a front view of the front support leg in an embodiment of this application; Figure 6 This is a structural side view of the front support leg in an embodiment of this application; Figure 7 This is a front view of the support leg structure in an embodiment of this application; Figure 8 This is a side view of the support leg in an embodiment of this application.

[0062] Figure 9 This is a structural diagram of step S11 when the bridge erecting machine switches from gantry crane operation mode to integrated machine operation mode according to an embodiment of this application; Figure 10 This is a structural diagram of step S12 when the bridge erecting machine switches from gantry crane operation mode to integrated machine operation mode according to an embodiment of this application; Figure 11 This is a structural diagram of step S13 when the bridge erecting machine switches from gantry crane operation mode to integrated machine operation mode according to an embodiment of this application; Figure 12 This is a structural diagram of step S14 when the bridge erecting machine switches from gantry crane operation mode to integrated machine operation mode according to an embodiment of this application; Figure 13 This is a structural diagram of step S15 when the bridge erecting machine switches from gantry crane operation mode to integrated machine operation mode according to an embodiment of this application; Figure 14 This is a structural diagram of step S16 when the bridge erecting machine switches from integrated machine operation mode to bridge operation mode according to an embodiment of this application. Figure 15 This is a structural diagram of steps S17 and S18 when the bridge erecting machine in this embodiment of the application switches from integrated machine operation mode to bridge operation mode. Figure 16This is a schematic diagram of step S19 of the bridge erecting machine in this embodiment of the application when it switches from integrated machine operation mode to bridge operation mode; Figure 17 This is a structural diagram of step S20 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 18 This is a structural diagram of step S21 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 19 This is a schematic diagram of step S22 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 20 This is a schematic diagram of step S23 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 21 This is a structural diagram of step S24 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 22 This is a structural diagram of step S25 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 23 This is a structural diagram of step S26 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 24 This is a structural diagram illustrating step S27 of the bridge erecting machine in this embodiment of the application when it switches from bridge operation mode to gantry crane operation mode; Figure 25 This is a structural diagram of step S28 when the bridge erecting machine switches from bridge operation mode to gantry crane operation mode according to an embodiment of this application; Figure 26 This is a structural diagram of steps S11 to S13 of the bridge erecting machine in an embodiment of this application when installing prefabricated piers transported on the ground; Figure 27 , Figure 28 This is a schematic diagram of step S14 of the bridge erecting machine in this application embodiment when it installs the prefabricated piers transported on the ground. Figure 29 This is a schematic diagram of step S15 of the bridge erecting machine in an embodiment of this application, when it installs the prefabricated piers transported on the ground. Figure 30 This is a structural schematic diagram of steps S16 to S18 when the bridge erecting machine installs the precast cap beam transported on the ground according to an embodiment of this application. Figure 31 This is a schematic diagram of step S19 of the bridge erecting machine in this application embodiment when it installs the precast cap beam transported on the ground. Figure 32This is a schematic diagram of step S20 of the bridge erecting machine installing precast cap beams transported on the ground according to an embodiment of this application; Figure 33 This is a schematic diagram of step S21 when the bridge erecting machine installs the precast cap beam transported on the ground according to an embodiment of this application; Figure 34 This is a schematic diagram of step S22 when the bridge erecting machine installs the precast cap beam transported on the ground according to an embodiment of this application; Figure 35 This is a structural schematic diagram of steps S23 to S26 when the bridge erecting machine installs the precast main beam transported on the ground according to an embodiment of this application; Figure 36 This is a schematic diagram of step S27 of the bridge erecting machine in an embodiment of this application, when it installs the precast main beam transported on the ground. Figure 37 This is a schematic diagram of step S28 of the bridge erecting machine in an embodiment of this application, when it installs the precast main beam transported on the ground. Figure 38 This is a schematic diagram of step S29 of the bridge erecting machine in this application embodiment when it installs the precast main beam transported on the ground. Figure 39 This is a schematic diagram of step S30 when the bridge erecting machine installs the precast main beam transported on the ground in an embodiment of this application; Figure 40 This is a structural schematic diagram of steps S11 and S12 when the bridge erecting machine installs the precast piers transported on the bridge deck on the ground, according to an embodiment of this application. Figure 41 This is a structural schematic diagram of steps S13 and S14 when the bridge erecting machine installs the precast piers transported on the bridge deck on the ground, according to an embodiment of this application. Figure 42 This is a structural schematic diagram of steps S15 and S16 when the bridge erecting machine installs the precast piers transported on the bridge deck on the ground, according to an embodiment of this application. Figure 43 This is a schematic diagram of step S17 of the bridge erecting machine in this application embodiment when it installs the precast piers transported on the bridge deck on the ground; Figure 44 This is a structural schematic diagram of steps S18 and S19 when the bridge erecting machine installs the precast piers transported on the bridge deck on the ground, according to an embodiment of this application. Figure 45 This is a structural schematic diagram of steps S20 to S22 when the bridge erecting machine installs the precast cap beams transported on the bridge deck on the ground, according to an embodiment of this application. Figure 46 This is a structural schematic diagram of steps S23 and S24 when the bridge erecting machine installs the precast cap beams transported on the bridge deck on the ground, according to an embodiment of this application. Figure 47This is a schematic diagram of step S24 of the bridge erecting machine in this application embodiment when it installs the precast cap beam transported on the bridge deck on the ground; Figure 48 This is a structural schematic diagram of steps S25 and S26 when the bridge erecting machine installs the precast cap beams transported on the bridge deck on the ground, according to an embodiment of this application. Figure 49 This is a structural schematic diagram of steps S27 and S28 when the bridge erecting machine installs the precast main beam transported on the bridge deck on the ground, according to an embodiment of this application. Figure 50 This is a structural schematic diagram of steps S29 and S30 when the bridge erecting machine installs the precast main beam transported on the bridge deck on the ground, according to an embodiment of this application. Figure 51 This is a structural schematic diagram of step S31 when the bridge erecting machine installs the precast main beam transported on the bridge deck on the ground, according to an embodiment of this application. Figure 52 This is a schematic diagram of step S32 when the bridge erecting machine installs the precast main beam transported on the bridge deck on the ground, according to an embodiment of this application. Figure 53 This is a structural schematic diagram of step S11 when the bridge erecting machine installs the precast main beam for the curved bridge transported on the bridge deck, according to an embodiment of this application. Figure 54 This is a structural schematic diagram of step S12 during the installation of a precast main beam for a curved bridge transported by a bridge erecting machine according to an embodiment of this application. Figure 55 This is a structural schematic diagram of step S13 during the installation of a precast main beam for a curved bridge transported by a bridge erecting machine according to an embodiment of this application. Figure 56 This is a structural schematic diagram of step S14 during the installation of a precast main beam for a curved bridge transported by a bridge erecting machine according to an embodiment of this application. Figure 57 This is a structural schematic diagram of steps S15 and S16 when the bridge erecting machine installs the precast main beam for the curved bridge transported on the bridge deck, according to an embodiment of this application. Figure 58 This is a structural schematic diagram of step S17 during the installation of a precast main beam for a curved bridge transported by a bridge erecting machine according to an embodiment of this application. Figure 59 This is a schematic diagram of step S11 during the self-transfer of the bridge erecting machine according to an embodiment of this application; Figure 60 This is a schematic diagram of step S12 during the self-transfer of the bridge erecting machine according to an embodiment of this application; Figure 61 This is a schematic diagram of step S13 during the self-transfer of the bridge erecting machine according to an embodiment of this application; Figure 62 This is a schematic diagram of steps S14 and S15 during the self-transfer of the bridge erecting machine according to an embodiment of this application. Figure 63 This is a schematic diagram of steps S16 and S17 during the self-transfer of the bridge erecting machine according to an embodiment of this application. Figure 64 This is a schematic diagram of the system architecture of the multifunctional intelligent bridge erecting machine according to an embodiment of this application; Figure 65 This is a schematic diagram of multi-view phased array ultrasound image acquisition involved in the embodiments of this application; Figure 66 This is a schematic diagram of the SAM model architecture involved in the embodiments of this application; Figure 67 This is a schematic diagram of the target SAM model architecture involved in the embodiments of this application; Figure 68 This is a schematic diagram of the structure of the adapter module involved in the embodiment of this application; Figure 69 This is a schematic diagram of the structure of the multi-view prompt pyramid module involved in the embodiments of this application; Figure 70 This is a schematic diagram of the behavior recognition network architecture based on 3D CNN involved in the embodiments of this application.

[0063] Figure label: 1. Single main beam; 2. Auxiliary outriggers; 3. Front telescopic outriggers; 4. Front outriggers; 5. Middle outriggers; 6. Rear outriggers; 7. Rear telescopic outriggers; 8. Front overhead crane; 9. Rear overhead crane; 10. Slewing hoist; 11. Upper lifting spreader beam; 12. Constructed pier cap; 13. Erected pier column; 14. Erected cap beam; 15. Erected main beam; 16. Precast pier column; 17. Precast cap beam; 18. Precast main beam; 19. Beam transport vehicle; 20. Pier column turning frame; 21. Spacer block; 22. Anchoring reinforcement; 23. Transfer module transport vehicle; 101. Single main beam segment; 102. Upper slide rail; 103. Lower slide rail; 104. Quick connection device; 201. Auxiliary support leg crossbeam; 202. First support column; 203. First top support crossbeam; 204. Second support column; 205. Second top support crossbeam; 206. First intelligent jacking device; 207. First automatic pin device; 208. Second automatic pin device; 301. Front support leg crossbeam; 302. Drive device; 303. Third support column; 304. Fifth automatic pin device; 305. Single column support leg lower crossbeam; 306. Lateral trolley; 307. Lateral track beam; 401. First upper frame crossbeam; 402. Telescopic column; 403. Lower column; 404. Horizontal bracing; 405. First traveling mechanism; 501. Second upper frame crossbeam; 502. Horizontal movement and rotation device; 503. Fourth support column; 504. Conversion crossbeam; 505. Second intelligent lifting device; 506. Third automatic pin device; 507. Frame bottom crossbeam; 508. Horizontal movement mechanism; 509. Quick connection device; 510. Lower horizontal movement track; 511. Fourth automatic pin device. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] This application provides a multifunctional intelligent bridge erecting machine and construction method, which can solve the problems of traditional bridge erecting machines in related technologies, such as large size and weight, single function, long relocation and dismantling time, and difficulty in adapting to the needs of prefabricated bridge construction in complex urban environments.

[0066] See Figure 1 As shown, the first aspect of this application provides a multifunctional intelligent bridge erecting machine, comprising: The single main beam 1 is a hollow steel beam with a front crane 8 and a rear crane 9 slidably connected on it. The front crane 8 and the rear crane 9 reciprocate along the length of the single main beam 1.

[0067] The front outrigger 4 is slidably connected to the top of the single main beam 1, and the front outrigger 4 reciprocates along the length of the single main beam 1. The height of the front outrigger 4 can be vertically adjusted to vertically support and adjust the height of the single main beam 1. The bottom of the front outrigger 4 is provided with a first traveling mechanism 405, which has traveling, steering, braking and parking functions.

[0068] The middle support leg 5 is slidably connected to the single main beam 1. The middle support leg 5 moves back and forth along the length of the single main beam 1. The height of the middle support leg 5 can be adjusted to vertically support and adjust the height of the single main beam 1.

[0069] The rear support leg 6 is slidably connected to the top of the single main beam 1. The rear support leg 6 moves back and forth along the length of the single main beam 1. The height of the rear support leg 6 can be adjusted to vertically support and adjust the height of the single main beam 1. A second traveling mechanism is connected to the bottom of the rear support leg 6. The second traveling mechanism also has traveling, steering, braking and parking functions.

[0070] The lightweight multi-functional bridge erecting machine of this application embodiment can not only move along the length of the single main beam 1, but also its telescopic movement can support the single main beam 1 to a set height and allow for mutual support conversion to meet different construction scenarios. The bottom of the front support leg 4 and the rear support leg 6 are respectively connected to a first traveling mechanism 405 and a second traveling mechanism. The first traveling mechanism 405 and the second traveling mechanism can actively drive the front support leg 4, the rear support leg 6, and the bridge erecting machine to turn and move, adapting to different construction scenarios.

[0071] The bridge erecting machine in this embodiment can be switched to gantry crane operation mode, integrated machine operation mode, and bridge-based operation mode. In these modes, it can perform the erection of precast piers 16, precast cap beams 17, and precast main beams 18 in both ground and bridge deck scenarios, enabling the installation of various bridge components on a single machine. The front outrigger 4 and rear outrigger 6 of the bridge erecting machine can move independently, improving its adaptability. Furthermore, based on the segmented design of the single main beam 1, the bridge erecting machine can be disassembled in situ and quickly transported using a beam transport vehicle 19 and a transfer module transport vehicle 23, meeting the needs of prefabricated bridge construction in complex urban environments.

[0072] In some alternative embodiments: see Figure 1 , Figure 2 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The single main beam 1 of the bridge erecting machine includes multiple detachably connected single main beam segments 101, which are sequentially extended to form the single main beam 1. The top of the single main beam 1 is provided with an upper slide rail 102 that slides to connect the front support leg 4 and the middle support leg 5, and the bottom of the single main beam 1 is provided with a lower slide rail 103 that slides to connect the rear support leg 6, the front crane 8, and the rear crane 9.

[0073] Multiple single main beam segments 101 are connected by a quick-connect device 104. The quick-connect device 104 includes plugs and sockets that can be plugged into each other between two adjacent single main beam segments 101, and cylindrical pins are inserted between the plugs and sockets. The bridge erecting machine is equipped with a beam transport vehicle 19 for transporting the single main beam segments 101, precast piers 16, precast cap beams 17, and precast main beams 18.

[0074] The single main beam 1 in this embodiment adopts a segmented design, which allows for rapid segmentation and connection. Its length is 1.5 times the length of the precast main beam 18. The number of single main beam segments 101 can be increased or decreased according to the bridge span, adapting to bridges of different spans. Multiple single main beam segments 101 are connected by a quick-connect device 104. The quick-connect device 104 includes a plug and a socket located longitudinally pluggable between adjacent single main beam segments, with cylindrical pins laterally inserted between the plug and the socket.

[0075] The bridge erecting machine is equipped with a beam transport vehicle 19 for transporting single main girder segments 101, precast piers 16, precast cap beams 17, and precast main girders 18. The beam transport vehicle 19 works in conjunction with the bridge erecting machine to enable the bridge erecting machine to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the ground; to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the bridge deck; and to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the bridge deck. It also enables the bridge erecting machine to transport single main girder segments 101 in segments, allowing for self-transfer.

[0076] A sliding upper rail 102 is provided at the top of the single main beam 1 to connect the middle support leg 5, and a sliding lower rail 103 is provided at the bottom of the single main beam 1 to connect the front support leg 4, the rear support leg 6, the front crane 8, and the rear crane 9. This allows the middle support leg 5, the front support leg 4, the rear support leg 6, the front crane 8, and the rear crane 9 to move freely and flexibly along the length of the single main beam 1.

[0077] In some alternative embodiments: see Figure 1 , Figure 2 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine, which further includes: an auxiliary support leg 2, which is slidably connected to the front end of the single main beam 1 and can vertically adjust the support height of the single main beam 1; a front telescopic support leg 3, which is slidably connected to the single main beam 1 and can vertically adjust the support height of the single main beam 1; and a rear telescopic support leg 7, which is slidably connected to the rear end of the single main beam 1 and can vertically adjust the support height of the single main beam 1.

[0078] Based on the above embodiments, this application embodiment adds auxiliary legs 2, front telescopic legs 3, and rear telescopic legs 7 to the single main beam 1. By changing the states of the middle leg 5, front leg 4, rear leg 6, auxiliary legs 2, front telescopic legs 3, and rear telescopic legs 7, the bridge erecting machine has three operating modes, each with different functions, capable of meeting the operational needs of different working conditions.

[0079] The first form is the gantry crane operation mode, which is the initial form of the bridge erecting machine. The single main beam 1 is supported on the ground by the front leg 4 and the rear leg 6. It is suitable for erecting precast piers 16, precast cap beams 17, and precast main beams 18 transported on the ground.

[0080] The second form is the integrated machine operation mode, in which the front outrigger 4 of the bridge erecting machine is supported on the ground, and the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. It is suitable for erecting precast piers 16, precast cap beams 17 and precast main beams 18 for bridge deck transportation.

[0081] The third mode is the bridge-on-the-bridge operation mode, in which the bridge erecting machine uses auxiliary outriggers 2 and front telescopic outriggers 3 to support the pier top in front of the span to be erected; the middle outriggers 5 and rear telescopic outriggers 7 are supported on the already erected main beam 15. This mode is suitable for erecting precast main beams 18 transported on the bridge deck when the bridge is at a high height.

[0082] In some alternative embodiments: see Figure 1 , Figure 3 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The auxiliary leg 2 of the bridge erecting machine includes an auxiliary leg beam 201 that slides on the bottom of the single main beam 1. Both ends of the auxiliary leg beam 201 are connected to a first support column 202 extending downwards. A first top support beam 203 is connected between the bottoms of the two first support columns 202.

[0083] A second support column 204 is coaxially sleeved and connected to the bottom of each of the two first support columns 202. The top of the second support column 204 extends into the first support column 202 and is slidably connected to it, thereby realizing telescopic movement. A second top support beam 205 is vertically slidably connected between the two second support columns 204.

[0084] The first support beam 203 and the second support beam 205 are connected by a first intelligent lifting device 206, which is preferably, but not limited to, a hydraulic cylinder. The first intelligent lifting device 206 drives the second support column 204 to move up and down relative to the first support column 202 through telescopic movement.

[0085] The first support column 202 is fixedly provided with a first automatic pin device 207 that is pluggable to the second support column 204. The two ends of the second top support beam 205 are provided with second automatic pin devices 208 that are pluggable to the second support column 204. The second support column 204 is provided with a plurality of spaced holes for inserting the first automatic pin device 207 and the second automatic pin device 208.

[0086] In this embodiment, the first supporting beam 203 and the second supporting beam 205 are connected by a first intelligent lifting device 206, and a first automatic pin device 207 for plugging and unplugging the second supporting column 204 is fixedly provided on each of the first supporting columns 202. A second automatic pin device 208 for plugging and unplugging the second supporting column 204 is provided at both ends of the second supporting beam 205.

[0087] When the auxiliary support leg 2 of the bridge erecting machine needs to be raised, the first automatic pin device 207 first disconnects from the second support column 204, and the first intelligent lifting device 206 drives the first support column 202 and the first support beam 203 to move upward. When it is raised to the position, the first automatic pin device 207 inserts into the hole of the second support column 204 to achieve height limit.

[0088] Next, disconnect the second automatic pin device 208 from the second support column 204. The first intelligent lifting device 206 drives the second support beam 205 to move upward along the axis of the second support column 204. When it reaches the target height, the second automatic pin device 208 inserts into the second support column 204 to achieve height limit. Repeat the above steps until the target height is reached.

[0089] In some alternative embodiments: see Figure 1 , Figure 4 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The front telescopic outrigger 3 of the bridge erecting machine includes a front outrigger crossbeam 301 slidably connected above a single main beam 1. Both ends of the front outrigger crossbeam 301 are connected to height-adjustable third support columns 303. A single column outrigger lower crossbeam 305 is connected between the bottoms of the two third support columns 303. A transverse trolley 306 is connected to the bottom of the single column outrigger lower crossbeam 305. The transverse trolley 306 is supported on a transverse track beam 307. The transverse trolley 306 drives the third support columns 303 to move laterally on the transverse track beam 307.

[0090] The front outrigger crossbeam 301, two third support columns 303, and the single-column outrigger lower crossbeam 305 form a rectangular structure. A drive device 302 connects the front outrigger crossbeam 301 to the single main beam 1, and the drive device 302 drives the front telescopic outrigger 3 to move along the length of the single main beam 1. The drive device 302 preferably, but not limited to, uses a gear and rack linear mechanism connecting the front outrigger crossbeam 301 and the single main beam 1.

[0091] The front outrigger crossbeam 301 is vertically slidably connected to the third support column 303. Multiple spaced insertion holes are provided on the third support column 303. At both ends of the front outrigger crossbeam 301, there are fifth automatic pin devices 304 that are inserted into the insertion holes of the third support column 303. The fifth automatic pin devices 304 are inserted into different insertion holes on the third support column 303 to adjust the support height of the front telescopic outrigger 3.

[0092] In some alternative embodiments: see Figure 1 , Figure 5 , Figure 6 As shown, this application embodiment provides a multifunctional intelligent bridge erecting machine. The front support leg 4 of the bridge erecting machine includes a first upper frame crossbeam 401 supported on the bottom of a single main beam 1. The first upper frame crossbeam 401 is preferably, but not limited to, a rectangular frame structure. The first upper frame crossbeam 401 is detachably connected to the single main beam 1 by fasteners, thereby facilitating the connection or removal of the front support leg 4 from the single main beam 1.

[0093] Four telescopic columns 402, capable of automatic lifting and locking, are fixedly connected to the bottom of the first upper frame crossbeam 401. The telescopic columns 402 preferably, but not limited to, have a four-stage telescopic structure. Four layers of transverse bracing 404 are provided between adjacent telescopic columns 402 to enhance the overall rigidity and stability of the telescopic columns 402. Each of the four telescopic columns 402 has a lower column 403 connected to its bottom, which is supported on a first traveling mechanism 405 capable of longitudinal, lateral, and turning movements. The rear support leg 6 has the same structure as the front support leg 4; the specific structure of the rear support leg 6 will not be repeated here.

[0094] In some alternative embodiments: see Figure 1 , Figure 7 , Figure 8 As shown, this application embodiment provides a multifunctional intelligent bridge erecting machine. The middle support leg 5 of the bridge erecting machine includes a second upper frame crossbeam 501 that is slidably connected above the single main beam 1. The second upper frame crossbeam 501 is preferably, but not limited to, a rectangular frame structure.

[0095] A transverse rotation device 502 is installed at the connection between the second upper frame crossbeam 501 and the single main beam 1. The transverse rotation device 502 can drive the middle support leg 5 to move laterally and rotate along the single main beam 1. Two height-adjustable fourth support columns 503 are vertically slidably connected to both ends of the second upper frame crossbeam 501. Each fourth support column 503 is equipped with a third automatic pin device 506.

[0096] A conversion beam 504 is vertically slidably connected between two fourth support columns 503 located on the same side of the single main beam 1. A second intelligent lifting device 505 is provided between the conversion beam 504 and the second upper frame beam 501. The second intelligent lifting device 505 is preferably, but not limited to, a hydraulic cylinder.

[0097] A frame bottom crossbeam 507 is connected to the bottom of the fourth support column 503, and the fourth support column 503 and the frame bottom crossbeam 507 are connected by a quick-connect device 509. A transverse movement mechanism 508 is provided on the frame bottom crossbeam 507, and the frame bottom crossbeam 507 is supported on the lower transverse movement track 510 by the transverse movement mechanism 508. The transverse movement mechanism 508 is used to drive the frame bottom crossbeam 507 to move laterally on the lower transverse movement track 510.

[0098] The two ends of the conversion beam 504 are provided with a third automatic pin device 506 for plugging and unplugging connection to the fourth support column 503, and the end of the second upper frame beam 501 is provided with a fourth automatic pin device 511 for plugging and unplugging connection to the fourth support column 503. Multiple insertion holes for plugging and unplugging connection of the third automatic pin device 506 and the fourth automatic pin device 511 are provided on the fourth support column 503.

[0099] The second upper frame crossbeam 501 of this application embodiment is not only slidably connected to the single main beam 1, allowing the middle support leg 5 to move freely back and forth along the length direction of the single main beam 1, but also has a transverse rotation device 502 provided at the connection between the second upper frame crossbeam 501 and the single main beam 1. The transverse rotation device 502 causes the middle support leg 5 to move back and forth along the width direction of the single main beam 1 and to rotate relative to the single main beam 1.

[0100] A second intelligent lifting device 505 is installed between the conversion beam 504 and the second upper frame beam 501. When it is necessary to adjust the support height of the middle support leg 5, the lifting height can be flexibly adjusted by the cooperation of the second intelligent lifting device 505, the third automatic pin device 506, and the fourth automatic pin device 511.

[0101] When the middle support leg 5 needs to be raised, the third automatic pin device 506 first disconnects from the fourth support column 503, and the second intelligent lifting device 505 drives the conversion beam 504 to move upward along the axis of the fourth support column 503. When it is raised to the position, the third automatic pin device 506 inserts into the hole of the fourth support column 503 to achieve height limit. Next, disconnect the fourth automatic pin device 511 from the fourth support column 503. The second intelligent lifting device 505 drives the second upper frame beam 501 to move upward along the axis of the fourth support column 503. When it reaches the target height, the fourth automatic pin device 511 is inserted into the hole of the fourth support column 503 to achieve height limit. Repeat the above steps until the target height is reached.

[0102] In some alternative embodiments: see Figure 1 , Figure 43 , Figure 46As shown in the illustration, this application provides a multifunctional intelligent bridge erecting machine. The bottoms of the front crane 8 and the rear crane 9 of this machine are connected to an upper lifting spreader beam 11 via wire ropes and pulley blocks. A slewing device 10 is connected to the middle of the upper lifting spreader beam 11. The upper lifting spreader beam 11 can be used alone or in conjunction with the slewing device 10, which is used to rotate and lift prefabricated components.

[0103] The bottom of the slewing spreader 10 is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing spreader 10 and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. The lower lifting beam and the slewing spreader 10 are rotatably connected via the universal joint. The first and second telescopic mechanisms can adjust the posture and angle of the prefabricated components suspended on the lower lifting beam through their own telescopic movements, thereby facilitating the on-site assembly of the prefabricated components.

[0104] It also includes a pier tilting frame 20 and a pad block 21 used in conjunction with the front overhead crane 8 and the rear overhead crane 9. The pier tilting frame 20 includes a base and an "L"-shaped tilting frame that tilts and rotates on the base. When the bridge erecting machine hoists the precast pier 16 on site, one end of the precast pier 16 can be supported on the pier tilting frame 20 and the other end on the pad block 21. Then, the front overhead crane 8 and the rear overhead crane 9 jointly lift the end of the precast pier 16 near the pad block 21, so that the other end of the precast pier 16 is slowly erected under the rotational support of the pier tilting frame 20.

[0105] See Figure 9 , Figure 13 , Figure 16 As shown, the second aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge-on-the-bridge operation mode, which can meet the operation requirements of different working conditions.

[0106] See Figure 9 As shown, when the bridge erecting machine is converted to gantry crane operation mode: the front outrigger 4 and the rear outrigger 6 are used to support the single main beam 1 on the ground, which is suitable for erecting precast piers 16, precast cap beams 17 and precast main beams 18 transported on the ground.

[0107] See Figure 13 As shown, when the bridge erecting machine is converted to the integrated machine operation mode: the front outrigger 4 is supported on the ground, and the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. It is suitable for erecting precast piers 16, precast cap beams 17 and precast main beams 18 for bridge deck transportation.

[0108] See Figure 16 As shown, when the bridge erecting machine is switched to bridge operation mode: the auxiliary outrigger 2 and the front telescopic outrigger 3 are supported on the pier top in front of the hole to be erected, and the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. This is suitable for erecting precast main beams 18 transported on the bridge deck when the bridge is at a high height.

[0109] In some alternative embodiments: see Figures 9 to 13 As shown in the figure, this application embodiment provides a construction method for a multi-functional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from a gantry crane operation mode to an integrated machine operation mode, and the steps are as follows: S11, such as Figure 9 As shown, the single main beam 1 is supported on the ground by the front support leg 4 and the rear support leg 6.

[0110] S12, as Figure 10 As shown, the middle support leg 5 is moved forward and its height is adjusted so that the middle support leg 5 supports the top of the rear end of the erected main beam 15. The single main beam 1 is adjusted to be supported by the middle support leg 5 and the front support leg 4, and the rear support leg 6 is removed. The bottom of the erected main beam 15 consists of the constructed pier cap 12, the erected pier column 13, and the erected cap beam 14 from bottom to top.

[0111] S13, as Figure 11 As shown, drive the front outrigger 4 to move the single main beam 1 and the rear telescopic outrigger 7 forward together until the rear telescopic outrigger 7 reaches the vicinity of the middle outrigger 5. Adjust the height of the column of the rear telescopic outrigger 7 so that it is supported on the erected main beam 15.

[0112] S14, as Figure 12 As shown, the main beam 1 is adjusted by being supported by the rear telescopic outrigger 7 and the front outrigger 4, and the middle outrigger 5 is moved forward to the top of the front end of the main beam 15.

[0113] S15, such as Figure 13 As shown, the single main beam 1 is supported by the middle support leg 5 and the front support leg 4, the rear telescopic support leg 7 is disengaged, and the front support leg 4 drives the single main beam 1 forward to the pier position, completing the bridge erecting machine's bridge mounting operation, and the bridge erecting machine is converted into an integrated machine operation mode.

[0114] In some alternative embodiments: see Figures 14 to 16 As shown in the figure, this application embodiment provides a construction method for a multi-functional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, and the steps are as follows: S16, as Figure 14 As shown, the front support leg 4 is supported on the ground, the middle support leg 5 and the rear telescopic support leg 7 are supported on the erected main beam 15, and the front support leg 4 drives the front end of the single main beam 1 to move to the outside of the erected pier column 13.

[0115] S17, as shown Figure 15As shown, the auxiliary leg 2 and the front telescopic leg 3 are moved forward along the length of the single main beam 1 so that the auxiliary leg 2 and the front telescopic leg 3 are positioned above the erected pier column 13, and the support height of the auxiliary leg 2 and the front telescopic leg 3 is adjusted.

[0116] S18, such as Figure 15 As shown, the support status of the bridge erecting machine is adjusted, with the auxiliary outrigger 2 and the front telescopic outrigger 3 supported on the already erected cap beam 14 on top of the already erected pier column 13 in front of the bridge erection line, and the middle outrigger 5 and the rear telescopic outrigger 7 supported on the already erected main beam 15.

[0117] S19, such as Figure 16 As shown, disconnect the front outrigger 4 from the single main beam 1, lower the height of the front outrigger 4, and drive the front outrigger 4 away, thus completing the conversion of the bridge erecting machine from integrated machine operation mode to bridge operation mode.

[0118] In some alternative embodiments: see Figures 17 to 25 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from a bridge-side operation mode to a gantry crane operation mode, and the steps are as follows: S20, such as Figure 17 As shown, the single main beam 1 is supported by the front telescopic leg 3 and the middle leg 5, while the rear telescopic leg 7 is detached.

[0119] S21, as Figure 18 As shown, the middle support leg 5 drives the single main beam 1 to move forward, carrying the auxiliary support leg 2 and the rear telescopic support leg 7, until the rear telescopic support leg 7 reaches the vicinity of the middle support leg 5.

[0120] S22, as Figure 19 As shown, the single main beam 1 is supported by the front telescopic outrigger 3 and the rear telescopic outrigger 7, driving the middle outrigger 5 to move forward to support the front end of the already erected main beam 15.

[0121] S23, as Figure 20 As shown, the single main beam 1 is supported by the middle support leg 5 and the rear telescopic support leg 7, and the front telescopic support leg 3 is moved to the vicinity of the auxiliary support leg 2.

[0122] S24, as shown Figure 21 As shown, drive the front outrigger 4 to below the single main beam 1, adjust the position and height of the front outrigger 4 and connect it to the single main beam 1.

[0123] S25, such as Figure 22 As shown, the support state of the bridge erecting machine is adjusted so that the single main beam 1 is supported by the front support leg 4 and the rear telescopic support leg 7, and the middle support leg 5 moves towards the middle of the already erected main beam 15 and supports the single main beam 1.

[0124] S26, as Figure 23As shown, the rear telescopic outrigger 7 is disengaged, and the front outrigger 4, along with the auxiliary outrigger 2, the front telescopic outrigger 3, and the rear telescopic outrigger 7, moves forward together until the rear telescopic outrigger 7 reaches the vicinity of the middle outrigger 5. S27, as Figure 24 As shown, adjust the support state of the bridge erecting machine so that the single main beam 1 is supported by the front outrigger 4 and the rear telescopic outrigger 7, and drive the middle outrigger 5 to move forward to the outside of the erected main beam 15. Drive the rear outrigger 6 to below the single main beam 1, adjust the position and height of the rear outrigger 6 so that it supports and connects to the single main beam 1.

[0125] S28, as Figure 25 As shown, after the telescopic outrigger 7 is detached, the bridge erecting machine is supported by the front outrigger 4 and the rear outrigger 6, thus completing the conversion of the bridge erecting machine from the bridge operation mode to the gantry crane operation mode.

[0126] See Figures 26 to 29 As shown, a third aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers 16 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode. The steps are as follows: S11, such as Figure 26 As shown, the support state of the bridge erecting machine is adjusted so that the single main beam 1 is supported on the ground by the front support leg 4 and the rear support leg 6. The position of the bridge erecting machine is adjusted by the first traveling mechanism 405 and the second traveling mechanism, and the first traveling mechanism 405 and the second traveling mechanism are locked.

[0127] S12, as Figure 26 As shown, adjust the support height of the front outrigger 4 and the rear outrigger 6, and connect the front crane 8 and the rear crane 9 to the upper lifting beam 11 through wire ropes and pulley blocks.

[0128] S13, as Figure 26 As shown, the precast pier 16 is transported to the vicinity of the installation hole using the beam transport vehicle 19. One end of the precast pier 16 is supported on the pier turning frame 20, and the other end is equipped with a pier lifting lug. The beam transport vehicle 19 adjusts the position of the precast pier 16 so that the precast pier 16 is located directly below the bridge erecting machine.

[0129] S14, as Figure 27 , Figure 28 As shown, after the front crane 8 and the rear crane 9 lower the upper lifting spreader beam 11, they are connected to the pier column lifting lugs. The front crane 8 and the rear crane 9 slowly lift the precast pier column 16, moving backward while lifting. Under the action of the pier column turning frame 20, the pier column is slowly lifted up.

[0130] S15, such as Figure 29As shown, after the precast pier column 16 is completely lifted vertically, the beam transport vehicle 19 is removed, and the front overhead crane 8 and the rear overhead crane 9 lift the precast pier column 16 to the position above the installation hole for alignment and installation.

[0131] In some alternative embodiments: see Figures 30 to 34 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method further includes the bridge erecting machine installing precast cap beams 17 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode, and the steps are as follows: S16, as Figure 30 As shown, the front support leg 4 and rear support leg 6 of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first traveling mechanism 405 and the second traveling mechanism, and the first traveling mechanism 405 and the second traveling mechanism are locked.

[0132] S17, as shown Figure 30 As shown, adjust the support height of the front outrigger 4 and the rear outrigger 6, and install the slewing device 10 and the lower lifting beam on the upper lifting spreader beam 11.

[0133] S18, such as Figure 30 As shown, the precast cap beam 17 is transported to the vicinity of the installation hole using the beam transport vehicle 19.

[0134] S19, such as Figure 31 As shown, the driving beam transport vehicle 19 rotates the precast cap beam 17 from the longitudinal direction of the bridge to the transverse direction in the plane and places it directly below the bridge erecting machine.

[0135] S20, such as Figure 32 As shown, the front overhead crane 8 and the rear overhead crane 9 lower the slewing hoist 10 and the upper lifting spreader beam 11, which are connected to the precast cap beam 17. The precast cap beam 17 is then slowly lifted so that the bottom of the precast cap beam 17 is higher than the anchoring steel bars 22 reserved in the erected pier column 13.

[0136] S21, as Figure 33 As shown, the front crane 8 and the rear crane 9 are coordinated to move and lift the precast cap beam 17 to the top of the erected pier column 13.

[0137] S22, as Figure 34 As shown, the drive slewing hoist 10, the first telescopic mechanism and the second telescopic mechanism are used to precisely adjust the posture of the precast cap beam 17 and align it with the top of the erected pier column 13 for installation.

[0138] In some alternative embodiments: see Figures 35 to 39 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method further includes the bridge erecting machine installing a precast main beam 18 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode. The steps are as follows: S23, as Figure 35As shown, the front support leg 4 and rear support leg 6 of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first traveling mechanism 405 and the second traveling mechanism, and the first traveling mechanism 405 and the second traveling mechanism are locked.

[0139] S24, as shown Figure 35 As shown, adjust the support height of the front support leg 4 and the rear support leg 6.

[0140] S25, such as Figure 35 As shown, the precast main beam 18 is transported to the vicinity of the span to be erected using the beam transport vehicle 19 and placed along the direction of the bridge line, so that the rear end of the precast main beam 18 is behind the next erected cap beam 14 and the front end of the precast main beam 18 is outside the previous erected cap beam 14.

[0141] S26, as Figure 35 As shown, the front crane 8 and the rear crane 9 are coordinated to lift and raise the precast main beam 18.

[0142] S27, as Figure 36 As shown, when the rear end of the precast main beam 18 is close to the bottom of the top cap beam 14 of the previously erected pier 13, the rear crane 9 stops lifting, and the front crane 8 continues to lift, so that the front end of the precast main beam 18 is higher than the top cap beam 14 of the previously erected pier 13, so that the precast main beam 18 is in an inclined state.

[0143] S28, as Figure 37 As shown, the front crane 8 and the rear crane 9 are controlled to move forward so that the rear end of the precast main beam 18 is located outside the front side of the top cap beam 14 of the rear pier column 13.

[0144] S29, as Figure 38 As shown, while keeping the height and position of the front crane 8 unchanged, the rear crane 9 lifts the precast main beam 18, adjusting the precast main beam 18 from an inclined state to a horizontal state.

[0145] S30, such as Figure 39 As shown, the front crane 8 and the rear crane 9 move backward in coordination to lift the precast main beam 18 to the designed position for lowering and alignment installation.

[0146] See Figures 40 to 44 As shown, a fourth aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers 16 transported from the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S11, such as Figure 40 As shown, the front outrigger 4 of the bridge erecting machine is supported on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. The bridge erecting machine is then adjusted to a suitable height.

[0147] S12, as Figure 40 As shown, two beam transport vehicles 19 are used to transport the precast pier column 16 from the erected main beam 15 to the tail of the bridge erecting machine, so that the front end of the precast pier column 16 is located below the front crane 8.

[0148] S13, as Figure 41 As shown, the front crane 8 lifts the precast pier 16, so that the front end of the precast pier 16 is suspended on the front crane 8 and the rear end is supported on the rear beam transport vehicle 19, and the front beam transport vehicle 19 is moved away.

[0149] S14, as Figure 41 As shown, the coordinated control of the front crane 8 and the rear beam transport vehicle 19 moves forward to position the rear end of the precast pier 16 at the lifting position of the rear crane 9. S15, such as Figure 42 As shown, the rear overhead crane 9 lifts the precast pier 16, suspending the precast pier 16 on the front overhead crane 8 and the rear overhead crane 9, and controls the front overhead crane 8 and the rear overhead crane 9 to move forward to the vicinity of the hole to be installed.

[0150] S16, as Figure 42 As shown, the front crane 8 and the rear crane 9 lower the precast pier 16, so that one end of the precast pier 16 is supported on the pier turning frame 20 on the ground, and the other end is supported on the pad block 21 on the ground.

[0151] S17, as shown Figure 43 As shown, adjust the positions of the front crane 8 and the rear crane 9 and install the upper lifting spreader beam 11. The lifting rope of the upper lifting spreader beam 11 is installed on the top of the precast pier column 16 in preparation for lifting.

[0152] S18, such as Figure 44 As shown, the front crane 8 and the rear crane 9 are coordinated and moved backward while being lifted, so that the precast pier 16 is slowly lifted and adjusted from a horizontal state to a vertical state.

[0153] S19, such as Figure 44 As shown, the front crane 8 and the rear crane 9 work together to vertically lift the precast pier 16 to the position above the hole to be installed, and then align and install it.

[0154] In some alternative embodiments: see Figures 45 to 48 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes the bridge erecting machine installing precast cap beams 17 transported from the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S20, such as Figure 45 As shown, the front outrigger 4 of the bridge erecting machine is supported on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. The bridge erecting machine is then adjusted to a suitable height.

[0155] S21, as Figure 45 As shown, adjust the positions of the front crane 8 and the rear crane 9, and install the slewing device 10 and the lower lifting beam on the upper lifting spreader beam 11.

[0156] S22, as Figure 45 As shown, the precast cap beam 17 is transported from the erected main beam 15 to the tail of the bridge erecting machine using the beam transport vehicle 19, so that the precast cap beam 17 is located below the slewing hoist 10 and the lower lifting spreader beam.

[0157] S23, as Figure 46 As shown, after the lower lifting spreader beam is connected to the precast cap beam 17, the front crane 8 and the rear crane 9 lift the precast cap beam 17 and move the beam transport vehicle 19 away.

[0158] S24, as shown Figure 46 , Figure 47 As shown, the front crane 8 and the rear crane 9 are coordinated to lift the precast cap beam 17 to the outside of the erected main beam 15, and the precast cap beam 17 is adjusted from the longitudinal direction of the bridge to the transverse direction by the slewing hoist 10.

[0159] S25, such as Figure 48 As shown, continue to control the front crane 8 and the rear crane 9 to lift the precast cap beam 17 forward to above the pre-reserved anchoring steel bars 22 of the erected pier column 13.

[0160] S26, as Figure 48 As shown, the drive slewing hoist 10, the first telescopic mechanism and the second telescopic mechanism are used to precisely adjust the posture of the precast cap beam 17 and align it with the top of the erected pier column 13 for installation.

[0161] In some alternative embodiments: see Figures 49 to 52 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes the bridge erecting machine installing the precast main beam 18 transported on the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S27, as Figure 49 As shown, the front outrigger 4 of the bridge erecting machine is supported on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. The bridge erecting machine is then adjusted to a suitable height.

[0162] S28, as Figure 49 As shown, two beam transport vehicles 19 are used to transport the precast main beam 18 from the erected main beam 15 to the tail of the bridge erecting machine, so that the end of the precast main beam 18 is located below the front crane 8.

[0163] S29, as Figure 50As shown, the front crane 8 lifts the precast main beam 18, so that the front end of the precast main beam 18 is suspended on the front crane 8 and the rear end is supported on the rear beam transport vehicle 19, and the front beam transport vehicle 19 is moved away.

[0164] S30, such as Figure 50 As shown, the front crane 8 and the rear beam transport vehicle 19 are moved forward in coordination, positioning the rear end of the precast main beam 18 at the lifting position of the rear crane 9.

[0165] S31, such as Figure 51 As shown, the rear crane 9 lifts the precast main beam 18, suspending it on the front crane 8 and the rear crane 9, and controls the front crane 8 and the rear crane 9 to move forward to the vicinity of the hole to be installed.

[0166] S32, such as Figure 52 As shown, after the front crane 8 and the rear crane 9 are adjusted to the design position, the front crane 8 and the rear crane 9 lower the precast main beam 18 for alignment and installation.

[0167] See Figures 53 to 58 As shown, a fifth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes installing the bridge erecting machine onto a precast main beam 18 for a curved bridge transported on the bridge deck, and operating the bridge erecting machine in an integrated machine mode. The steps are as follows: S11, such as Figure 53 As shown, the front outrigger 4 of the bridge erecting machine is supported on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15. The bridge erecting machine is then positioned to the inside of the curved bridge.

[0168] S12, as Figure 54 As shown, two beam transport vehicles 19 are used to transport the outermost precast main beam 18 of the curved bridge to the tail of the bridge erecting machine on the already erected main beam 15.

[0169] S13, as Figure 55 As shown, after the front end of the precast main beam 18 reaches the designed lifting position of the front crane 8, the front crane 8 lifts the front end of the precast main beam 18, and the rear end of the precast main beam 18 is supported on the beam transport vehicle 19 at the rear.

[0170] S14, as Figure 56 As shown, the bridge erecting machine is supported by the front support leg 4 and the middle support leg 5. The bridge erecting machine and the beam transport vehicle 19 are controlled in coordination. By controlling the transverse rotation device 502 of the middle support leg 5, the single main beam 1 is rotated around the center of the middle support leg 5, so that the precast main beam 18 moves forward and gradually adjusts its angle until it is parallel to the single main beam 1.

[0171] S15, such as Figure 57As shown, when the rear end of the precast main beam 18 reaches the designed lifting position of the rear crane 9, the rear crane 9 lifts the rear end of the precast main beam 18. At this time, the precast main beam 18 is suspended on the front crane 8 and the rear crane 9.

[0172] S16, as Figure 57 As shown, the bridge erecting machine lifts the precast main beam 18 and moves it laterally to the designed installation position, then lowers it for alignment and installation, completing the erection of the outermost precast main beam 18; S17, as shown Figure 58 As shown, repeat steps S11 to S16 above, with the bridge erecting machine and beam transport vehicle 19 rotating and feeding beams in tandem, completing the erection and installation of the remaining precast main beams 18 from the outer arc to the inner arc of the curved bridge.

[0173] See Figures 59 to 63 As shown, a sixth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine's self-transfer to a new location, and the steps are as follows: S11, such as Figure 59 As shown, if there are no obstacles in front of the bridge erecting machine and the transfer distance is short, the front outrigger 4 and rear outrigger 6 can be driven directly for self-transfer before the transfer.

[0174] For bridge erecting machines with height restrictions in front of them, the following steps can be used for self-transfer: S12, as Figure 60 As shown, the bridge erecting machine is supported by the front outrigger 4 and the rear outrigger 6, and the front outrigger 4 and the rear outrigger 6 are lowered to their lowest height. S13, as Figure 61 As shown, extend the front telescopic leg 3 and the rear telescopic leg 7 to their maximum length, adjust the bridge erecting machine to be supported by the front telescopic leg 3 and the rear telescopic leg 7, and disconnect the front leg 4 and the rear leg 6 from the single main beam 1.

[0175] S14, as Figure 62 As shown, adjust the height of the front telescopic outrigger 3 and the rear telescopic outrigger 7 to their lowest positions. Remove the upper structure of the front outrigger 4 and the rear outrigger 6, and move the first traveling mechanism 405 and the second traveling mechanism to the bottom of the single main beam 1 and connect them with the support of the single main beam 1. At this time, the first traveling mechanism 405 and the second traveling mechanism can pass through height restriction obstacles, so that the bridge erecting machine can be moved to another location by itself.

[0176] For locations requiring long-distance relocation, the following steps can be used for self-relocation: S15, such as Figure 62 As shown, the bridge erecting machine is lowered to its lowest height and supported by the first traveling mechanism 405 and the second traveling mechanism.

[0177] S16, as Figure 63 As shown, drive the transfer module transport vehicle 23 so that two transfer module transport vehicles 23 are set under each single main beam segment 101 below the bridge erecting machine. Adjust the support height of the transfer module transport vehicle 23 so that the single main beam 1 is supported on the transfer module transport vehicle 23. S17, as shown Figure 63 As shown, the bridge erecting machine is supported by the transfer module transport vehicle 23. The connection between the single main beam segments 101 is disconnected, so that the single main beam 1 is decomposed into multiple single main beam segments 101. Each single main beam segment 101 is transported in sections by the transfer module transport vehicle 23 to complete the long-distance rapid transfer operation of the bridge erecting machine.

[0178] See Figure 64 As shown, a seventh aspect of this application provides a multifunctional intelligent bridge erecting machine, including: a bridge erecting machine body, a digital twin control console, a control subsystem, a production subsystem, a quality subsystem, and a safety subsystem; wherein, see... Figure 1 As shown, the bridge erecting machine body includes a single main beam 1, auxiliary legs 2, front telescopic legs 3, front legs 4, middle legs 5, rear legs 6, and rear telescopic legs 7. The single main beam 1 is a hollow steel beam with a front crane 8 and a rear crane 9 slidably connected on it. The front crane 8 and the rear crane 9 reciprocate along the length of the single main beam 1.

[0179] The auxiliary support leg 2 is slidably connected to the front end of the single main beam 1 and can vertically adjust the support height of the single main beam 1.

[0180] The front telescopic outrigger 3 is slidably connected to the single main beam 1, and the support height of the single main beam 1 can be adjusted vertically.

[0181] The front outrigger 4 is slidably connected to the top of the single main beam 1, and the front outrigger 4 reciprocates along the length of the single main beam 1. The height of the front outrigger 4 can be vertically adjusted to vertically support and adjust the height of the single main beam 1. The bottom of the front outrigger 4 is provided with a first traveling mechanism 405, which has traveling, steering, braking and parking functions.

[0182] The middle support leg 5 is slidably connected to the single main beam 1. The middle support leg 5 moves back and forth along the length of the single main beam 1. The height of the middle support leg 5 can be adjusted to vertically support and adjust the height of the single main beam 1.

[0183] The rear support leg 6 is slidably connected to the top of the single main beam 1. The rear support leg 6 moves back and forth along the length of the single main beam 1. The height of the rear support leg 6 can be adjusted to vertically support and adjust the height of the single main beam 1. A second traveling mechanism is connected to the bottom of the rear support leg 6. The second traveling mechanism also has traveling, steering, braking and parking functions.

[0184] The rear telescopic outrigger 7 is slidably connected to the rear end of the single main beam 1 and vertically adjusts the support height of the single main beam 1.

[0185] Understandably, bridge erection machine construction in complex urban environments suffers from industry pain points such as fragmented data across multiple systems, delayed sequential control processes, and passive subsystem collaboration. Based on this, this embodiment will create a six-layer bidirectional interactive architecture consisting of "physical entity - digital twin - control closed loop - safety closed loop - production closed loop - quality closed loop," and construct a standardized interactive system and a full-element digital twin mapping model to achieve unified mapping and bidirectional interaction of all-element data in the digital twin control console. This will reconstruct the parallel collaborative mechanism of the entire construction process, enabling twin-level proactive collaboration and full-link closed-loop management of the four subsystems.

[0186] Specifically, this embodiment will establish a full-element, high-real-time, deterministic two-way interaction mechanism between the physical world and the digital space. Among them, a full-element digital twin will be constructed in the digital twin control console. This full-element digital twin includes a rigid-flexible coupling dynamic model of the bridge erecting machine, a full-element digital twin model of prefabricated components, a digital twin model of construction progress, a digital twin model of quality archives, etc., to achieve full-scene digital mapping from the bridge erecting machine itself to the construction object, from process execution to production control, and from process construction to quality acceptance.

[0187] For the construction of a full-element digital twin, the first step is to define the twin's global coordinate system as follows: The coordinate system of the bridge erecting machine is The local coordinate system of the outriggers, overhead crane, lifting gear, and testing equipment is as follows: To establish a homogeneous transformation model of the entire scene coordinate system, and to achieve accurate mapping of all physical entities in twin space:

[0188] In the formula, Let be the rotation matrix of the local coordinate system relative to the global coordinate system. Represents a special orthogonal group in three dimensions. This is the position vector of the origin of the local coordinate system in the global coordinate system. Let be the homogeneous transformation matrix from the ontology to the global coordinate system. This is the homogeneous transformation matrix from the local coordinate system to the body coordinate system.

[0189] Based on the coordinate system model, a bidirectional mapping relationship is defined between the state vectors of all physical entities and the state vectors of the digital twin, i.e., the state vector of all physical entities is:

[0190] In the formula, For the kinematic state vectors of the bridge erecting machine (such as pose, velocity, acceleration), For safety state vectors (such as stress, vibration, overturning coefficient, collision distance), For production status vectors (such as shift duration, energy consumption, efficiency, and schedule), This represents a quality state vector (such as component deviation, alignment accuracy, grout fullness, and linear deviation); based on this, the forward real-time mapping model from physical entity to digital twin is as follows:

[0191] In the formula, This is a physical-twin mapping matrix, which includes spatiotemporal alignment, coordinate system transformation, and data normalization operators. For data transmission and mapping latency; To map the error vector, this embodiment can use TSN (Time-Sensitive Networking) time synchronization. It should be controlled within the 0.1mm level.

[0192] The reverse control mapping model from digital twin to physical entity is as follows:

[0193] In the formula, The control command vector generated for the digital twin. It is a twin-physical control mapping matrix, which includes instruction decomposition, protocol conversion, and access control operators; To control command transmission errors, this embodiment can use the OPC UA over TSN protocol to control the deterministic delay of command transmission to within 100μs.

[0194] Among them, for the rigid-flexible coupled dynamic model of the bridge erecting machine in the full-element twin, combined with the characteristics of the bridge erecting machine's double main girder portal structure, a six-degree-of-freedom kinematic model of the lifting system can be established, and the traveling displacement of the crane can be defined. Lifting height lateral displacement , lifting gear rotation angle Pitch angle Roll angle For generalized joint variables, i.e., generalized coordinate vectors:

[0195] Then the pose of the end of the spreader in the global coordinate system The forward model is:

[0196] In the formula, The transformation matrix represents the crane relative to the single main beam (base), and is used to describe the spatial translation of the crane when it moves on the main beam of the bridge crane; This represents the transformation matrix of the lifting point relative to the overhead crane, used to describe the displacement transformation caused by the lifting device moving up and down in the vertical direction. This represents the rotational transformation matrix of the end of the spreader relative to the lifting point, used to describe the attitude deflection of the spreader in space.

[0197] Given the target position at the end of the lifting device The inverse kinematics model is then the solution to find the optimal generalized coordinate vector that satisfies the following equation. This provides a quantitative basis for the precise alignment control of piers, cap beams, and beams.

[0198] In the formula, Let the logarithmic mapping from the Lie group SE(3) to the Lie algebra se(3) be... It is the Frobenius norm.

[0199] Furthermore, to address the impact of the flexible deformation of the main beam of the bridge erecting machine on construction accuracy, a floating coordinate system method can be used to establish rigid-flexible coupled dynamic equations, providing core dynamic support for digital twin simulation and pre-visualization.

[0200] In the formula, For rigid body generalized coordinates, Represents the generalized velocity of a rigid body. Represents the generalized acceleration of a rigid body. For flexible body modal coordinates, Represents the modal velocity of a flexible body. Represents the modal acceleration of a flexible body. The total mass matrix of the system. The matrix represents the Coriolis force and the centrifugal force. Here is the stiffness matrix. It is the gravity vector. This represents the joint driving torque vector. It should be noted that the specific construction methods and working principles of digital twins are common knowledge in this field, and for the sake of brevity, they will not be elaborated upon here.

[0201] Based on this, this embodiment will use a digital twin control console to simulate and pre-run the work instructions output by the control subsystem, assessing their control feasibility, quality boundaries, safety risks, and construction plan matching degree. Specifically, before the work process begins, the work instructions are simulated and pre-run in the digital twin, simultaneously verifying prerequisite quality conditions, safety risk boundaries, and production plan matching degrees such as efficiency, energy consumption, and plan matching degree. If these conditions are not met, the work process is prohibited from starting. Only when all verifications are satisfied can the work process be started, meaning the control subsystem can then control the bridge-building operation through the aforementioned work instructions. Specifically, a four-dimensional collaborative verification and quantitative evaluation model for work instructions can be established. This enables simultaneous verification across all dimensions of control, safety, quality, and production.

[0202] In the formula, To control the feasibility verification function, For security risk verification functions, This is the quality boundary check function. Let be the energy consumption verification function for work efficiency. If the simulation results meet the constraints, then... The function takes a value of 1, otherwise it takes a value of 0; These are all weighting coefficients; the specific values ​​can be determined according to actual needs, as long as they meet the requirements. That's it. It should be noted that... , , as well as The specific expression of the verification function can be determined according to the actual construction needs, and is not limited here.

[0203] It is worth noting that the strict criteria for determining whether a work instruction passes verification in this embodiment are:

[0204] In other words, the operation instruction is only allowed to be issued to the physical bridge erecting machine for execution through the control subsystem when all four dimensions pass the verification. If any dimension fails, the instruction is returned to the corresponding subsystem for optimization and adjustment. For the operation instruction optimization phase, a multi-subsystem collaborative optimization multi-objective model can be established.

[0205] In the formula, To control the trajectory tracking error minimization target, To maximize safety redundancy, To minimize quality deviation, The goal is to minimize the energy consumption of the process, and the Pareto optimal solution is obtained by using a multi-objective optimization algorithm, thereby achieving the optimal synergy of the four subsystems.

[0206] Therefore, this embodiment realizes the active collaborative interaction of four parallel subsystems at the twin level. The core logic is "instruction pre-play - four-dimensional synchronous verification - dynamic adjustment - closed-loop execution": The operation instructions generated by the control subsystem are first sent to the digital twin simulation pre-play. The safety subsystem synchronously verifies the structural / overturning / collision risks, the quality subsystem synchronously verifies the process quality boundaries, and the production subsystem synchronously verifies the efficiency / energy consumption / plan matching degree. If any dimension verification fails, the corresponding subsystem directly feeds back the adjustment boundary to the control subsystem and automatically replans / optimizes until the instruction passes all-dimensional verification before it is sent to the physical bridge erecting machine for execution.

[0207] As can be seen, this embodiment changes the traditional logic of "direct command issuance and sensor alarm afterward." All operational commands (such as those for piercing and hoisting) must undergo virtual pre-simulation in the digital twin before reaching the PLC (Programmable Logic Controller) actuator of the bridge erecting machine. Simultaneously, four dimensions—control feasibility, safety risks, quality boundaries, and production plan matching—are verified, achieving a shift from "passive protection" to "active access." If the simulation fails, the operational command will be physically intercepted and adjusted accordingly, effectively mitigating the risk of misoperation in complex urban conditions. Notably, during construction, this embodiment synchronizes quality control inspection, production data collection, and construction operations, uploading the data in real-time to the digital twin control console. This allows the digital twin control console to immediately trigger closed-loop correction when exceeding deviation limits are detected. Furthermore, after each process is completed, quality acceptance reports and production statistics reports are automatically generated without manual processing, shortening the entire process by more than 80%.

[0208] In this embodiment, the production subsystem acts as the "general manager" of the entire project, responsible for coordinating time, schedule, energy consumption, and material records. This involves adjusting the work plan for bridge erection to obtain the adjusted plan results. The quality subsystem is the "digital eye" on-site, transforming post-event acceptance into in-process control. It conducts quality inspections on the bridge erection work to generate quality results. The safety subsystem is no longer simply a "post-event alarm," but rather a "proactive defense hub" deeply integrated into the pre-operational instruction rehearsal and the entire equipment lifecycle. This involves detecting safety risks during bridge erection to generate safety results. The control subsystem is the executor of the actions, controlling the progress of the bridge erection work. Each of its actions is subject to data input and constraints from the other three subsystems.

[0209] It should be understood that the output of any one of the production, quality, and safety subsystems will be fed back to one or more of the other subsystems to trigger them to adjust their working status. For example, if the quality subsystem detects that the grouting quality is not up to standard, it will immediately trigger the event engine and push the results to the control subsystem (pause the erection of the next beam), the production subsystem (automatically adjust the construction work plan and record the quality ledger), and the safety subsystem (verify the structural safety risks), thus achieving a closed-loop linkage across the entire system.

[0210] For the safety subsystem, its output safety risk results determine the control authority of the control subsystem: a) Command interception and feedback: Before issuing work commands (such as through holes or hoisting), the control subsystem must perform a simulation rehearsal on the digital twin. During this process, the safety subsystem simultaneously verifies the "structural / overturning / collision risk". If it fails, it directly feeds back to the control subsystem to adjust the boundary and prohibits the issuance of work commands; b) Emergency braking linkage: When the safety subsystem detects that an obstacle has entered the limit or the hard safety boundary has exceeded the limit, it triggers the event engine to enable the control subsystem to immediately execute an emergency stop; c) Derated operation linkage: When the safety subsystem predicts that the probability of equipment failure exceeds the threshold, it links the control subsystem to derated operation to avoid serious accidents caused by operating with defects.

[0211] Data interaction between the safety subsystem and the production subsystem enables coordinated control of equipment health and planning: a) Early warning and plan adjustment: When the safety subsystem predicts a high probability of equipment failure, it pushes an early warning to the production subsystem, enabling the production subsystem to automatically adjust the construction operation plan and reserve equipment maintenance windows accordingly; b) Automatic maintenance triggering: The safety subsystem reads data such as "shifts and equipment running time" provided by the production subsystem and links it with the equipment health and failure prediction data of the safety subsystem. That is, it combines its own "equipment health / failure prediction" model to automatically trigger equipment maintenance reminders, avoiding safety risks and project delays caused by equipment exceeding its service life.

[0212] Data interaction between the safety subsystem and the quality subsystem enables safe verification of quality defects: when the quality subsystem identifies an engineering defect (such as substandard grouting quality), the event engine will push it to the safety subsystem simultaneously, and the safety subsystem will immediately verify in the background whether the structural defect will bring long-term structural safety risks.

[0213] For the control subsystem, data interaction with the production subsystem can achieve parameter optimization for cost reduction and efficiency improvement, balancing work efficiency and energy consumption, and achieving the goal of energy saving and efficiency improvement: a) Optimal parameter push: Before the start of a work action (such as through-hole or beam feeding), the production subsystem can push "optimal work parameters (such as speed and acceleration suggestions)" to the control subsystem based on the current efficiency, energy consumption, and shift duration to balance work efficiency and energy consumption; b) Dynamic closed-loop optimization: During the execution of a work action, if the production subsystem finds "progress lag", it will coordinate with the control subsystem to optimize the travel parameters; if it finds "energy consumption exceeding the standard", it will coordinate with the control subsystem to optimize the acceleration curve to reduce energy consumption.

[0214] Data interaction between the control subsystem and the quality subsystem enables visual servoing and process unlocking: a) Precise micro-motion correction: The quality subsystem calculates six-degree-of-freedom deviation data in real time based on data collected by components pose detection robots, and pushes it directly to the control subsystem, so that the control subsystem can decompose it into refined instructions such as crane lateral movement and lifting, to achieve closed-loop correction; b) Process unlocking: Only when the quality subsystem detects that the quality is qualified (e.g., qualified arrival inspection allows hoisting; qualified alignment allows beam lowering; qualified grouting allows erection of the next beam), can the control subsystem obtain the execution permission for the next action.

[0215] For the production subsystem, the scheduling can be adjusted based on the quality results output by the quality subsystem: a) Qualified synchronous filing: After the quality subsystem detects that a component or process is qualified, the production subsystem immediately updates the beam arrival ledger, starts the shift timing, and maps the data to the production digital twin file; b) Unqualified rescheduling: Once the quality subsystem triggers an unqualified event (such as component withdrawal or grouting defects), the production subsystem automatically records the quality ledger and immediately adjusts the subsequent construction plan and reallocates resources.

[0216] For the quality subsystem, it can serve as a hard constraint on the control subsystem, providing real-time pose deviations (feedback to the control subsystem for anti-swaying and alignment), and exercising a "veto power" at critical nodes (stopping subsequent construction operations if non-compliance occurs); it can also serve as a strong driver for the production subsystem, providing inspection reports and triggering the production subsystem to update ledgers or rearrange construction plans; it also serves as an early warning source for the safety subsystem, triggering a secondary risk assessment when structural defects are detected; furthermore, the quality subsystem can map all inspection robot inspection data to a digital twin in real time for automatic comparison with the BIM design model, immediately triggering warnings and corrections if deviations exceed limits, and automatically updating the component quality twin file to achieve full-process traceability of quality.

[0217] In summary, in this embodiment, the quality subsystem acts as a "traffic light" for process advancement and an "eye" for correction, the production subsystem acts as a "scheduling brain" for balancing energy efficiency and schedule, and the safety subsystem acts as a "virtual collision wall" and a safety net before all work instructions are issued. The three subsystems work together to constrain and optimize every mechanical action of the control subsystem.

[0218] Specifically, for closed-loop control of deviations during the construction process, a PID closed-loop correction control law for quality deviations is established. :

[0219] In the formula, This is the mass deviation vector. Indicates target quality. Indicates actual quality. These are the proportional, integral, and differential gain matrices, respectively, enabling real-time closed-loop correction of quality deviations.

[0220] Simultaneously, a closed-loop constraint model for safety boundaries is established to achieve hard control over safety during the construction process:

[0221] In the formula, This represents the real-time minimum distance between the bridge erecting machine and the obstacle. For safe distance threshold, To ensure a real-time overturning safety factor, The minimum overturning safety factor required by the standard (the specific value can be determined according to actual construction needs, such as in urban construction, where a preferred value can be selected). An emergency shutdown is triggered immediately if the constraints are not met.

[0222] Furthermore, this embodiment can construct a digital twin quality and production archive for the entire lifecycle of a bridge, enabling all quality inspection data, production statistics data, construction control data, and safety monitoring data to be mapped to the twin in real time and bound to the unique codes of components such as beams and piers. This achieves full-process traceability from component prefabrication to bridge acceptance, meeting the requirements of digital management and control of urban infrastructure. It is evident that this embodiment not only reconstructs the traditional serial quality control process of "construction-acceptance-archiving" into a parallel process of "pre-verification-synchronous process detection-real-time closed-loop correction-automatic archiving," where quality inspection of each process is completed simultaneously with construction work, and acceptance reports are automatically generated upon completion of each process, eliminating the need for manual archiving and improving quality acceptance efficiency; it also reconstructs the traditional production management and control process of "manual statistics-report summarization-plan adjustment," replacing it with a fully automated process of "real-time collection-automatic statistics-intelligent prediction-dynamic optimization." Production data is collected and automatically statistically analyzed in real time, and the efficiency prediction model automatically predicts progress risks and simultaneously outputs optimized construction plans, eliminating the need for manual intervention and improving production management and control efficiency.

[0223] In summary, the "construction process - quality inspection - production control - digital twin mapping" full-process two-way interactive mode created in this embodiment breaks the traditional industry status quo where construction, production, and quality are separated. Each construction process is bound to a corresponding quality inspection node and production statistics node, and the data is mapped to the digital twin in real time, forming a full life cycle closed loop of "process initiation - pre-quality verification - real-time process control - completion quality acceptance - production data statistics - dynamic plan optimization".

[0224] In some alternative embodiments: see Figure 1 , Figure 2 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The single main beam 1 of the bridge erecting machine includes multiple detachably connected single main beam segments 101, which are sequentially extended to form the single main beam 1. The top of the single main beam 1 is provided with an upper slide rail 102 that slides to connect the front support leg 4 and the middle support leg 5, and the bottom of the single main beam 1 is provided with a lower slide rail 103 that slides to connect the rear support leg 6, the front crane 8, and the rear crane 9.

[0225] Multiple single main beam segments 101 are connected by a quick-connect device 104. The quick-connect device 104 includes plugs and sockets that can be plugged into each other between two adjacent single main beam segments 101, and cylindrical pins are inserted between the plugs and sockets. The bridge erecting machine is equipped with a beam transport vehicle 19 for transporting the single main beam segments 101, precast piers 16, precast cap beams 17, and precast main beams 18.

[0226] The single main beam 1 in this embodiment adopts a segmented design, which allows for rapid segmentation and connection. Its length is 1.5 times the length of the precast main beam 18. The number of single main beam segments 101 can be increased or decreased according to the bridge span, adapting to bridges of different spans. Multiple single main beam segments 101 are connected by a quick-connect device 104. The quick-connect device 104 includes a plug and a socket located longitudinally pluggable between adjacent single main beam segments, with cylindrical pins laterally inserted between the plug and the socket.

[0227] The bridge erecting machine is equipped with a beam transport vehicle 19 for transporting single main girder segments 101, precast piers 16, precast cap beams 17, and precast main girders 18. The beam transport vehicle 19 works in conjunction with the bridge erecting machine to enable the bridge erecting machine to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the ground; to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the bridge deck; and to install precast piers 16, precast cap beams 17, and precast main girders 18 transported on the bridge deck. It also enables the bridge erecting machine to transport single main girder segments 101 in segments, allowing for self-transfer.

[0228] The top of the single main beam 1 is provided with an upper slide rail 102 that slides to connect the middle support leg 5, and the bottom of the single main beam 1 is provided with a lower slide rail 103 that slides to connect the front support leg 4, the rear support leg 6, the front crane 8, and the rear crane 9, so that the middle support leg 5, the front support leg 4, the rear support leg 6, the front crane 8, and the rear crane 9 can move freely and flexibly along the length of the single main beam 1.

[0229] In some alternative embodiments: the bridge erecting machine of this application embodiment has the following three working modes by changing the states of the middle support leg 5, front support leg 4, rear support leg 6, auxiliary support leg 2, front telescopic support leg 3 and rear telescopic support leg 7, and has different functions to meet the working needs of different working conditions.

[0230] The first mode is the gantry crane operation mode, which is the initial mode of the bridge erecting machine. The control subsystem controls the front outrigger 4 and the rear outrigger 6 to support the single main beam 1 on the ground. It is suitable for erecting precast piers 16, precast cap beams 17, and precast main beams 18 transported on the ground.

[0231] The second form is the integrated machine operation mode, which uses the control subsystem to control the front outrigger 4 of the bridge erecting machine to support on the ground, and the middle outrigger 5 and the rear telescopic outrigger 7 to support on the already erected main beam 15. It is suitable for erecting precast piers 16, precast cap beams 17 and precast main beams 18 for bridge deck transportation.

[0232] The third mode is the bridge-on-the-bridge operation mode, which uses the control subsystem to control the auxiliary outriggers 2 and the front telescopic outriggers 3 to support the pier top in front of the span to be erected; the middle outriggers 5 and the rear telescopic outriggers 7 are supported on the already erected main beam 15. This mode is suitable for erecting precast main beams 18 for bridge deck transportation when the bridge is at a high height.

[0233] In some alternative embodiments: see Figure 1 , Figure 3 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The auxiliary leg 2 of the bridge erecting machine includes an auxiliary leg beam 201 that slides on the bottom of the single main beam 1. Both ends of the auxiliary leg beam 201 are connected to a first support column 202 extending downwards. A first top support beam 203 is connected between the bottoms of the two first support columns 202.

[0234] A second support column 204 is coaxially sleeved and connected to the bottom of each of the two first support columns 202. The top of the second support column 204 extends into the first support column 202 and is slidably connected to it, thereby realizing telescopic movement. A second top support beam 205 is vertically slidably connected between the two second support columns 204.

[0235] The first support beam 203 and the second support beam 205 are connected by a first intelligent lifting device 206, which is preferably, but not limited to, a hydraulic cylinder. The first intelligent lifting device 206 drives the second support column 204 to move up and down relative to the first support column 202 through telescopic movement.

[0236] The first support column 202 is fixedly provided with a first automatic pin device 207 that is pluggable to the second support column 204. The two ends of the second top support beam 205 are provided with second automatic pin devices 208 that are pluggable to the second support column 204. The second support column 204 is provided with a plurality of spaced holes for inserting the first automatic pin device 207 and the second automatic pin device 208.

[0237] In this embodiment, the first supporting beam 203 and the second supporting beam 205 are connected by a first intelligent lifting device 206, and a first automatic pin device 207 for plugging and unplugging the second supporting column 204 is fixedly provided on each of the first supporting columns 202. A second automatic pin device 208 for plugging and unplugging the second supporting column 204 is provided at both ends of the second supporting beam 205.

[0238] When the auxiliary support leg 2 of the bridge erecting machine needs to be raised, the first automatic pin device 207 first disconnects from the second support column 204, and the first intelligent lifting device 206 drives the first support column 202 and the first support beam 203 to move upward. When it is raised to the position, the first automatic pin device 207 inserts into the hole of the second support column 204 to achieve height limit.

[0239] Next, disconnect the second automatic pin device 208 from the second support column 204. The first intelligent lifting device 206 drives the second support beam 205 to move upward along the axis of the second support column 204. When it reaches the target height, the second automatic pin device 208 inserts into the second support column 204 to achieve height limit. Repeat the above steps until the target height is reached.

[0240] In some alternative embodiments: see Figure 1 , Figure 4 As shown in the figure, this application embodiment provides a multifunctional intelligent bridge erecting machine. The front telescopic outrigger 3 of the bridge erecting machine includes a front outrigger crossbeam 301 slidably connected above a single main beam 1. Both ends of the front outrigger crossbeam 301 are connected to height-adjustable third support columns 303. A single column outrigger lower crossbeam 305 is connected between the bottoms of the two third support columns 303. A transverse trolley 306 is connected to the bottom of the single column outrigger lower crossbeam 305. The transverse trolley 306 is supported on a transverse track beam 307. The transverse trolley 306 drives the third support columns 303 to move laterally on the transverse track beam 307.

[0241] The front outrigger crossbeam 301, two third support columns 303, and the single-column outrigger lower crossbeam 305 form a rectangular structure. A drive device 302 connects the front outrigger crossbeam 301 to the single main beam 1, and the drive device 302 drives the front telescopic outrigger 3 to move along the length of the single main beam 1. The drive device 302 preferably, but not limited to, uses a gear and rack linear mechanism connecting the front outrigger crossbeam 301 and the single main beam 1.

[0242] The front outrigger crossbeam 301 is vertically slidably connected to the third support column 303. Multiple spaced insertion holes are provided on the third support column 303. At both ends of the front outrigger crossbeam 301, there are fifth automatic pin devices 304 that are inserted into the insertion holes of the third support column 303. The fifth automatic pin devices 304 are inserted into different insertion holes on the third support column 303 to adjust the support height of the front telescopic outrigger 3.

[0243] In some alternative embodiments: see Figure 1 , Figure 5 , Figure 6 As shown, this application embodiment provides a multifunctional intelligent bridge erecting machine. The front support leg 4 of the bridge erecting machine includes a first upper frame crossbeam 401 supported on the bottom of a single main beam 1. The first upper frame crossbeam 401 is preferably, but not limited to, a rectangular frame structure. The first upper frame crossbeam 401 is detachably connected to the single main beam 1 by fasteners, thereby facilitating the connection or removal of the front support leg 4 from the single main beam 1.

[0244] Four telescopic columns 402, capable of automatic lifting and locking, are fixedly connected to the bottom of the first upper frame crossbeam 401. The telescopic columns 402 preferably, but not limited to, have a four-stage telescopic structure. Four layers of transverse bracing 404 are provided between adjacent telescopic columns 402 to enhance the overall rigidity and stability of the telescopic columns 402. Each of the four telescopic columns 402 has a lower column 403 connected to its bottom, which is supported on a first traveling mechanism 405 capable of longitudinal, lateral, and turning movements. The rear support leg 6 has the same structure as the front support leg 4; the specific structure of the rear support leg 6 will not be repeated here.

[0245] In some alternative embodiments: see Figure 1 , Figure 7 , Figure 8 As shown, this application embodiment provides a multifunctional intelligent bridge erecting machine. The middle support leg 5 of the bridge erecting machine includes a second upper frame crossbeam 501 that is slidably connected above the single main beam 1. The second upper frame crossbeam 501 is preferably, but not limited to, a rectangular frame structure.

[0246] A transverse rotation device 502 is installed at the connection between the second upper frame crossbeam 501 and the single main beam 1. The transverse rotation device 502 can drive the middle support leg 5 to move laterally and rotate along the single main beam 1. Two height-adjustable fourth support columns 503 are vertically slidably connected to both ends of the second upper frame crossbeam 501. Each fourth support column 503 is equipped with a third automatic pin device 506.

[0247] A conversion beam 504 is vertically slidably connected between two fourth support columns 503 located on the same side of the single main beam 1. A second intelligent lifting device 505 is provided between the conversion beam 504 and the second upper frame beam 501. The second intelligent lifting device 505 is preferably, but not limited to, a hydraulic cylinder.

[0248] A frame bottom crossbeam 507 is connected to the bottom of the fourth support column 503, and the fourth support column 503 and the frame bottom crossbeam 507 are connected by a quick-connect device 509. A transverse movement mechanism 508 is provided on the frame bottom crossbeam 507, and the frame bottom crossbeam 507 is supported on the lower transverse movement track 510 by the transverse movement mechanism 508. The transverse movement mechanism 508 is used to drive the frame bottom crossbeam 507 to move laterally on the lower transverse movement track 510.

[0249] The two ends of the conversion beam 504 are provided with a third automatic pin device 506 for plugging and unplugging connection to the fourth support column 503, and the end of the second upper frame beam 501 is provided with a fourth automatic pin device 511 for plugging and unplugging connection to the fourth support column 503. Multiple insertion holes for plugging and unplugging connection of the third automatic pin device 506 and the fourth automatic pin device 511 are provided on the fourth support column 503.

[0250] The second upper frame crossbeam 501 of this application embodiment is not only slidably connected to the single main beam 1, allowing the middle support leg 5 to move freely back and forth along the length direction of the single main beam 1, but also has a transverse rotation device 502 provided at the connection between the second upper frame crossbeam 501 and the single main beam 1. The transverse rotation device 502 causes the middle support leg 5 to move back and forth along the width direction of the single main beam 1 and to rotate relative to the single main beam 1.

[0251] A second intelligent lifting device 505 is installed between the conversion beam 504 and the second upper frame beam 501. When it is necessary to adjust the support height of the middle support leg 5, the lifting height can be flexibly adjusted by the cooperation of the second intelligent lifting device 505, the third automatic pin device 506, and the fourth automatic pin device 511.

[0252] When the middle support leg 5 needs to be raised, the third automatic pin device 506 first disconnects from the fourth support column 503, and the second intelligent lifting device 505 drives the conversion beam 504 to move upward along the axis of the fourth support column 503. When it is raised to the position, the third automatic pin device 506 inserts into the hole of the fourth support column 503 to achieve height limit. Next, disconnect the fourth automatic pin device 511 from the fourth support column 503. The second intelligent lifting device 505 drives the second upper frame beam 501 to move upward along the axis of the fourth support column 503. When it reaches the target height, the fourth automatic pin device 511 is inserted into the hole of the fourth support column 503 to achieve height limit. Repeat the above steps until the target height is reached.

[0253] In some alternative embodiments: see Figure 1 , Figure 43 , Figure 46 As shown in the illustration, this application provides a multifunctional intelligent bridge erecting machine. The bottoms of the front crane 8 and the rear crane 9 of this machine are connected to an upper lifting spreader beam 11 via wire ropes and pulley blocks. A slewing device 10 is connected to the middle of the upper lifting spreader beam 11. The upper lifting spreader beam 11 can be used alone or in conjunction with the slewing device 10, which is used to rotate and lift prefabricated components.

[0254] The bottom of the slewing spreader 10 is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing spreader 10 and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. The lower lifting beam and the slewing spreader 10 are rotatably connected via the universal joint. The first and second telescopic mechanisms can adjust the posture and angle of the prefabricated components suspended on the lower lifting beam through their own telescopic movements, thereby facilitating the on-site assembly of the prefabricated components.

[0255] It also includes a pier tilting frame 20 and a pad block 21 used in conjunction with the front overhead crane 8 and the rear overhead crane 9. The pier tilting frame 20 includes a base and an "L"-shaped tilting frame that tilts and rotates on the base. When the bridge erecting machine hoists the precast pier 16 on site, one end of the precast pier 16 can be supported on the pier tilting frame 20 and the other end on the pad block 21. Then, the front overhead crane 8 and the rear overhead crane 9 jointly lift the end of the precast pier 16 near the pad block 21, so that the other end of the precast pier 16 is slowly erected under the rotational support of the pier tilting frame 20.

[0256] Furthermore, in one embodiment, during the process of the control subsystem controlling the bridge erection operation, the control subsystem is specifically used for: The error vector is determined based on the real-time displacement and target displacement corresponding to the middle outrigger 5 and the crane respectively, as well as the longitudinal swing angle and lateral swing angle corresponding to the load. The crane is the front crane 8 and / or the rear crane 9. Based on the error vector and the second-order nonlinear dynamic matrix equation containing external lumped disturbances, the basic traction torque required for the outrigger 5 and the crane to overcome track friction and approach the target displacement during forced drive is determined. The anti-sway reverse damping compensation torque corresponding to the error vector is determined by using an Actor-Critic dual neural network and minimizing the performance evaluation cost function. The total driving torque is determined based on the basic traction torque and the anti-sway reverse damping compensation torque; The operation of the middle outrigger 5 and the crane is controlled based on the total driving torque.

[0257] Exemplary and understandable, bridge erecting machines are indispensable large-scale specialized assembly equipment in modern transportation infrastructure construction (such as high-speed railways and cross-sea bridges). In the construction of typical prefabricated assembled bridges for high-speed railways, bridge erecting machines are responsible for the hoisting, three-dimensional transportation, and precise splicing of prefabricated beam segments weighing hundreds of tons (such as a typical 200-ton segment). The physical structure of the bridge erecting machine includes components that move along a fixed track (…). The longitudinally moving middle support leg 5 and the single main beam 1 (axis) The lateral movement of the overhead crane (i.e., the front overhead crane 8 and / or the rear overhead crane 9) on the axis); In actual high-altitude or canyon open-air operation environments, the bridge erecting machine system faces two major technical challenges: a) Strongly coupled underactuated two-dimensional sway characteristics: The bridge erecting machine system is a typical underactuated system where the control input dimension (the driving force of the middle outrigger 5 and the overhead crane) is lower than the total degrees of freedom (the displacement of the middle outrigger and the overhead crane and the three-dimensional sway angle of the suspended load). The huge inertial force caused by the acceleration and deceleration of the middle outrigger and the overhead crane will cause the heavy load to generate violent two-dimensional swaying in the longitudinal and lateral directions; b) System chattering problem under complex environmental disturbances: In the existing technology, traditional closed-loop control (such as sliding mode control SMC) is widely used because it is not sensitive to parameter perturbations. However, traditional SMC uses high-gain switching control to overcome lumped disturbances such as track friction and wind load, which is very easy to cause high-frequency "chattering" at the mechanical actuator end, resulting in serious wear of the equipment and shortening its service life.

[0258] Based on this, in order to overcome the above problems, this embodiment will provide a hybrid SMC-adaptive dynamic programming ADP anti-sway control method for bridge erecting machines with coupled two-dimensional swaying dynamics, which aims to achieve high-precision trajectory tracking of bridge erecting machines under uncertain disturbances, and at the same time use neural networks to adaptively optimize the anti-sway damping gain online, fundamentally eliminating the high-frequency chattering caused by sliding mode control.

[0259] Specifically, firstly, define the middle support leg 5 along... The displacement of the axis is crane edge The displacement of the axis is The equivalent rope length from the lifting point to the center of gravity of the load is , hanging heavy center of gravity The longitudinal swing angle of the axis is , around The lateral swing angle of the axis is Based on this, the generalized coordinate vector of the system is defined as follows: And establish a second-order nonlinear dynamic matrix equation that includes external lumped disturbances (friction force and wind load):

[0260] In the formula, The inertia matrix, Let be the generalized velocity vector of the system. Let be the generalized acceleration vector of the system. The matrix represents the Coriolis force and the centripetal force. The gravity vector (associated with the local gravitational acceleration constant) ), For the input matrix, The driving force control input for the middle outrigger 5 and the crane (actual output from the variable frequency motor) is provided. For time-dependent variables The external lumped perturbation vector.

[0261] The following describes the specific derivation process of the above dynamic model and disturbance term.

[0262] First, the spatial position coordinates of the suspended weight in a three-dimensional Cartesian coordinate system. Specifically, it is expressed as:

[0263] Then the total kinetic energy of the system (including the weight of the middle support leg 5) and crane quality and lifting weight This can be represented as:

[0264] In the formula, and These represent the actual linear speeds of the central outrigger 5 and the overhead crane, respectively. These represent the absolute linear velocities of the suspended weight in the three orthogonal directions X, Y, and Z in three-dimensional space, respectively.

[0265] And the total potential energy of the system It can be represented as: .

[0266] Based on this, according to the Euler-Lagrange operator And substitute it into the Euler-Lagrange equation , where the right side of the equation To pass through the input matrix With actual control driving force The generalized active control force vector obtained by linear mapping (i.e.) This step aims to transform the system's energy scalar field into a system of nonlinear ordinary differential equations characterizing the time-domain evolution of each degree of freedom. Specifically, this is achieved by applying generalized coordinates... and its first derivative (generalized velocity). Perform partial and total derivative operations, and calculate using the second derivative. (Generalized acceleration) and first derivative By extracting common factors and rearranging like terms, the inertial matrix terms characterizing the acceleration response can be explicitly extracted and analytically derived from the highly coupled energy equations. Coriolis and centripetal force matrix terms characterizing multidimensional velocity coupling effects And the gravitational partial derivative term that depends on spatial location. This analytical reconstruction process achieves an accurate mapping from theoretical mechanics scalars to nonlinear matrices in control engineering, providing a completely decoupled mathematical model foundation for solving the equivalent control law based on the nominal model in subsequent sliding mode control (SMC).

[0267] For aggregate disturbance Mathematical modeling: In actual open-air engineering environments, disturbance Mainly composed of system friction Wind load Composition, that is .

[0268] Friction model: Coulomb-viscous friction model is adopted. ,in The coefficient of friction is Coulomb. The viscous damping coefficient is... It is a symbolic function.

[0269] Wind load model: Due to the large windward area of ​​the bridge erecting machine, the aerodynamic load of gusts on the precast beams needs to be considered. ,in, The air density is approximately 1.225 kg / m³. 3 ), This refers to the aerodynamic drag coefficient. A The effective windward area for lifting heavy loads. Instantaneous wind speed (including average wind speed and random fluctuating wind speed).

[0270] Secondly, the real-time status of the system is obtained and a hybrid SMC-ADP control law architecture is designed.

[0271] The displacements of the middle outrigger 5 and the overhead crane were obtained using a laser rangefinder. and Two-dimensional swing angle is obtained through a high-precision tilt sensor or machine vision system. and And design the overall control law. ,in, The basic traction torque required to force the outriggers 5 and the crane to overcome track friction and approach the target displacement is used to ensure accurate tracking of the translation trajectory. To prevent the pendulum from swinging backwards, the damping compensation torque is used as an online compensation term to suppress two-dimensional oscillations and smooth the control torque.

[0272] Then, a sliding mode control (SMC) layer is constructed, which involves defining the error vector (i.e., the tracking error vector). ,in The reference target displacement trajectory is set, and the coupling sliding surface is constructed based on it. , The velocity error vector represents the rate of change error between the current state and the reference state of the system (i.e., translational velocity error and oscillation angular velocity error). and These are the corresponding velocity error vectors. and position error vector The positive definite constant weight matrix is ​​used; based on this, the SMC control law is designed: ,in, This is an equivalent control term, which can be solved based on the system's nominal dynamics model. To switch control terms, an exponential approach law can be used to suppress external disturbance boundaries.

[0273] Specifically, the equivalent control term of sliding mode control By making the coupling sliding surface first derivative ( The instantaneous rate representing the system state approaching the sliding surface is obtained by solving the nominal model; to reduce oscillations during the process of reaching the sliding surface, robust switching control terms are used. An exponential reaching law design can be used:

[0274] In the formula, The artificially set reaching law gain parameter determines the absolute velocity and exponential velocity of the state-reaching sliding surface; it is worth noting that this exponential reaching law formula is coupled with the sliding surface mentioned above. The mathematical connection lies in the fact that this exponential reaching law formula artificially defines the error of the coupled sliding surface. The expected dynamic decay process converges to zero over time. In practical implementation, the coupled sliding surface... Taking the first derivative of both sides with respect to time, we obtain the actual sliding surface derivative. , The acceleration tracking error representing the system's translation and oscillation (i.e., the dynamic difference between the actual running acceleration and the reference given acceleration) is directly related to the inertial force compensation during the execution of the underlying physical system. Equalizing this error with the right-hand side of the aforementioned exponential reaching law equation, and incorporating the generalized acceleration term in the system's dynamic equations... Included to By substituting the values ​​into the equation and expanding, the switching control torque used to overcome boundary disturbances can be accurately derived through inverse algebraic solution. .

[0275] Finally, the anti-sway torque is optimized online using an adaptive dynamic programming (ADP) layer, which defines the infinite-time quadratic optimal performance index of the system (i.e., minimizing the performance evaluation cost function). An Actor-Critic dual neural network architecture is constructed to solve the Hamilton-Jacobi-Bellman (HJB) equations online, in order to output the optimal compensation control law (i.e., the anti-sway reverse damping compensation torque). The Critic network is used to approximate the cost function of the current state, and the Actor network is used to output the action policy. The weights of the two networks are updated in real time based on the gradient descent method to achieve adaptive compensation for unmodeled dynamics and wind loads.

[0276] Specifically, the optimal performance metric for ADP can be defined as: , where the full state vector Q and R are the positive definite penalty weight matrices for the penalty state error term and the control energy consumption term, respectively; this embodiment sets the optimal performance index. The core logic lies in establishing a joint optimization mathematical benchmark for the dual neural network architecture. Understandably, according to the Bellman Optimality Principle, there exists an optimal cost function in the control system that minimizes this index. However, due to the strong nonlinearity, underactuated characteristics, and unknown lumped perturbations of this system, the corresponding Hamilton-Jacobi-Bellman (HJB) partial differential equations are difficult to solve analytically directly. Therefore, this embodiment introduces an Actor-Critic dual neural network architecture for online approximate solution: The underlying mathematical logic of the Critic network (evaluation network) lies in approximating and outputting the optimal performance index in real time. The current mapping value (i.e., the value function) This is used to evaluate the "cost" (i.e., how good or bad) of the current state of the system and the execution strategy.

[0277] The underlying mathematical logic of the Actor network lies in receiving the evaluation feedback from the Critic network and then adjusting the performance metrics accordingly. The gradient direction evolution strategy (i.e., cost evaluation) minimizes the current optimal anti-sway damping torque. The two achieve this by sharing indicators. The evaluation and minimization pursuit form a closed-loop game and co-evolutionary relationship of "evaluation-improvement".

[0278] Based on this, according to the basic traction torque Anti-sway reverse damping compensation torque The total driving torque can then be calculated. Finally, the control subsystem will control the variable frequency drive motors of the outrigger 5 and the overhead crane to generate the total driving torque. This enables the operation control of the central outrigger 5 and the crane.

[0279] The following section describes the Actor-Critic neural network architecture and its update law: Critic Network: Value Function Approximation ,in This is the current estimated weight matrix of the Critic network. The radial basis function (RBF) activation function is used, and the time difference error (TDError) is defined based on the Bellman equation. , here To evaluate the first derivative of the network output value with respect to time, the instantaneous dissipation rate, which physically represents the system cost, is used; the weight matrix update law of the Critic network. (That is, the first derivative of the weights with respect to time, representing the rate of adaptive learning and convergence of the network) Designed based on normalized gradient descent:

[0280] in, The learning rate of the Critic network is set manually.

[0281] Actor Network (Action Network): Output Compensation Control Law ,in, Here is the estimated weight matrix of the Actor network. Its activation function; the goal of the Actor network is to minimize the cost of the Critic network output, and its weight update law (the first derivative of the Actor weights with respect to time) is used. The instantaneous pace of the control strategy update is designed as follows:

[0282] in, The learning rate of the Actor network. The activation function of the Critic network is applied to the system state vector. The partial derivatives (i.e., the Jacobian matrix) of . For the constant gain estimation term of the system's control input matrix, This is a robust leakage factor term, designed to prevent the infinite drift of network weights in a closed-loop system under long-term bounded persistent perturbations.

[0283] This embodiment has undergone rigorous simulation testing and verification based on parameters from a real engineering machinery manual. The hardware controller utilizes a Siemens S7-1500 series PLC paired with a high-performance servo driver. The physical parameters and operating conditions are based on industrial parameters from a specific model of a 200-ton high-speed railway bridge erecting machine, with the central outrigger having a mass of 5 tons. Crane weight Lifting weight Length of the suspension rope (Including the equivalent length of the spreading gear), the rated maximum operating speed of the mid-outrigger 5 is limited to 0.5 m / s; in addition, the extreme environmental disturbance settings are as follows: simulating actual high-altitude canyon operations, a level 6 strong wind test condition is introduced (average wind speed 12 m / s, gust amplitude ±2 m / s), and the windward area of ​​the suspended load is set to... At the same time, the coefficient of rolling friction of the track is introduced. Perturbation, target displacement .

[0284] Based on this, the closed-loop calculation and implementation mechanism for the target displacement is as follows: Based on the aforementioned steps, it can be seen that this embodiment achieves the final target displacement. The process is not a simple open-loop coordinate setting, but a rigorous dynamic closed-loop torque calculation and servo execution process; specifically: the control subsystem first receives the set target displacement. As a reference tracking benchmark, the current actual displacement of the middle outrigger 5 and the crane is then collected in real time using the state perception module. Spatial angle And use this to calculate the error vector between the current physical state and the target state. and its rate of change In the core control calculation, the aforementioned dynamic model provides the underlying physical mapping matrix (i.e., M, C, G matrices) for nonlinear decoupling, enabling the SMC layer to rely on these mapping matrices and the real-time feedback error vector. The basic traction torque required for the outrigger 5 and the crane to overcome track friction and approach the target displacement during forced drive was calculated. Meanwhile, since the acceleration and deceleration process towards the target and the wind load will inevitably induce two-dimensional oscillation of the suspended load, the ADP neural network monitors the full-state error space, including displacement and oscillation angle, in real time. And by minimizing the cost of online performance evaluation. The optimal anti-sway reverse damping compensation torque was calculated. Ultimately, the combined driving torque of the two is... The current command is converted into an output to the variable frequency motor actuators of the middle support leg 5 and the crane.

[0285] Based on this, under the millisecond-level high-frequency closed-loop iteration of the above-mentioned "state perception - error differentiation - torque optimization - physical drive", the system's multidimensional error vector Under the Lyapunov principle, it is continuously and stably forced to converge to zero, which, from a macroscopic physical perspective, manifests as the actual displacement of the bridge erecting machine's middle support leg 5 and the overhead crane. Ultimately, it advances precisely and smoothly to the target displacement without any wobbling. Place.

[0286] As can be seen, this embodiment not only provides high-precision nonlinear decoupling and modeling capabilities—the established Lagrange model and wind load model accurately capture the strong physical coupling effect between the orthogonal motion of the middle outrigger 5 and the crane, aerodynamic disturbances, and the two-dimensional swing angle of the suspended load, overcoming the limitations of the traditional single pendulum model in high-altitude operations—but also possesses extremely strong robustness and can completely eliminate chattering: under the level 6 extreme wind load test, the ADP layer Actor-Critic network learns online with millisecond-level response and outputs a smooth optimal damping torque, effectively replacing the high-gain sign function that causes high-frequency chattering in the traditional SMC, avoiding the mechanical impact of peak driving torque on the 15-ton high-power motor, and significantly reducing the fatigue wear of the gearbox; at the same time, it also has excellent safety anti-sway efficiency and positioning accuracy: under the above-mentioned 200-ton real working conditions, this embodiment shortens the adjustment time of the translation of the middle outrigger 5 and the crane to 10.5 seconds, and the steady-state positioning error is less than Within 3 seconds after the central outrigger 5 and the overhead crane come to a complete stop, the maximum transient two-dimensional swing angle of the large-inertia suspended load under gusts of wind (the original system could reach) is achieved. It rapidly decays and rigidly locks to the safe operating threshold (where the safe operating threshold is...). Within a certain range, it greatly improves construction efficiency and equipment safety in harsh environments.

[0287] Furthermore, in one embodiment, during the process of the control subsystem controlling the movement of the bridge erecting machine body, the control subsystem is specifically used for: Global path planning is performed based on the target A-star algorithm to determine the target path corresponding to the bridge erecting machine body; The heuristic function for the Target A algorithm is:

[0288]

[0289] In the formula, Indicates the coordinates of the current probe node. Indicates the coordinates of the target beam drop position point; This represents the integral of energy consumption cost. Indicates the coefficient of track friction. The total mass of the machine and the load being lifted. and These represent instantaneous velocity and acceleration, respectively. Indicates the wind penalty weight; This indicates the wind field intensity at the current altitude; This indicates the theoretical maximum wind speed limit that allows for operation. The term represents the repulsive force of the artificial potential field; t represents the upper limit of integration, which represents the total time taken from the start of the motion (time 0) to the current detection node or the current specific time. It represents the total energy consumption cost accumulated from the starting point to time t, and h represents the integral variable (i.e., dummy variable), which represents any continuous instant in the motion process from 0 to t.

[0290] As an example, it is understandable that the operating environment of bridge erecting machines is increasingly constrained by existing buildings, high-voltage power lines, and dynamic traffic flow. Traditional perception modes that rely on manual observation supplemented by single-line radar monitoring are no longer sufficient to meet the comprehensive identification needs of unstructured obstacles. Furthermore, existing technologies lack the ability to deeply fuse multi-source perception data, leading to spatial modeling blind spots in environments with strong light, dust, or complex electromagnetic fields, failing to provide robust semantic environmental information for machine operation. Simultaneously, the existing control logic of bridge erecting machines largely involves executing preset paths, lacking deep coupling between dynamic planning for varying working conditions and structural stress feedback. Moreover, when performing high-precision processes such as beam lowering, traditional synchronous control strategies often ignore the dynamic oscillation effect of the load, resulting in frequent reliance on inching adjustments during the beam lowering alignment stage, making it difficult to meet engineering requirements in terms of construction efficiency and alignment accuracy.

[0291] To overcome the aforementioned problems, in this embodiment, the multi-source fusion perception module in the control subsystem constructs a dynamic semantic voxel map containing obstacle attribute labels using a high-resolution lidar array, multi-view vision sensors, and wheel box encoders, and identifies unstructured obstacle envelopes. The multi-source perception data originates from various sensors deployed on the bridge erecting machine's main beam 1, outriggers, overhead crane, and operator's cab, specifically including environmental perception sensors (such as multi-view cameras, lidar, and millimeter-wave radar), body perception sensors (such as photoelectric encoders, tilt sensors, IMUs, and guy wire displacement sensors), and suspended object perception sensors (such as visual tracking cameras and contact attitude sensors). It should be noted that the specific construction method and principle of the dynamic semantic voxel map are common knowledge in the field and will not be elaborated upon here for the sake of brevity.

[0292] The adaptive dynamic programming module in the control subsystem includes a global planning unit and a local planning unit. The global planning unit searches for the globally optimal path based on the aforementioned dynamic semantic voxel map and the A* algorithm, generating an initial trajectory that avoids static obstacles according to the task objective. During operation, the local planning unit detects dynamic obstacle intrusions in real time and predicts collision risks to predict the output control sequence, thereby reconstructing the local motion path and outputting motion commands. The precise collaborative control module in the control subsystem drives the actuators (such as outrigger cylinders, travel motors, lifting / traversing mechanisms, etc.) to execute motion commands, and uses an adaptive input shaper to suppress low-frequency swaying of the lifting load and a cross-coupling control algorithm to correct displacement deviations. It should be noted that the specific implementation method and working principle of the A* algorithm are common knowledge in the field and will not be elaborated upon here for the sake of brevity.

[0293] Specifically, in achieving multi-source sensing data fusion, this embodiment can employ a state estimation algorithm based on Extended Kalman Filter (EKF) to achieve sub-millimeter-level alignment of laser point clouds and visual semantic features within a unified spatiotemporal coordinate system. The state equation and observation equation of the EKF-based multi-source data fusion algorithm are rigorously defined as follows:

[0294]

[0295] Wherein, the state vector It includes the absolute coordinates p, instantaneous velocity v, and attitude quaternions of the bridge erecting machine. ; The prior inputs come from the encoder and inertial navigation system; For visual and radar observation vectors; and These are the state transition function and the nonlinear observation function, respectively. and These are process noise and observation noise, respectively. It should be noted that the specific implementation method and working principle of the state estimation algorithm based on the Extended Kalman Filter (EKF) are common knowledge in this field, and will not be elaborated upon here for the sake of brevity.

[0296] In addition, this embodiment can preferably set a fault-safe degradation mechanism: when the point cloud effectiveness of the lidar is less than 30% due to strong rain and fog interference (which can be determined by signal-to-noise ratio monitoring and evaluation), the degradation algorithm will be automatically triggered to switch to the dead reckoning mode of "visual assistance + wheel box encoder + IMU". In this mode, the system will actively limit the maximum operating speed (e.g., not higher than 0.5m / min) and issue an orange safety warning on the terminal.

[0297] It is worth noting that when bridge erecting machines perform operations at high altitudes in urban areas, they not only need to avoid dense static obstacles, but also need to overcome interference from natural wind fields that exhibit a non-linear distribution with height. Therefore, to balance absolute safety during operations with optimal energy consumption of the drive system, this embodiment constructs a multi-dimensional cost joint optimization heuristic function, which improves the global path search heuristic function. By integrating the mechanical energy consumption cost function, the wind deflection influence factor that exhibits a gradient distribution with altitude, and the artificial potential field repulsion function, an improved heuristic dimensionality reduction A-star algorithm (i.e., the target A-star algorithm) is generated; among which, the heuristic function... Defined as:

[0298]

[0299] In the formula, Indicates the coordinates of the current probe node. Indicates the coordinates of the target beam drop position point; This represents the integral of energy consumption cost. Indicates the coefficient of track friction. The total mass of the machine and the load being lifted. and These represent instantaneous velocity and acceleration, respectively. Indicates the wind penalty weight; The wind field intensity at the current height is derived from ultrasonic anemometers deployed at the top and bottom of the single main beam, and the wind field intensity is obtained by fitting the current height in real time using the wind pressure height formula. This indicates the theoretical maximum wind speed limit for permitted operations. The specific value can be preset according to actual operational needs. For example, according to special equipment specifications, 13.8 m / s can be taken as the upper limit of level 6 wind speed. Let represent the repulsive term of the artificial potential field, t represent the upper limit of integration, and h represent the integration variable.

[0300] The local planning unit, based on an improved model predictive control algorithm using the control obstacle function (CBF), achieves dynamic obstacle avoidance by solving a quadratic programming problem with hard constraints and inequalities in the prediction time domain. This allows for rolling prediction of collision risks and output of motion commands within millisecond cycles. Specifically, when a dynamic obstacle (such as temporary construction vehicles or workers) intrudes into the safety warning radius around the bridge erecting machine, the control subsystem immediately switches from global planning mode to local replanning mode. For these unpredictable dynamic obstacles, the local planning unit, within the model predictive control (MPC) framework, decouples the local motion of the bridge erecting machine into a discrete-time state-space model and solves a constrained quadratic programming problem in each control cycle.

[0301] In the formula, C is the cost function to be minimized; To predict the number of time-domain steps, To control the number of time-domain steps; For the predicted future state, This refers to the global reference trajectory state. To control the increment (i.e. the rate of change of acceleration); This is the state deviation weight matrix. To control the incremental weight matrix, when structural stress fluctuations are detected, the incremental weight matrix can be increased in real time. The component is used to reduce the intensity of maneuvering. It should be noted that the specific implementation method and working principle of MPC are common knowledge in this field, and will not be elaborated here for the sake of brevity.

[0302] Meanwhile, this embodiment will introduce a dynamic margin compensation coefficient into the CBF function. This coefficient slippage rate with wheel box Proportional; its In this process, the slippage rate can be calculated in real time by comparing the theoretical displacement calculated by the wheel box encoder with the actual displacement output by LiDAR / IMU fusion. This automatically expands the safety margin when the track surface is wet and slippery, forcing the system to maintain a longer physical braking distance.

[0303] During the lifting and hole-passing stages, the precision collaborative control module in this embodiment can preferably integrate an adaptive input shaper to dynamically adjust the control pulse using the real-time identified swing rope length. For example, the control pulse can be convolved using the ZVD (Zero Vibration and Derivative) input shaping algorithm to suppress low-frequency load oscillation; and the cross-coupling control algorithm can be used to correct displacement deviations during the walking process.

[0304] It is understandable that load sway is the core contradiction affecting the construction efficiency and overall structural safety of urban viaduct hoisting. To achieve precise anti-sway control, this embodiment mathematically abstracts the hoisted load and its flexible sling as a dynamic model of a variable rope-length spatial pendulum driven by external forces. Under the assumption of a small swing angle, the second-order differential equation of the core dynamic of load sway suppression is expressed as:

[0305] In the formula, For the load swing angle, The angular velocity of the load swing. For the load angular acceleration, To determine the real-time lifting rope length, The rate of change of the hoisting rope length. It is the acceleration due to gravity. This refers to the horizontal acceleration of the overhead crane.

[0306] In practice, the ZVD (Zero Vibration Derivative) shaper performs time-domain convolution on the control commands. This is based on the real-time hoisting rope length fed back from the absolute encoder of the hoisting winch. Solving for the equivalent undamped natural frequency The system damping ratio is set by combining historical identification parameters. (For example, the main beam structure corresponding to Q345B material) The typical value is 0.02); the shaper generates a pulse sequence based on this parameter to ensure that the mechanical oscillation energy during the start-up and stop transients is effectively canceled out. It is worth noting that in the actual test condition of a 40m lifting height, the residual swing angle needs 45 seconds to decay naturally to a safe range without the shaper activated, while in this embodiment, after activating ZVD shaping, it only takes 6 seconds, improving the decay efficiency by 86%, which rigorously verifies the beneficial effect of this embodiment in suppressing low-frequency load oscillation.

[0307] During the beam lowering stage, when the near-field depth camera deployed on the lifting device detects that the beam has descended to within 50 cm of the target bearing pad (this vertical distance threshold can be calculated and triggered in real time by combining the absolute encoder travel data of the hoisting winch with the preset elevation of the BIM model), the system switches to a micro-motion control mode based on depth camera point cloud registration. This mode employs a point-to-surface ICP registration algorithm based on Lie algebra perturbations to achieve millimeter-level precision alignment at the end. The objective function of the point-to-surface ICP registration algorithm based on Lie algebra perturbations is:

[0308] In the formula, For the transformation matrix in Lie algebra Six-degree-of-freedom representation in space; For Lie algebra to Lie groups SO (3) The exponential operator of the mapping; Let be the rotation vector. For fine-tuning translation vectors relative to the target; operator This means transforming the rotation vector into an antisymmetric matrix. For feature point vectors acquired in real time, The target reference pose vector in the BIM model. The target plane normal vector is defined; the compensation travel distance in the above stages is limited to ±30mm, with an accuracy better than 2mm. It should be noted that the specific implementation method and working principle of the ICP registration algorithm are common knowledge in this field, and for the sake of simplicity, they will not be elaborated upon here.

[0309] Furthermore, in one embodiment, after the grouting operation during bridge erection is completed, the quality subsystem is specifically used for: The multi-view phased array ultrasonic image of the target corresponding to the grouting sleeve is cropped to obtain the target ultrasonic image corresponding to the inside of the grouting sleeve. Defect segmentation is performed on the target ultrasound image based on the target SAM model to generate a target defect segmentation image; The grout fullness is determined by the area of ​​the target defect segmentation image and the area of ​​the target multi-view phased array ultrasonic image. Grouting quality is tested based on the grouting fullness, and grouting quality results are generated.

[0310] It should be understood, as an example, that the quality of grouting sleeve connections in urban bridge piers directly affects structural safety. Traditional manual inspection of grouting defects is inefficient and has a high misjudgment rate, thus requiring precise, efficient, and traceable inspection. Furthermore, existing ultrasonic defect image processing methods typically treat denoising as a separate preprocessing module, processed separately from the main model, when performing classification or segmentation tasks. While this method can suppress image noise to some extent, its improvement in overall model accuracy is unstable and limited. Simultaneously, these methods do not fully utilize the inherent uncertainty of noise for modeling, resulting in insufficient defect recognition and generalization capabilities in complex noise environments. Therefore, this embodiment utilizes the multi-view physical consistency of phased array ultrasonic imaging to implicitly suppress speckle noise through multi-view information constraints. The core idea is that real defects exhibit stable spatial consistency under different excitation angles and focusing conditions, while speckle noise shows significant inconsistency with changing viewing angles. Based on this difference, the segmentation model is guided to automatically focus on defect regions that maintain consistency across multiple views, thereby reducing the interference of noise on semantic segmentation results. Based on this, this embodiment can control a robot for precise detection of the connection quality of grouting sleeves for pier columns and integrates an ultrasonic phased array probe. It can be handheld or mounted on a lifting platform to adapt to full-coverage detection of grouting sleeves for pier columns.

[0311] See Figure 65 As shown, this embodiment utilizes the electronic focusing and beam deflection capabilities of a phased array ultrasonic probe. While keeping the probe position constant, different emission angles, focusing depths, or sub-aperture combinations are set by changing the array element combinations to obtain the same detection area (e.g., ...). Figure 65 Contains defect P(x) , Multi-view ultrasound images of the region (z) are used to depict the reflection characteristics of defects from different observation perspectives, providing a basis for subsequent multi-view consistency modeling. These multi-view ultrasound images differ in acoustic propagation path, incident angle, and spatial resolution.

[0312] After acquiring multi-view ultrasound images, physical spatial alignment of the multi-view images is required to obtain the target multi-view phased array ultrasound image. Specifically, considering the geometric differences in ultrasound images from different perspectives, based on the phased array ultrasound imaging principle, the images from each perspective are mapped to a unified physical coordinate system. This process can be accomplished using known array element positions, emission angles, sound velocity models, and imaging algorithms, ensuring that pixels located at the same physical position from different perspectives correspond strictly in space. It should be noted that the specific implementation methods and working principles of multi-view image physical spatial alignment are common knowledge in the field and will not be elaborated upon here for the sake of brevity.

[0313] In this embodiment, multi-view feature consistency is constructed. That is, the aligned target multi-view phased array ultrasonic images are used as multi-channel inputs to extract their spatially consistent response regions, including cues in the form of point-level, region-level or probability maps, and image segmentation is performed based on this. Considering that the grouting sleeve defects are only distributed in the inner region of the sleeve, in this embodiment, the entire ultrasonic image will not be directly segmented. Instead, in combination with the prior knowledge of the engineering structure, the ultrasonic imaging region corresponding to the inside of the sleeve in the target multi-view phased array ultrasonic image is cropped and focused to obtain the target ultrasonic image. By restricting the segmentation range as described above, the interference of irrelevant backgrounds to the model can be effectively reduced, the attention of the model to the defect region can be improved, and the computational complexity can be reduced, providing higher-quality input features for subsequent fine segmentation.

[0314] Then, the SAM model is used to perform defect segmentation on the target ultrasonic image to generate a target defect segmentation image. Among them, the architecture of the SAM model is as Figure 66 shown. It realizes the segmentation of various visual targets through the collaborative work of an image encoder, a prompt encoder, and a mask decoder. It should be noted that the specific working methods and principles of the SAM model are well-known common knowledge in the art and will not be elaborated here for the sake of simplicity of description.

[0315] In this embodiment, the defect area will be calculated based on the segmented target defect segmentation image, that is, according to the area of the target defect segmentation image and the area of the target multi-view phased array ultrasonic image to determine the grouting fullness , that is ; then, based on the grouting fullness a grouting quality result is generated after grouting quality detection, so as to determine whether grouting needs to be supplemented through the grouting quality result. At the same time, the coordinates of the defect location can be output to determine whether the defect is in an important area (such as the steel bar anchorage area). Based on this, this embodiment can perform grouting quality detection according to the automatic rating rules shown in Table 1.

[0316] Table 1 Automatic rating rules

[0317] It can be seen that Table 1 divides the rating into Grade I (qualified), Grade II (general defect), Grade III (severe defect), and Grade IV (unqualified). If the grouting fullness = 100%, the grouting quality result is determined to be qualified. It should be noted that Table 1 is only a presentation of the embodiment, and any content in Table 1 can be adaptively adjusted according to actual needs.

[0318] Furthermore, as shown in Table 2, this embodiment can also output corresponding test reports and engineering suggestions based on the evaluation level.

[0319] Table 2 Engineering Recommendations

[0320] Based on Table 2, if the quality inspection result is qualified, the engineering suggestion can be "Proceed with the engineering process normally and ensure proper archiving of all process documents." It should be noted that Table 2 is only an example; any item in Table 2 can be adapted to meet specific needs.

[0321] In addition to image segmentation for defect identification and quality assessment, the target ultrasonic image can be converted into a grayscale image for grout fullness assessment according to Article 7.4.2 of TCECS 683-2020 "Technical Specification for Quality Inspection of Grouting in Prefabricated Concrete Structures". Specifically: when the normalized grayscale value of the grouting area is not less than 0 and not greater than 0.65, the grout fullness or density should be deemed to meet the requirements; when the normalized grayscale value is not less than 0.85 and not greater than 1.0, the grout fullness or density should be deemed not to meet the requirements; when the normalized grayscale value of the grouting area is between 0.65 and 0.85, or if there is doubt about the above judgment, other testing methods can be combined for comprehensive judgment, or verification can be performed using the local damage method.

[0322] The following describes the workflow and data flow of the grouting sleeve quality inspection process after beam placement: After beam placement and grouting are completed, a grouting quality inspection event is triggered, causing the quality subsystem to execute the grouting sleeve quality inspection process. Operators use a grouting sleeve inspection robot to perform a full-coverage inspection of all grouting sleeves, collecting ultrasonic echo data. Preferably, the ultrasonic echo data is uploaded to an edge computing unit for preprocessing before being uploaded to the digital twin control console. The digital twin control console triggers the quality subsystem to automatically identify grout fullness and internal voids. Defects such as non-compactness are identified, their location and size are calculated, and their levels are assessed based on specifications. These are then mapped in real time to a quality digital twin and bound to the corresponding pier and beam codes. If the grouting quality is qualified, a grouting qualification event is triggered, allowing the control subsystem (to allow the erection of the next beam) and the production subsystem (to update the construction plan and record the logs). If the grouting quality is unqualified, a grouting quality defect event is triggered, suspending subsequent erection and adjusting the construction plan. After rectification, a re-inspection is conducted, and construction can only continue after the grouting is deemed qualified.

[0323] Furthermore, in one embodiment, the target SAM model includes a feature extractor and a multi-view cue pyramid module; The feature extractor is used to extract features from the output features of the ViT module in the image encoder of the target SAM model to obtain a multi-view image feature map; The multi-view cue pyramid module is used to perform multi-level pooling operations on the feature maps of multi-view images. After convolution processing of each pooling result, multiple local features are obtained. After upsampling operation of each local feature, multiple upsampled features are obtained. After channel concatenation of all upsampled features, residual fusion is performed with the feature maps of multi-view images. The fusion result is then subjected to convolution operation and flattening processing in sequence to obtain self-generated cue, which is used by the mask decoder in the target SAM model to perform defect segmentation of the target ultrasound image based on the self-generated cue.

[0324] Exemplary, understandable Figure 66 The SAM model shown is mainly designed for natural image scenarios. However, it still faces the following two challenges in engineering ultrasound image applications: First, the model is heavily reliant on manual prompts (such as point and box prompts), which makes it difficult to meet the needs of batch detection and automated analysis in engineering sites. Second, ultrasound images generally have problems such as strong speckle noise and low contrast, which leads to insufficient segmentation robustness of the SAM model in complex noise backgrounds.

[0325] To address the aforementioned issues, this embodiment, while retaining the original overall framework of SAM, improves it from three aspects: data input, model parameter adaptation, and prompt generation mechanism, to form the target SAM model. Specifically, it performs fine-tuning of the SAM backbone parameters for the ultrasound domain. This involves introducing engineering ultrasound image data to adapt the model to the domain while maintaining the initial backbone structure and pre-trained weights. Furthermore, it fine-tunes the parameters of the image encoder and some decoding layers (such as frozen parameters including patch embedding, positional embedding, layer normalization, window attention, multi-head attention backbone, multilayer perceptron (MLP) backbone, and all pre-trained weights of the neck network at the encoder end). This allows the model to gradually learn the texture features, structural features, and noise distribution characteristics of defects in ultrasound images, thereby improving its feature representation ability under low signal-to-noise ratio and strong speckle interference conditions. This process avoids the high data requirements and instability associated with training from scratch, while enhancing the model's generalization ability to engineering ultrasound scenarios.

[0326] Furthermore, to address the issue of SAM's reliance on human prompts, this embodiment introduces an automatic prompt generation strategy based on feature consistency. This involves analyzing the multi-scale features output by the image encoder to guide the network in automatically generating prompts for segmentation. This mechanism eliminates the need for manual interaction, allowing the network to automatically generate prompts based on feature consistency and defect saliency, thereby achieving an end-to-end defect segmentation process and meeting the practical needs of batch and automated processing in engineering inspection.

[0327] For details, see Figure 67 As shown, in this embodiment, the target SAM model, besides retaining the original architecture of the SAM model, also integrates an adaptation module in the VIT module, and adjusts the original cue encoder into a feature extractor and a multi-view cue pyramid module. The following is combined with... Figure 67 The specific implementation process of the target SAM model is described below: P1: Input the target ultrasound image.

[0328] P2: After image block encoding, the two-dimensional target ultrasound image is converted into a token sequence that can be processed by the Transformer structure; then, position encoding is superimposed on the token sequence to supplement the spatial position information of the image, resulting in an image token sequence with position information.

[0329] P3: The improved VIT module is introduced. This VIT module is based on the original visual Transformer structure and adds a serial-parallel dual-path lightweight adapter module. Specifically, the input image token sequence with location information is first processed by layer normalization, then partitioned using a window attention mechanism, and global and local feature attention is calculated using a multi-head attention mechanism. Afterwards, it is serially connected to a lightweight adapter module, which performs defect-specific feature transformation on the attention output features. After passing through the lightweight adapter module, it splits into three branches: one is a parallel branch of the lightweight adapter module, another undergoes layer normalization and a multilayer perceptron, and the third outputs directly. Finally, the three branches are fused, further enhancing the model's domain adaptability to ultrasound defect features without compromising the pre-trained backbone's general features. It should be noted that... Figure 67 The specific working method and principle of the multi-head attention mechanism shown are common knowledge in this field, and will not be elaborated here for the sake of brevity.

[0330] P4: After passing through the VIT module, the output is split into two paths. One path is output through the neck network and, after image encoding, is directly sent to the two sets of bidirectional Transformer modules in the back-end mask decoder. The other path is processed by the feature extractor, and the extracted multi-view image feature map is sent to the multi-view cue pyramid module for automatic output of self-generated cues.

[0331] P5: In the multi-view cue pyramid module, the input multi-view image feature map is passed through multiple pooling modules, convolutional layers, and upsampling layers, and then residually connected with the input feature map. After entering the next convolutional layer, the self-generated cue is output and passed to two sets of bidirectional Transformer modules in the mask decoder.

[0332] P6: The mask decoder receives two inputs: the image encoding features output by the image encoder and the self-generated prompts output by the multi-view prompt pyramid module. It then generates the final defect segmentation mask: the features processed by two sets of bidirectional Transformer modules are sequentially passed through two sets of transposed convolutional layers and a multilayer perceptron to complete feature upsampling and dimension mapping. Finally, through mask-by-mask dot product operations, the output is a precise defect region segmentation mask that matches the size of the input image, thus completing the end-to-end fully automatic segmentation of defects inside the grouting sleeve.

[0333] Among them, see Figure 68 As shown, the specific execution logic of the Adapter is as follows: N1: Input features (H and W are the height and width of the feature map, respectively, and C is the number of channels in the feature map).

[0334] N2: The feature dimension is compressed through the feedforward projection layer, reducing the feature dimension and computational cost. In the formula, It is a linear downsampling matrix. r represents the number of feature channels and .

[0335] N3: Enhances feature expressiveness through non-linear mapping using the GELU activation function. .

[0336] N4: Captures defect boundaries and suppresses speckle noise through deep convolutional layers. .

[0337] N5: Nonlinear mapping is performed using the GELU activation function to further enhance the nonlinear representation of features. .

[0338] N6: The features are restored to their original dimensions through a feedforward upprojection layer. ,in It is a linear upsampling matrix. .

[0339] N7: Residual fusion of the N6 output with the input features: ,in, .

[0340] See Figure 69 As shown, the execution logic of the multi-view prompt pyramid module is as follows: M1: Feature map of the multi-view image input to the feature extractor Parallel pooling is divided into four branches. Where H and W are the length and width of the feature map, respectively, and C is the number of channels in the feature map: Branch 1: For Perform 1×1 global average pooling to represent global context information: ,in .

[0341] Branch 2: For Perform 2×2 global average pooling to represent local details: ,in .

[0342] Branch 3: For Perform 3×3 global average pooling to represent mesoscale structural information: ,in .

[0343] Branch 4: Perform 4×4 global average pooling to represent large-scale structural information: ,in .

[0344] M2: For each pooling result conduct Convolution reduces the number of channels, extracts local features, and decreases computational cost. ,in , i = 1,2,3,4.

[0345] M3: After upsampling (bilinear interpolation), the pooled feature map is mapped to a uniform size. ,in , i = 1,2,3,4.

[0346] M4: Multi-scale feature fusion, which concatenates all upsampled features through channels and performs residual fusion with the input features to obtain a feature map containing original feature information, global context information, large-scale structural information, medium-scale structural information, and local detail features. , ,in , .

[0347] M5: Performs on fused features The convolution operation yields the final cue features: ,in .

[0348] M6: Transforms the final suggestion features into a self-generated suggestion through a flattening layer: ,in , .

[0349] Therefore, this embodiment achieves automatic prompt generation by introducing a multi-view prompt pyramid module, without relying on manual interactive driving, thereby realizing end-to-end automatic segmentation from ultrasound image to defect mask output.

[0350] Furthermore, in one embodiment, any one of the production subsystem, quality subsystem, and safety subsystem generates a target event based on its output, and triggers other subsystems to adjust their working status by sending the target event.

[0351] As an example, in this embodiment, a standardized event set covering all scenarios of control, safety, production, and quality, as shown in Table 3, will be constructed to achieve event-driven linkage throughout the entire construction process and system, replacing the traditional polling-style interaction mode and improving response efficiency.

[0352] Table 3 Standardized Event Set for All Scenarios

[0353] Simultaneously, an event-driven cross-system linkage triggering and judgment model is established to achieve fully automated collaboration throughout the entire process.

[0354] In the formula, Let k be the characteristic function of the k-th type of event. The event trigger threshold, When an event is triggered, the event engine in the digital twin control console synchronously pushes the data to the corresponding linked subsystem, achieving cross-system closed-loop linkage.

[0355] Finally, a full-link closed-loop interactive convergence determination model is established, and the global asymptotic stability of the system is verified by Lyapunov stability analysis.

[0356] In the formula, The actual state vector of the system. Let be the system target state vector. To ensure the reliability and stability of the entire interaction chain, a convergence accuracy threshold (e.g., 0.1mm for control types and 0.5mm for quality types) is set. It is evident that this embodiment, through the aforementioned quantitative model and architecture design, completely breaks through the industry pain points of data fragmentation and passive collaboration in traditional bridge erecting machine construction. It achieves full-element bidirectional interaction between the physical entity and the digital twin, as well as deep collaborative closed-loop management of the four subsystems, fully adapting to the high-precision, high-safety, and high-efficiency management requirements of bridge construction in complex urban scenarios.

[0357] For example, taking the entire process of precast beam erection as an example, when a component inspection is qualified, the event engine simultaneously pushes the information to the control subsystem (allowing the start of hoisting), the production subsystem (updating the beam ledger and starting the shift timer), and the safety subsystem (starting hoisting safety monitoring); when an alignment qualification event is triggered, the information is simultaneously pushed to the control subsystem (allowing the beam to be lowered), the quality subsystem (generating the alignment acceptance report), and the production subsystem (statistically calculating the single beam erection time and work efficiency). The entire process is seamlessly connected, achieving deep synchronous collaboration between quality, control, and production.

[0358] For example, when the safety subsystem predicts that the probability of equipment failure exceeds the threshold, it triggers an early warning event. The event engine then pushes the warning to the production subsystem (to adjust the construction plan and reserve a maintenance window) and the control subsystem (to reduce the operating rate), thus achieving proactive coordination between failure prediction and production control to avoid project delays caused by equipment failure.

[0359] Furthermore, this embodiment can also construct a standardized interaction system for the entire system. Based on the OPCUAoverTSN protocol, standardized communication protocols and interface specifications covering all scenarios of control, safety, production, and quality are formulated. Specific data interaction formats, transmission frequencies, and access control rules are defined for real-time pose, control commands, safety status, shift energy consumption, component accuracy, and quality deviation. A twin data interaction middleware is designed to achieve decoupling and synchronous interaction of high-real-time control flow, high-integrity safety flow, high-continuity production flow, and high-precision quality flow, solving the problems of protocol incompatibility and data silos among multiple subsystems. Simultaneously, the raw data collected by the four parallel subsystems from repetitive data acquisition, coordinate system calibration, time synchronization, and feature extraction processes are uniformly connected to the digital twin control console. After standardized preprocessing, the data is distributed on demand, avoiding resource waste and data inconsistency caused by repeated acquisition and processing across multiple systems.

[0360] In the data interaction of this embodiment, the uplink data link refers to the physical entity → digital twin control console → business application. Specifically, for basic perception data acquisition: environmental / body / safety sensors of the bridge erecting machine's main beam / outriggers / spreading devices / crane collect raw data, which can be uploaded to the edge acquisition industrial control computer via the TSN network to complete hardware-level time synchronization and generate a unified timestamp. For quality inspection data acquisition: point cloud / image / ultrasonic echo data collected by the quality inspection robot cluster can be uploaded to the quality inspection edge computing unit for preprocessing, feature extraction, and time-stamping. The data is uploaded to the digital twin control console. For production data acquisition: energy consumption, shift, and workload data collected by the production data acquisition terminal are uploaded to the digital twin control console through the production data gateway. The digital twin control console completes the unified calibration, coordinate system transformation, and spatiotemporal alignment of all data. The multi-source data fusion module completes feature fusion and maps it to the corresponding digital twin, realizing real-time digital mapping of the physical world. In addition, the digital twin control console distributes the fused data to the corresponding business application subsystems according to subscription rules through the data interaction middleware, realizing hierarchical data distribution.

[0361] The downlink data link refers to the process from business application to the digital twin control console and then to the physical entity. Specifically, for subsystem instruction generation: each business subsystem generates instructions for path planning, motion control, quality correction, production optimization, and early warning / shutdown based on received data. For the four-dimensional verification of the digital twin simulation: all instructions are first sent to the digital twin simulation verification module in the digital twin control console for pre-simulation within the digital twin, simultaneously verifying control feasibility, safety risks, quality boundaries, and energy efficiency. For instruction optimization and confirmation: if the simulation verification passes, the instruction is sent to the edge control layer; if it fails, it is fed back to the corresponding subsystem for adjustment and re-verification. For instruction execution: the PLC control cabinet / corresponding terminal receives the instruction, decomposes it into control signals for the actuator, detection robot, and data acquisition terminal, and sends them to the physical layer to complete the action execution. Based on this, the action results of the actuator and the real-time data collected by sensors / robots / data acquisition terminals are fed back to the digital twin via the uplink to complete closed-loop verification and simultaneously correct the digital twin model and operation instructions.

[0362] Therefore, this embodiment reconstructs the traditional manual, step-by-step management workflow, achieving fully automated, event-driven linkage across the entire process from precast beam arrival to hoisting, alignment, grouting, and bridge acceptance, eliminating the need for manual intervention and improving the efficiency of process connections. Simultaneously, it merges the traditionally dispersed safety interlocking, quality interlocking, and production control logic, with all linkage rules uniformly configured and executed in the digital twin control console, avoiding conflicts in interlocking logic across different systems and simplifying system maintenance processes.

[0363] Furthermore, in one embodiment, the digital twin control console is also used for: The priority of each data stream is determined based on the data transmission cycle, data frame length, and business weight coefficient of the data streams output by each subsystem. All data streams are controlled through a multi-level transmission mechanism using a time-sensitive network and in descending order of priority. The data flow includes the control flow output by the control subsystem, the safety flow output by the safety subsystem, the quality flow output by the quality subsystem, and the production flow output by the production subsystem. The data flows with the business weight coefficient from high to low are the control flow, safety flow, quality flow, and production flow, respectively.

[0364] As an example, in this embodiment, a hierarchical interactive routing mechanism for the TSN network will be constructed, and data priority rules for the entire scenario will be formulated: a) Positioning component pose data and control body / lifted object pose data will be of the highest priority, with deterministic low-latency transmission (end-to-end latency ≤100μs); b) Grouting / joint defect detection data and safety monitoring stress / vibration data will be of the second highest priority, with high-reliability transmission; c) Shift / energy consumption / efficiency production data will be of medium priority, with high-continuity transmission; d) Environmental point cloud / panoramic video data will be of normal priority, with high-bandwidth transmission, completely solving the problems of latency jitter and packet loss in the transmission of multiple types of data.

[0365] Based on this, the data streams generated during the operation of the bridge erecting machine are divided into three priority levels. Through the collaborative design of hardware network architecture and dynamic scheduling strategies, the real-time performance and reliability of critical commands are ensured. The first level, with the highest priority (end-to-end delay ≤100μs), primarily carries safety interlocking and motion control data. This data includes lidar obstacle detection signals, spreader posture feedback information, and anti-sway control commands, directly determining the safety of the bridge erecting machine and the accuracy of the robotic arm's movements. The preemptive scheduling mechanism of the TSN network, combined with IEEE 802.1Qbv gating list technology, allocates fixed transmission time slots to critical data streams, preventing low-priority data from preempting bandwidth. For example, during the bridge erecting machine's passage through a span, when the lidar detects an obstacle ahead, the safety command data packet immediately preempts the current time slot, triggering emergency braking with a delay of ≤100μs to ensure the safety of equipment and personnel.

[0366] The second level, or second-highest priority (end-to-end latency ≤ 1ms), covers quality inspection and production management data. This type of data includes ultrasonic testing results of grouting sleeves, energy consumption acquisition signals, and shift progress statistics. It requires ensuring both real-time performance and data integrity. Bandwidth resources can be dynamically allocated using the TSN Credit Shaping (CBS) algorithm to support the mixed transmission of periodic data streams and aperiodic burst data. For example, when a grouting quality inspection robot detects a defect, the quality event data will be marked as second-highest priority, forcibly interrupting the transmission of current low-priority data, ensuring that the production management system adjusts the construction plan in a timely manner.

[0367] The third level is the regular priority (end-to-end latency ≤10ms), which mainly processes environmental perception and video surveillance data. This type of data includes panoramic camera video streams, point cloud scanning information, etc. Although the real-time requirements are lower, transmission stability still needs to be guaranteed. Bandwidth can be allocated on demand through the TSN Enhanced Transmission Selection (ETS) mechanism, and low jitter data can be uploaded to the digital twin platform in combination with 5G LAN technology.

[0368] To achieve the aforementioned hierarchical scheduling, this embodiment will construct a three-layer TSN network architecture at the hardware level: the edge layer deploys switches with TSN functionality to enable heterogeneous devices such as PLC controllers, sensors, and inspection robots to access the network; the core layer adopts a redundant backbone network design, ensuring communication reliability under extreme working conditions through multi-link aggregation and fast fault switching technology; the cloud layer leverages 5G LAN technology to connect the TSN network with the digital twin control console, forming a "perception-control-decision" closed loop. Regarding dynamic scheduling strategies, the system adjusts priority weights in real time according to construction procedures—in safety-first scenarios, safety commands can preempt all low-priority bandwidth; in quality-interlocking scenarios, detecting abnormal events triggers temporary priority upgrades; and during efficiency optimization periods, resources are released to support production data transmission by reducing safety flow bandwidth usage.

[0369] Based on this, this embodiment will design a decoupled scheduling model for the data interaction middleware in the digital twin control console using a publish-subscribe pattern, thereby achieving priority control of multiple data streams:

[0370] In the formula, Let k be the scheduling priority of the k-th type of data flow, where k=1,2,3,4, k=1 represents the control flow output by the control subsystem, k=2 represents the safety flow output by the safety subsystem, k=3 represents the quality flow output by the quality subsystem, and k=4 represents the production flow output by the production subsystem. This refers to the business weight coefficient. Different types of data flows have different business weight coefficients, and the specific value can be determined according to the actual construction operation requirements. As long as the data flows with business weight coefficients from high to low are respectively control flow, safety flow, quality flow, and production flow, it is acceptable. For example, the control flow... , safe flow quality flow Production flow ); Let k be the data transmission cycle of the k-th type of data stream. Let be the length of the data frame for the k-th type of data stream. Therefore, the priority of each control stream can be calculated using the above formula, and the TSN network can then perform multi-level transmission control on all data streams in descending order of priority.

[0371] In this embodiment, various deterministic delay upper bound models for data stream transmission can also be established based on the TSN time-aware shaping mechanism. To ensure the real-time nature of control commands:

[0372] In the formula, For the gated list period, For link bandwidth, Let be the forwarding delay of the i-th switch. This model controls the upper bound of the end-to-end delay of control data to within 100μs.

[0373] Furthermore, this embodiment can comprehensively incorporate the perception data of component pose capture robots, linear inspection robots, grouting sleeve inspection robots, and joint defect inspection robots into a multi-source heterogeneous sensor twin joint calibration system, establishing a real-time mapping model between the measurement coordinate system of the inspection robots and the global coordinate system of the bridge erecting machine twin, achieving unified spatiotemporal reference alignment of all perception data. Specifically, a TSN network full-node time synchronization model can be established based on the IEEE 1588 PTP protocol, with the master-slave node time offset calculated as follows:

[0374] In the formula, The timestamp of the master node sending the Sync message. For the timestamp of the Sync message received from the node, The timestamp for the Delay_Req message sent by the slave node. The timestamp of the Delay_Req message received by the master node is used; this model is used to achieve high time synchronization accuracy across all nodes in the system. s This provides a foundation for spatiotemporal alignment of multi-source data.

[0375] For the four types of heterogeneous data streams—control, security, production, and quality—this embodiment will also define a standardized data frame general model to address the incompatibility issues of multi-subsystem protocols:

[0376] In the formula, These correspond to control, safety, production, and quality data flows, respectively. A unique identifier for the data stream. To standardize timestamps, Encoding the type of the data stream, For data stream payload, It is a cyclic redundancy check code.

[0377] In summary, this embodiment reconstructs the traditional sequential construction process, establishing a parallel full-process of "twin simulation - pre-quality verification - synchronous construction - synchronous detection - synchronous statistics - dynamic optimization"; it is worth noting that the total time model of the traditional sequential construction process... for:

[0378] In the formula, This represents the total number of construction procedures. Let i be the operation time of the i-th process. For the duration of post-construction quality acceptance, This refers to the duration of post-production statistics.

[0379] The parallel process total duration model in this embodiment for:

[0380] In the formula, The total time required for digital twin simulation before performing the actual process. This refers to the duration of the pre-qualification quality check. To synchronize the quality inspection time, To synchronize production and statistical duration. This has been verified through engineering. This shortens the entire process link.

[0381] Furthermore, regarding the resource waste problem of redundant data processing across multiple systems, the total computational resource consumption of traditional independent preprocessing across multiple systems is:

[0382] In the formula, Let K be the number of independent preprocessing steps for the k-th subsystem. This refers to the computational resource consumption for a single preprocessing operation.

[0383] The total computational resource consumption for unified preprocessing in this embodiment is:

[0384] In the formula, To standardize the number of preprocessing steps, To distribute resource consumption on demand, and Ultimately achieved This significantly reduces resource consumption and eliminates data inconsistency issues.

[0385] Furthermore, in one embodiment, during the safety risk detection process for bridge erection operations, the safety subsystem is specifically used for: Key points are extracted from the target image corresponding to the bridge construction operation using the YOLO-Pose model to obtain the target key points; All target key points are stacked to obtain 3D heat map data; The 3D heatmap data is subjected to multi-level nonlinear transformation by a multi-scale feature fusion module to obtain feature maps of different scales. The feature maps of different scales are densely connected to obtain a fused feature map. Global average pooling is performed on the fused feature map, and channel weights are assigned to the pooled feature map to output the target feature map. The action recognition module performs global average pooling and fully connected processing on the target feature map to obtain the classification result corresponding to the target image, and outputs the security risk result based on the classification result.

[0386] As an example, it is understandable that the operational safety risks in different construction areas are often different, and the corresponding personnel access permissions are also different. If someone without access to a certain construction area appears, it may affect the operational safety of that construction area. Therefore, it is necessary to monitor objects in the area where the bridge construction is being carried out.

[0387] In this embodiment, a structure will be constructed as follows: Figure 70 The behavior recognition network based on 3D CNN shown first performs skeletal stack extraction (i.e., key point extraction). This is done by using the YOLO-Pose model to extract key points from the target image (i.e., video frame) corresponding to the bridge-building operation, in order to obtain the target key points. ,in This represents the highest score of the heatmap. The coordinates represent the corresponding scores. YOLO-Pose, as a single-stage recognition model, is not only powerful but also possesses excellent generalization performance. Its specific working methods and principles are common knowledge in the field and will not be elaborated upon here for the sake of brevity. To further improve the quality of keypoint information, this embodiment can preferably perform fine annotation on a portion of the videos in the dataset and feed this annotated data into the YOLO-Pose model for targeted training, so that the model can learn more accurate keypoint features, thereby outputting higher-quality keypoint information.

[0388] After successfully acquiring the target key points, this embodiment will employ a highly efficient data preprocessing method called key point stacking, which involves stacking the target key points... The process is then transformed into a 3D heatmap volume: First, a 2D pose is represented as a heatmap of size K × H × W, where K represents the number of joints, and H and W represent the height and width of the frame, respectively. Then, a joint heatmap (i.e., 3D heatmap data, or initial feature tensor) is obtained by superimposing K Gaussian maps at each joint. This process allows for better utilization of key point information, laying the foundation for subsequent action recognition tasks.

[0389] To further improve recognition accuracy in complex scenarios, see Figure 70 As shown, this embodiment uses a multi-scale feature fusion module to fuse features at different scales, thereby enhancing the model's recognition ability. At the same time, in order to extract important information from the features, this embodiment also introduces an attention mechanism to weight the feature channels. In addition, this embodiment uses a residual module to effectively prevent overfitting.

[0390] Specifically, the multi-scale feature fusion module performs initial convolution operations on the 3D heatmap data through convolutional layers (Conv) to complete the initial feature extraction and dimension mapping, providing standardized input features for subsequent SENet Bottleneck iterations. The backbone network of the multi-scale feature fusion module uses the SENet-Bottleneck series as its basic unit, performing layer-by-layer nonlinear transformations on the output of the convolutional layers, that is, performing nonlinear transformations at each layer. ,in Index representing the layer, This represents a composite function that undergoes multiple operations to sequentially generate shallow features. Mid-layer characteristics with deep features All three conditions are met. , , The progressive generation relationship is as follows; it can be seen that multi-scale fusion provides basic features at different resolutions, providing standardized input data for subsequent feature extraction. It is a preliminary data receiving step for multi-scale feature fusion, ensuring that the input data format is compatible with the backbone network; based on this, the output of the last layer is defined as... Then, the outputs of the second and third layers are densely connected, and feature information at different scales is fused by concatenation to obtain... This enables the fusion of mesoscale detail features and high-scale deep semantic features.

[0391] SENet Bottleneck×4 consists of four stacked SENet Bottleneck residual blocks. Channel attention is added to the residual connections to perform nonlinear transformations on the features, achieving preliminary deep feature extraction. At the same time, redundant channels are suppressed and effective feature channels are highlighted, outputting the first-level intermediate features. SENet Bottleneck×6 consists of six stacked SENet Bottleneck residual blocks. It takes over the output features of the previous level to further improve the feature representation capability, outputting the second-level intermediate features and sending them to hidden layer 1. SENet Bottleneck×3 consists of three stacked SENet Bottleneck residual blocks. It performs further deep extraction and dimensional transformation on the second-level intermediate features, outputting high-dimensional features and sending them to hidden layer 2. Hidden layer 1 receives the output of SENet Bottleneck×6 and performs feature concatenation, with an output dimension of 256×32×7×7 (number of channels × temporal dimension × spatial height × spatial width), representing low / medium scale skeletal point detail features; Hidden layer 2 receives the output of SENet Bottleneck×3 and performs feature concatenation, with an output dimension of 512×32×7×7, representing high-scale skeletal point deep semantic features.

[0392] In this embodiment, Concat (feature splicing layer) splices the output features of Hidden layer 1 and Hidden layer 2 along the channel dimension to achieve multi-scale feature fusion, integrating low-scale details with high-scale semantic information into one, providing richer feature expression for subsequent feature enhancement.

[0393] Furthermore, SENet (Squeeze-and-Excitation Networks, channel attention module) applies a channel attention mechanism to the concatenated fused feature map. By learning channel weights, it further highlights key behavior-related feature channels, suppresses redundant noise channels, and improves feature discriminability and robustness. Understandably, after two layers of multi-scale fusion, this embodiment will determine the weights of different channels, sequentially strengthening or weakening the corresponding channels. Assuming... It needs to be mapped onto a weighted feature map. , Represents the input batch. Represents the number of channels. Represents time sequence, This represents the high value of the input data. This represents the width of the input data; the output is then subjected to global average pooling to compress the features into one-dimensional features, which is used here. This represents the output after global average pooling. The expression is as follows:

[0394] in, This represents the global average pooling operation function, used to pool high-dimensional data. It is compressed into one-dimensional features, achieving dimensionality reduction of features and extraction of global information.

[0395] After that If each channel is assigned a weight, then the following expression exists:

[0396] in, Indicates The calculated channel weight values ​​are weighting coefficients assigned to each feature channel to highlight key channels and suppress redundant channels. Indicates will The function assigns weights to the channels, that is, it calculates a weight value for each feature channel through a fully connected layer and an activation function. The first weight matrix represents the channel weight assignment and is used to achieve dimensionality reduction transformation of the feature channels; This is the channel scaling factor, used to control... The size of the dimension reduces the number of parameters required for weight calculation; The second weight matrix, representing the channel weight assignment, is used to achieve dimensionality upscaling of the feature channels, and is related to... Work together to complete the weight calculation; This represents the ReLU activation function, used to introduce a non-linear transformation in weight calculation to alleviate the gradient vanishing problem; This refers to the sigmoid function, used to map weight values ​​to... The interval allows for control of the weighting ratio of feature channels.

[0397] Then, the weights of each channel are mapped to the corresponding feature channels, which can be used... If so, the expression is as follows:

[0398] In the formula, This represents the feature weight scaling function, which scales the channel weight values. Mapping to fused feature map For each channel, channel-level weighting of features is performed to highlight key behavioral feature channels, suppress redundant noise, and achieve refined feature enhancement.

[0399] The BasicBlock performs residual transformation and channel dimension regularization on the features processed by SENet. It alleviates the gradient vanishing problem through the basic residual structure, stabilizes the training process, improves the model's generalization ability, strengthens feature representation, and finally outputs high-quality fused features (i.e. target feature map), which are then fed into the action recognition module on the right.

[0400] Finally, the action recognition module performs global average pooling on the target feature map to extract global information and reduce computation. This operation not only captures the global contextual information of the features but also significantly reduces the dimensionality of the feature map, thus reducing the computational cost of the model. The pooled features are then classified through a fully connected layer, which maps the extracted global features to the probability distribution of action categories. Finally, the predicted probability of each action category is output through the Softmax function, yielding the classification result corresponding to the target image. Based on the classification result, a safety risk result is output. In this way, the model can learn discriminative features from the input data and accurately identify the corresponding action category. Dropout regularization can be used to prevent overfitting.

[0401] in, for The result of regularization; for The corresponding probabilities are then processed through a fully connected layer to determine the corresponding category.

[0402] See Figure 9 , Figure 13 , Figure 16 As shown, the eighth aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge-on-the-bridge operation mode, which can meet the operation requirements of different working conditions.

[0403] See Figure 9 As shown, when the bridge erecting machine is switched to gantry crane operation mode: the control subsystem controls the front outrigger 4 and the rear outrigger 6 to support the single main beam 1 on the ground, which is suitable for erecting precast piers 16, precast cap beams 17 and precast main beams 18 transported on the ground.

[0404] See Figure 13As shown, when the bridge erecting machine is converted to the integrated machine operation mode: the control subsystem controls the front outrigger 4 to support on the ground, and the middle outrigger 5 and the rear telescopic outrigger 7 to support on the already erected main beam 15. This is suitable for erecting precast piers 16, precast cap beams 17, and precast main beams 18 for bridge deck transportation.

[0405] See Figure 16 As shown, when the bridge erecting machine is switched to bridge operation mode: the control subsystem controls the auxiliary outrigger 2 and the front telescopic outrigger 3 to support the pier top in front of the hole to be erected, and the middle outrigger 5 and the rear telescopic outrigger 7 to support the already erected main beam 15. This is suitable for erecting precast main beams 18 transported on the bridge deck when the bridge is at a high height.

[0406] In some alternative embodiments: see Figures 9 to 13 As shown in the figure, this application embodiment provides a construction method for a multi-functional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from a gantry crane operation mode to an integrated machine operation mode, and the steps are as follows: S11, such as Figure 9 As shown, the control subsystem controls the front outrigger 4 and the rear outrigger 6 to support the single main beam 1 on the ground.

[0407] S12, as Figure 10 As shown, the control subsystem controls the middle support leg 5 to move forward and adjust its height so that the middle support leg 5 supports the top of the rear end of the erected main beam 15, adjusting the single main beam 1 to be supported by the middle support leg 5 and the front support leg 4, and removing the rear support leg 6. The bottom of the erected main beam 15 consists of the constructed pier cap 12, the erected pier column 13, and the erected cap beam 14 from bottom to top.

[0408] S13, as Figure 11 As shown, the control subsystem drives the front outrigger 4, causing the main beam 1 and the rear telescopic outrigger 7 to move forward together until the rear telescopic outrigger 7 reaches the vicinity of the middle outrigger 5. The height of the column of the rear telescopic outrigger 7 is adjusted so that it is supported on the erected main beam 15.

[0409] S14, as Figure 12 As shown, the control subsystem adjusts the main beam 1, which is supported by the rear telescopic outrigger 7 and the front outrigger 4, and moves the middle outrigger 5 forward to the top of the front end of the main beam 15.

[0410] S15, such as Figure 13 As shown, the control subsystem controls and adjusts the single main beam 1, which is supported by the middle support leg 5 and the front support leg 4, to detach the rear telescopic support leg 7. The front support leg 4 drives the single main beam 1 forward to the pier position, completing the bridge erecting machine's bridge mounting operation. The bridge erecting machine then switches to integrated machine operation mode.

[0411] In some alternative embodiments: see Figures 14 to 16As shown in the figure, this application embodiment provides a construction method for a multi-functional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, and the steps are as follows: S16, as Figure 14 As shown, the control subsystem controls the front outrigger 4 to support on the ground, the middle outrigger 5 and the rear telescopic outrigger 7 to support on the erected main beam 15, and the front outrigger 4 drives the front end of the single main beam 1 to move to the outside of the erected pier column 13.

[0412] S17, as shown Figure 15 As shown, the control subsystem controls the auxiliary leg 2 and the front telescopic leg 3 to move forward along the length of the single main beam 1, so that the auxiliary leg 2 and the front telescopic leg 3 are positioned above the erected pier column 13, and adjusts the support height of the auxiliary leg 2 and the front telescopic leg 3.

[0413] S18, such as Figure 15 As shown, the control subsystem controls and adjusts the support status of the bridge erecting machine. The auxiliary outrigger 2 and the front telescopic outrigger 3 are supported on the already erected cap beam 14 on the top of the already erected pier column 13 in front of the bridge erection line, while the middle outrigger 5 and the rear telescopic outrigger 7 are supported on the already erected main beam 15.

[0414] S19, such as Figure 16 As shown, the control subsystem controls the disconnection of the front outrigger 4 from the single main beam 1, lowers the height of the front outrigger 4, and drives the front outrigger 4 away, thus completing the conversion of the bridge erecting machine from integrated machine operation mode to bridge operation mode.

[0415] In some alternative embodiments: see Figures 17 to 25 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes converting the bridge erecting machine from a bridge-side operation mode to a gantry crane operation mode, and the steps are as follows: S20, such as Figure 17 As shown, the control subsystem controls the main beam 1, which is supported by the front telescopic leg 3 and the middle leg 5, and detaches the rear telescopic leg 7.

[0416] S21, as Figure 18 As shown, the control subsystem controls the middle support leg 5 to drive the single main beam 1, carrying the auxiliary support leg 2 and the rear telescopic support leg 7, to move forward until the rear telescopic support leg 7 reaches the vicinity of the middle support leg 5.

[0417] S22, as Figure 19 As shown, the control subsystem controls and adjusts the main beam 1, which is supported by the front telescopic leg 3 and the rear telescopic leg 7, and drives the middle leg 5 to move forward to support the front end of the erected main beam 15.

[0418] S23, as Figure 20 As shown, the control subsystem controls the main beam 1, which is supported by the middle support leg 5 and the rear telescopic support leg 7, and moves the front telescopic support leg 3 to the vicinity of the auxiliary support leg 2.

[0419] S24, as shown Figure 21 As shown, the control subsystem drives the front outrigger 4 to below the single main beam 1, adjusts the position and height of the front outrigger 4, and connects it to the single main beam 1.

[0420] S25, such as Figure 22 As shown, the control subsystem controls and adjusts the support status of the bridge erecting machine, so that the single main beam 1 is supported by the front support leg 4 and the rear telescopic support leg 7, and the middle support leg 5 moves towards the middle of the already erected main beam 15 and supports the single main beam 1.

[0421] S26, as Figure 23 As shown, the control subsystem controls the rear telescopic outrigger 7 to disengage, and the front outrigger 4, carrying the auxiliary outrigger 2, the front telescopic outrigger 3 and the rear telescopic outrigger 7, moves forward together until the rear telescopic outrigger 7 reaches the vicinity of the middle outrigger 5. S27, as Figure 24 As shown, the control subsystem adjusts the support status of the bridge erecting machine so that the single main beam 1 is supported by the front outrigger 4 and the rear telescopic outrigger 7, and drives the middle outrigger 5 to move forward to the outside of the erected main beam 15. The control subsystem drives the rear outrigger 6 to below the single main beam 1, adjusts the position and height of the rear outrigger 6 so that it supports and connects to the single main beam 1.

[0422] S28, as Figure 25 As shown, the control subsystem controls the telescopic outrigger 7 after it is detached, so that the bridge erecting machine is supported by the front outrigger 4 and the rear outrigger 6, thus completing the conversion of the bridge erecting machine from the bridge operation mode to the gantry crane operation mode.

[0423] See Figures 26 to 29 As shown, the ninth aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers 16 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode. The steps are as follows: S11, such as Figure 26 As shown, the control subsystem adjusts the support state of the bridge erecting machine so that the single main beam 1 is supported on the ground by the front support leg 4 and the rear support leg 6. The position of the bridge erecting machine is adjusted by the first traveling mechanism 405 and the second traveling mechanism, and the first traveling mechanism 405 and the second traveling mechanism are locked.

[0424] S12, as Figure 26 As shown, the control subsystem adjusts the support height of the front outrigger 4 and the rear outrigger 6, and the front crane 8 and the rear crane 9 are connected to the upper lifting spreader beam 11 through wire ropes and pulley blocks.

[0425] S13, as Figure 26As shown, the precast pier 16 is transported to the vicinity of the installation hole using the beam transport vehicle 19. One end of the precast pier 16 is supported on the pier turning frame 20, and the other end is equipped with a pier lifting lug. The beam transport vehicle 19 adjusts the position of the precast pier 16 so that the precast pier 16 is located directly below the bridge erecting machine.

[0426] S14, as Figure 27 , Figure 28 As shown, the quality subsystem detects the transportation deformation of the precast pier 16 using real-time point cloud data corresponding to the precast pier 16. If the precast pier 16 does not have transportation deformation, the trigger control subsystem controls the front crane 8 and the rear crane 9 to lower the upper lifting spreader beam 11 and connect it with the pier lifting lug. The front crane 8 and the rear crane 9 slowly lift the precast pier 16, moving it backward while lifting it. Under the action of the pier turning frame 20, the pier is slowly lifted.

[0427] S15, such as Figure 29 As shown, after the precast pier column 16 is completely lifted vertically, the control subsystem controls the removal of the beam transport vehicle 19, so that the front crane 8 and the rear crane 9 can lift the precast pier column 16 to the position above the installation hole for alignment and installation.

[0428] In some alternative embodiments: see Figures 30 to 34 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method further includes the bridge erecting machine installing precast cap beams 17 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode, and the steps are as follows: S16, as Figure 30 As shown, the control subsystem controls the front outrigger 4 and rear outrigger 6 of the bridge erecting machine to support themselves on the ground, and uses the first traveling mechanism 405 and the second traveling mechanism to adjust the position of the bridge erecting machine and lock the first traveling mechanism 405 and the second traveling mechanism.

[0429] S17, as shown Figure 30 As shown, the control subsystem adjusts the support height of the front outrigger 4 and the rear outrigger 6, and installs the slewing device 10 and the lower lifting beam on the upper lifting spreader beam 11.

[0430] S18, such as Figure 30 As shown, the precast cap beam 17 is transported to the vicinity of the installation hole using the beam transport vehicle 19.

[0431] S19, such as Figure 31 As shown, the driving beam transport vehicle 19 rotates the precast cap beam 17 from the longitudinal direction of the bridge to the transverse direction in the plane and places it directly below the bridge erecting machine.

[0432] S20, such as Figure 32As shown, the quality subsystem detects the transportation deformation of the precast cap beam 17 by using real-time point cloud data corresponding to the precast cap beam 17. If the precast cap beam 17 does not have transportation deformation, the trigger control subsystem controls the front crane 8 and the rear crane 9 to lower the slewing hoist 10 and the upper lifting spreader beam 11, connect them to the precast cap beam 17, and slowly lift the precast cap beam 17 so that the bottom of the precast cap beam 17 is higher than the anchoring steel bars 22 reserved in the erected pier column 13.

[0433] S21, as Figure 33 As shown, the control subsystem coordinates the movement of the front crane 8 and the rear crane 9 to lift the precast cap beam 17 above the erected pier column 13.

[0434] S22, as Figure 34 As shown, the control subsystem drives the slewing hoist 10, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam 17 and align it with the top of the erected pier column 13 for installation.

[0435] In some alternative embodiments: see Figures 35 to 39 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method further includes the bridge erecting machine installing a precast main beam 18 transported from the ground on the ground. The bridge erecting machine is in gantry crane operation mode. The steps are as follows: S23, as Figure 35 As shown, the control subsystem controls the front outrigger 4 and rear outrigger 6 of the bridge erecting machine to support themselves on the ground, and uses the first traveling mechanism 405 and the second traveling mechanism to adjust the position of the bridge erecting machine and lock the first traveling mechanism 405 and the second traveling mechanism.

[0436] S24, as shown Figure 35 As shown, the control subsystem adjusts the support height of the front outrigger 4 and the rear outrigger 6.

[0437] S25, such as Figure 35 As shown, the precast main beam 18 is transported to the vicinity of the span to be erected using the beam transport vehicle 19 and placed along the direction of the bridge line, so that the rear end of the precast main beam 18 is behind the next erected cap beam 14 and the front end of the precast main beam 18 is outside the previous erected cap beam 14.

[0438] S26, as Figure 35 As shown, the quality subsystem detects the transportation deformation of the precast main beam 18 by using real-time point cloud data corresponding to the precast main beam 18. If the precast main beam 18 does not have transportation deformation, the trigger control subsystem coordinates the front crane 8 and the rear crane 9 to lift the precast main beam 18 together.

[0439] S27, as Figure 36As shown, when the rear end of the precast main beam 18 approaches the bottom of the top cap beam 14 of the previously erected pier 13, the control subsystem controls the rear crane 9 to stop lifting, while the front crane 8 continues to lift, so that the front end of the precast main beam 18 is higher than the top cap beam 14 of the previously erected pier 13, causing the precast main beam 18 to be in an inclined state.

[0440] S28, as Figure 37 As shown, the control subsystem controls the front crane 8 and the rear crane 9 to move forward, so that the rear end of the precast main beam 18 is located outside the front side of the top cap beam 14 of the rear pier column 13.

[0441] S29, as Figure 38 As shown, the control subsystem controls the front crane 8 to maintain its height and position, while the rear crane 9 lifts the precast main beam 18, adjusting it from an inclined state to a horizontal state.

[0442] S30, such as Figure 39 As shown, the control subsystem coordinates with the front crane 8 and the rear crane 9 to move backward, hoisting the precast main beam 18 to the designed position for lowering and alignment installation.

[0443] See Figures 40 to 44 As shown, the tenth aspect of this application provides a construction method for a multi-functional intelligent bridge erecting machine. The method uses the multi-functional intelligent bridge erecting machine described in any of the above embodiments. The method includes the bridge erecting machine installing precast piers 16 transported from the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S11, such as Figure 40 As shown, the control subsystem controls the front outrigger 4 of the bridge erecting machine to support itself on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 support themselves on the already erected main beam 15, adjusting the bridge erecting machine to a suitable height.

[0444] S12, as Figure 40 As shown, two beam transport vehicles 19 are used to transport the precast pier column 16 from the erected main beam 15 to the tail of the bridge erecting machine, so that the front end of the precast pier column 16 is located below the front crane 8.

[0445] S13, as Figure 41 As shown, the quality subsystem detects the transportation deformation of the precast pier 16 by using real-time point cloud data corresponding to the precast pier 16. If the precast pier 16 does not have transportation deformation, the trigger control subsystem controls the front crane 8 to lift the precast pier 16, so that the front end of the precast pier 16 is suspended on the front crane 8 and the rear end is supported on the rear beam transport vehicle 19, and the front beam transport vehicle 19 is removed.

[0446] S14, as Figure 41As shown, the control subsystem coordinates the front crane 8 and the rear beam transport vehicle 19 to move forward so that the rear end of the precast pier 16 is positioned at the lifting position of the rear crane 9. S15, such as Figure 42 As shown, the control subsystem controls the rear crane 9 to lift the precast pier 16, so that the precast pier 16 is suspended on the front crane 8 and the rear crane 9, and controls the front crane 8 and the rear crane 9 to move forward to the vicinity of the hole to be installed.

[0447] S16, as Figure 42 As shown, the control subsystem controls the front crane 8 and the rear crane 9 to lower the precast pier 16, so that one end of the precast pier 16 is supported on the pier turning frame 20 on the ground, and the other end is supported on the pad block 21 on the ground.

[0448] S17, as shown Figure 43 As shown, the control subsystem adjusts the positions of the front crane 8 and the rear crane 9 and installs the upper lifting spreader beam 11. The lifting rope of the upper lifting spreader beam 11 is installed on the top of the precast pier column 16 in preparation for lifting.

[0449] S18, such as Figure 44 As shown, the control subsystem coordinates the front crane 8 and the rear crane 9 to lift and move backward together, so that the precast pier 16 is slowly lifted and adjusted from a horizontal state to a vertical state.

[0450] S19, such as Figure 44 As shown, the control subsystem coordinates the front crane 8 and the rear crane 9 to vertically lift the precast pier 16 to the position above the installation hole for alignment and installation.

[0451] In some alternative embodiments: see Figures 45 to 48 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes the bridge erecting machine installing precast cap beams 17 transported from the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S20, such as Figure 45 As shown, the control subsystem controls the front outrigger 4 of the bridge erecting machine to support itself on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 support themselves on the already erected main beam 15, adjusting the bridge erecting machine to a suitable height.

[0452] S21, as Figure 45 As shown, the control subsystem adjusts the positions of the front crane 8 and the rear crane 9, and installs the slewing device 10 and the lower lifting beam on the upper lifting spreader beam 11.

[0453] S22, as Figure 45As shown, the precast cap beam 17 is transported from the erected main beam 15 to the tail of the bridge erecting machine using the beam transport vehicle 19, so that the precast cap beam 17 is located below the slewing hoist 10 and the lower lifting spreader beam.

[0454] S23, as Figure 46 As shown, after the lower lifting spreader beam is connected to the precast cap beam 17, the quality subsystem detects the transportation deformation of the precast cap beam 17 through the real-time point cloud data corresponding to the precast cap beam 17. If the precast cap beam 17 does not have transportation deformation, the trigger control subsystem controls the front crane 8 and the rear crane 9 to lift the precast cap beam 17 and move the beam transport vehicle 19 away.

[0455] S24, as shown Figure 46 , Figure 47 As shown, the control subsystem coordinates the front crane 8 and the rear crane 9 to lift the precast cap beam 17 to the outside of the erected main beam 15, and adjusts the precast cap beam 17 from the longitudinal direction to the transverse direction through the slewing hoist 10.

[0456] S25, such as Figure 48 As shown, the control subsystem continues to control the front crane 8 and the rear crane 9 to lift the precast cap beam 17 forward to above the pre-reserved anchoring steel bars 22 of the erected pier column 13.

[0457] S26, as Figure 48 As shown, the control subsystem drives the slewing hoist 10, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam 17 and align it with the top of the erected pier column 13 for installation.

[0458] In some alternative embodiments: see Figures 49 to 52 As shown in the figure, this application embodiment provides a construction method for a multifunctional intelligent bridge erecting machine. The method includes the bridge erecting machine installing the precast main beam 18 transported on the bridge deck on the ground. The bridge erecting machine is in an integrated machine operation mode. The steps are as follows: S27, as Figure 49 As shown, the control subsystem controls the front outrigger 4 of the bridge erecting machine to support itself on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 support themselves on the already erected main beam 15, adjusting the bridge erecting machine to a suitable height.

[0459] S28, as Figure 49 As shown, two beam transport vehicles 19 are used to transport the precast main beam 18 from the erected main beam 15 to the tail of the bridge erecting machine, so that the end of the precast main beam 18 is located below the front crane 8.

[0460] S29, as Figure 50As shown, the quality subsystem detects the transportation deformation of the precast main beam 18 by using real-time point cloud data corresponding to the precast main beam 18. If the precast main beam 18 does not have transportation deformation, the control subsystem is triggered to control the front crane 8 to lift the precast main beam 18, so that the front end of the precast main beam 18 is suspended on the front crane 8 and the rear end is supported on the rear beam transport vehicle 19, and the front beam transport vehicle 19 is removed.

[0461] S30, such as Figure 50 As shown, the control subsystem coordinates the movement of the front crane 8 and the rear beam transport vehicle 19 forward, positioning the rear end of the precast main beam 18 at the lifting position of the rear crane 9.

[0462] S31, such as Figure 51 As shown, the control subsystem controls the rear crane 9 to lift the precast main beam 18, so that the precast main beam 18 is suspended on the front crane 8 and the rear crane 9, and controls the front crane 8 and the rear crane 9 to move forward to the vicinity of the hole to be installed.

[0463] S32, such as Figure 52 As shown, after the control subsystem controls the front crane 8 and the rear crane 9 to adjust the precast main beam 18 to the design position, the front crane 8 and the rear crane 9 lower the precast main beam 18 for alignment and installation.

[0464] See Figures 53 to 58 As shown, the eleventh aspect of this application provides a construction method for a multifunctional intelligent bridge erecting machine. The method uses the multifunctional intelligent bridge erecting machine described in any of the above embodiments. The method includes installing the bridge erecting machine on the precast main beam 18 of the curved bridge transported on the bridge deck, and the bridge erecting machine operating in an integrated machine mode. The steps are as follows: S11, such as Figure 53 As shown, the control subsystem controls the front outrigger 4 of the bridge erecting machine to support itself on the ground, while the middle outrigger 5 and the rear telescopic outrigger 7 support themselves on the already erected main beam 15, adjusting the bridge erecting machine's position to the inside of the curved bridge.

[0465] S12, as Figure 54 As shown, two beam transport vehicles 19 are used to transport the outermost precast main beam 18 of the curved bridge to the tail of the bridge erecting machine on the already ...

Claims

1. A multifunctional intelligent bridge erecting machine, characterized in that, include: A single main beam (1) is slidably connected to a front crane (8) and a rear crane (9). The front support leg (4) is slidably connected to the single main beam (1) at its top and is provided with a first traveling mechanism (405) at its bottom, and can vertically adjust the support height of the single main beam (1); The middle support leg (5) is slidably connected to the single main beam (1) at its top, and the support height of the single main beam (1) can be adjusted vertically. The rear support leg (6) is slidably connected to the single main beam (1) at its top and has a second traveling mechanism at its bottom, which can vertically adjust the support height of the single main beam (1).

2. The multifunctional intelligent bridge erecting machine as described in claim 1, characterized in that: The single main beam (1) includes multiple detachable single main beam segments (101), which are sequentially connected to form the single main beam (1). The top of the single main beam (1) is provided with an upper slide rail (102) that slides to connect the front support leg (4) and the middle support leg (5), and the bottom of the single main beam (1) is provided with a lower slide rail (103) that slides to connect the rear support leg (6), the front crane (8) and the rear crane (9).

3. The multifunctional intelligent bridge erecting machine as described in claim 2, characterized in that: The multiple single main beam segments (101) are connected by a quick connection device (104), which includes a plug and a socket located between two adjacent single main beam segments (101) that can be plugged into each other, and a cylindrical pin is inserted between the plug and the socket. The bridge erecting machine is equipped with a beam transport vehicle (19) for transporting single main beam segments (101), precast piers (16), precast cap beams (17), and precast main beams (18).

4. The multifunctional intelligent bridge erecting machine as described in claim 1, characterized in that, Also includes: Auxiliary support leg (2) is slidably connected to the front end of the single main beam (1) and vertically adjusts the support height of the single main beam (1); Front telescopic outrigger (3), the front telescopic outrigger (3) is slidably connected to the single main beam (1), and the support height of the single main beam (1) is vertically adjusted; The rear telescopic outrigger (7) is slidably connected to the rear end of the single main beam (1) and vertically adjusts the support height of the single main beam (1).

5. A multifunctional intelligent bridge erecting machine as described in claim 4, characterized in that: The auxiliary support leg (2) includes an auxiliary support leg beam (201) that slides at the bottom of the single main beam (1). Both ends of the auxiliary support leg beam (201) are connected to first support columns (202), and a first top support beam (203) is connected between the bottoms of the two first support columns (202). The bottom of each of the two first support columns (202) is coaxially sleeved with a second support column (204), and a second top support beam (205) is vertically slidably connected between the two second support columns (204). The first top support beam (203) and the second top support beam (205) are connected by a first intelligent lifting device (206). The first intelligent lifting device (206) drives the second support column (204) to move up and down relative to the first support column (202) through telescopic movement. The first support column (202) is fixedly provided with a first automatic pin device (207) that is pluggable to the second support column (204), and the two ends of the second top support beam (205) are provided with a second automatic pin device (208) that is pluggable to the second support column (204).

6. The multifunctional intelligent bridge erecting machine as described in claim 4, characterized in that: The front telescopic outrigger (3) includes a front outrigger crossbeam (301) slidably connected above the single main beam (1), and both ends of the front outrigger crossbeam (301) are connected to a height-adjustable third support column (303). A single-column leg lower crossbeam (305) is connected between the bottoms of the two third support columns (303), and a transverse trolley (306) is connected to the bottom of the single-column leg lower crossbeam (305). The transverse trolley (306) is supported on the transverse track beam (307). The front support leg crossbeam (301), the two third support columns (303), and the single column support leg lower crossbeam (305) form a rectangular structure; A driving device (302) is connected between the front outrigger crossbeam (301) and the single main beam (1), and the driving device (302) drives the front telescopic outrigger (3) to move along the length direction of the single main beam (1).

7. A multifunctional intelligent bridge erecting machine as described in claim 1, characterized in that: The front support leg (4) includes a first upper frame crossbeam (401) supported at the bottom of the single main beam (1), and the first upper frame crossbeam (401) is a rectangular frame structure; Multiple telescopic columns (402) that can be automatically lifted and locked are fixedly connected to the bottom of the first upper frame beam (401), and multiple layers of cross bracing (404) are provided between two adjacent telescopic columns (402). The bottom of each of the multiple telescopic columns (402) is connected to a lower column (403), which is supported on a first traveling mechanism (405) that has longitudinal, lateral and turning functions; The rear support leg (6) has the same structure as the front support leg (4).

8. A multifunctional intelligent bridge erecting machine as described in claim 1, characterized in that: The middle support leg (5) includes a second upper frame crossbeam (501) slidably connected above the single main beam (1), and the second upper frame crossbeam (501) is a rectangular frame structure; A transverse rotation device (502) is provided at the connection between the second upper frame crossbeam (501) and the single main beam (1), which can drive the middle support leg (5) to move laterally and rotate along the single main beam (1); The two ends of the second upper frame beam (501) are vertically slidably connected to two height-adjustable fourth support columns (503), and each of the fourth support columns (503) is provided with a third automatic pin device (506). A conversion beam (504) is vertically slidably connected between the two fourth support columns (503) located on the same side of the single main beam (1), and a second intelligent lifting device (505) is provided between the conversion beam (504) and the second upper frame beam (501). The bottom of the fourth support column (503) is connected to the frame bottom beam (507), and the fourth support column (503) and the frame bottom beam (507) are connected by a quick-connect device (509). A transverse mechanism (508) is provided on the bottom crossbeam (507) of the frame, and the bottom crossbeam (507) of the frame is supported on the lower transverse track (510) by the transverse mechanism (508); The two ends of the conversion beam (504) are provided with a third automatic pin device (506) for plugging and unplugging connection to the fourth support column (503), and the end of the second upper frame beam (501) is provided with a fourth automatic pin device (511) for plugging and unplugging connection to the fourth support column (503).

9. A multifunctional intelligent bridge erecting machine as described in claim 1, characterized in that: The bottom of the front crane (8) and the rear crane (9) are connected to the upper lifting spreader beam (11) by steel wire rope and pulley block, and the middle of the upper lifting spreader beam (11) is connected to the slewing device (10). The bottom of the slewing lifting device (10) is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing lifting device (10) and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. It also includes a pier turning frame (20) and a pad block (21) used in conjunction with the front crane (8) and the rear crane (9), the pier turning frame (20) including a base and an "L"-shaped turning frame that rotates on the base.

10. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multi-functional intelligent bridge erecting machine according to any one of claims 1 to 9, and the method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge operation mode. When the bridge erecting machine is converted to gantry crane operation mode: the front outrigger (4) and the rear outrigger (6) are used to support the single main beam (1) on the ground; When the bridge erecting machine is converted to the integrated machine operation mode: the front outrigger (4) is supported on the ground, and the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the erected main beam (15); When the bridge erecting machine is converted to bridge operation mode: the auxiliary outrigger (2) and the front telescopic outrigger (3) are used to support the top of the pier in front of the hole to be erected, and the middle outrigger (5) and the rear telescopic outrigger (7) are used to support the main beam (15) that has been erected.

11. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 10, characterized in that, The method includes converting the bridge erecting machine from gantry crane operation mode to integrated machine operation mode, and the steps are as follows: The single main beam (1) is supported on the ground by the front support leg (4) and the rear support leg (6); Control the middle support leg (5) to move forward and adjust its height so that the middle support leg (5) is supported on the top of the rear end of the main beam (15). Adjust the single main beam (1) to be supported by the middle support leg (5) and the front support leg (4). Remove the rear support leg (6). Drive the front outrigger (4) to move the single main beam (1) and the rear telescopic outrigger (7) forward together until the rear telescopic outrigger (7) reaches the vicinity of the middle outrigger (5). Adjust the height of the column of the rear telescopic outrigger (7) so that it is supported on the erected main beam (15). Adjust the single main beam (1) to be supported by the rear telescopic outrigger (7) and the front outrigger (4), and move the middle outrigger (5) forward to the top of the front end of the erected main beam (15); Adjust the single main beam (1) to be supported by the middle support leg (5) and the front support leg (4), detach the rear telescopic support leg (7), and drive the single main beam (1) forward to the pier position to complete the bridge erection machine's bridge operation and switch to the integrated machine operation mode.

12. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 10, characterized in that, The method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, and the steps are as follows: The front outrigger (4) is supported on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the erected main beam (15), and the front outrigger (4) drives the front end of the single main beam (1) to move to the outside of the erected pier (13). Move the auxiliary leg (2) and the front telescopic leg (3) forward along the length of the single main beam (1) so that the auxiliary leg (2) and the front telescopic leg (3) are above the erected pier column (13), and adjust the support height of the auxiliary leg (2) and the front telescopic leg (3); Adjust the support status of the bridge erecting machine. The auxiliary outrigger (2) and the front telescopic outrigger (3) are supported on the already erected cap beam (14) on the top of the already erected pier (13) in front of the bridge erecting line. The middle outrigger (5) and the rear telescopic outrigger (7) are supported on the already erected main beam (15). Disconnect the front outrigger (4) from the single main beam (1), lower the height of the front outrigger (4), and drive the front outrigger (4) away, thus completing the conversion from integrated machine operation mode to bridge operation mode.

13. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 10, characterized in that, The method includes converting the bridge erecting machine from bridge-operated mode to gantry crane operation mode, and the steps are as follows: The single main beam (1) is supported by the front telescopic outrigger (3) and the middle outrigger (5), and the rear telescopic outrigger (7) is detached. The middle support leg (5) drives the single main beam (1) to move forward, carrying the auxiliary support leg (2) and the rear telescopic support leg (7) until the rear telescopic support leg (7) reaches the vicinity of the middle support leg (5); Adjust the single main beam (1) to be supported by the front telescopic outrigger (3) and the rear telescopic outrigger (7), and drive the middle outrigger (5) to move forward to support the front end of the erected main beam (15); The single main beam (1) is supported by the middle support leg (5) and the rear telescopic support leg (7), and the front telescopic support leg (3) is moved to the vicinity of the auxiliary support leg (2); Drive the front outrigger (4) to below the single main beam (1), adjust the position and height of the front outrigger (4) and connect it to the single main beam (1); Adjust the support status of the bridge erecting machine so that the single main beam (1) is supported by the front support leg (4) and the rear telescopic support leg (7), and the middle support leg (5) moves towards the middle of the erected main beam (15) and supports the single main beam (1). The rear telescopic outrigger (7) is disengaged, and the front outrigger (4) moves forward together with the auxiliary outrigger (2), the front telescopic outrigger (3) and the rear telescopic outrigger (7) until the rear telescopic outrigger (7) reaches the vicinity of the middle outrigger (5). Adjust the support status of the bridge erecting machine so that the single main beam (1) is supported by the front outrigger (4) and the rear telescopic outrigger (7), and drive the middle outrigger (5) to move forward to the outside of the erected main beam (15); Drive the rear outrigger (6) to below the single main beam (1), adjust the position and height of the rear outrigger (6) so that it supports and connects to the single main beam (1); After the telescopic outriggers (7) are detached, the bridge erecting machine is supported by the front outriggers (4) and the rear outriggers (6), thus completing the conversion from the bridge operation mode to the gantry crane operation mode.

14. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 1 to 9, and the method includes the bridge erecting machine installing precast piers (16) transported on the ground, as follows: The front outrigger (4) and rear outrigger (6) are used to support the bridge erecting machine on the ground. The position of the bridge erecting machine is adjusted by the first traveling mechanism (405) and the second traveling mechanism, and the first traveling mechanism (405) and the second traveling mechanism are locked. Adjust the support height of the front outrigger (4) and the rear outrigger (6), and connect the front crane (8) and the rear crane (9) to the upper lifting spreader beam (11) through wire ropes and pulley blocks. The precast pier (16) is transported to the vicinity of the hole to be installed using a beam transport vehicle (19). One end of the precast pier (16) is supported on the pier turning frame (20), and the other end is equipped with a pier lifting lug. The beam transport vehicle (19) adjusts the position of the precast pier (16) so that the precast pier (16) is located directly below the bridge erecting machine. After the front crane (8) and the rear crane (9) lower the upper lifting spreader beam (11) and connect it with the pier column lifting lug, the front crane (8) and the rear crane (9) slowly lift the precast pier column (16) while lifting and moving backward. Under the action of the pier column turning frame (20), the pier column is slowly lifted. After the precast pier (16) is completely lifted vertically, the beam transport vehicle (19) is removed, and the front crane (8) and the rear crane (9) lift the precast pier (16) to the position above the hole to be installed for alignment and installation.

15. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 14, characterized in that, The method includes installing precast cap beams (17) transported on the ground using a bridge erecting machine, with the following steps: The front outrigger (4) and rear outrigger (6) of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first traveling mechanism (405) and the second traveling mechanism, and the first traveling mechanism (405) and the second traveling mechanism are locked. Adjust the support height of the front outrigger (4) and the rear outrigger (6), and install the slewing device (10) and the lower lifting beam on the upper lifting beam (11); The precast cap beam (17) is transported to the vicinity of the hole to be installed using a beam transport vehicle (19); Drive the beam transport vehicle (19) to rotate the precast cap beam (17) from the longitudinal direction of the bridge to the transverse direction in the plane and place it directly below the bridge erecting machine; The front crane (8) and the rear crane (9) lower the slewing hoist (10) and the upper lifting spreader beam (11) to connect with the precast cap beam (17) and slowly lift the precast cap beam (17) so that the bottom of the precast cap beam (17) is higher than the anchoring steel bars (22) reserved on the erected pier column (13). The front crane (8) and the rear crane (9) are moved in coordination to lift the precast cap beam (17) to the top of the erected pier column (13); Drive the slewing hoist, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam (17) and align it with the top of the erected pier column (13) for installation.

16. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 15, characterized in that, The method also includes installing the precast main beam (18) transported on the ground using a bridge erecting machine, as follows: The front outrigger (4) and rear outrigger (6) of the bridge erecting machine are supported on the ground. The position of the bridge erecting machine is adjusted by the first traveling mechanism (405) and the second traveling mechanism, and the first traveling mechanism (405) and the second traveling mechanism are locked. Adjust the support height of the front support leg (4) and the rear support leg (6); The precast main beam (18) is transported to the vicinity of the span to be erected using a beam transport vehicle (19), and placed along the direction of the bridge line so that the rear end of the precast main beam (18) is behind the next erected cap beam (14), and the front end of the precast main beam (18) is outside the previous erected cap beam (14). The front crane (8) and the rear crane (9) are coordinated to lift the precast main beam (18). When the rear end of the precast main beam (18) is close to the bottom of the top cap beam (14) of the next erected pier column (13), the rear crane (9) stops lifting and the front crane (8) continues to lift, so that the front end of the precast main beam (18) is higher than the top cap beam (14) of the previous erected pier column (13), so that the precast main beam (18) is in an inclined state. Control the front crane (8) and the rear crane (9) to move forward so that the rear end of the precast main beam (18) is located outside the front side of the top cap beam (14) of the rear pier column (13); Keeping the height and position of the front crane (8) unchanged, the rear crane (9) lifts the precast main beam (18) so that the precast main beam (18) is adjusted from an inclined state to a horizontal state; The front crane (8) and the rear crane (9) move backward in coordination to lift the precast main beam (18) to the design position for lowering and alignment installation.

17. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 1 to 9, and the method includes the bridge erecting machine installing precast piers (16) transported on the bridge deck on the ground, with the following steps: The front outrigger (4) of the bridge erecting machine is supported on the ground, while the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the erected main beam (15). The bridge erecting machine is adjusted to a suitable height. Two beam transport vehicles (19) are used to transport the precast pier (16) from the erected main beam (15) to the tail of the bridge erecting machine, so that the front end of the precast pier (16) is located below the front crane (8); The front crane (8) lifts the precast pier (16), so that the front end of the precast pier (16) is suspended on the front crane (8) and the rear end is supported on the rear beam transport vehicle (19), and the front beam transport vehicle (19) is removed. The front crane (8) and the rear beam transport vehicle (19) are coordinated to move forward so that the rear end of the precast pier (16) is in the lifting position of the rear crane (9); The rear crane (9) lifts the precast pier (16) so that the precast pier (16) is suspended on the front crane (8) and the rear crane (9). The front crane (8) and the rear crane (9) are controlled to move forward to the vicinity of the hole to be installed. The front crane (8) and the rear crane (9) lower the precast pier (16) so that one end of the precast pier (16) is supported on the pier turning frame (20) on the ground and the other end is supported on the pad (21) on the ground. Adjust the positions of the front crane (8) and the rear crane (9) and install the upper lifting spreader beam (11). The lifting rope of the upper lifting spreader beam (11) is installed on the top of the precast pier (16) in preparation for lifting. The front crane (8) and the rear crane (9) are coordinated and moved backward while being lifted, so that the precast pier (16) is slowly lifted and adjusted from a horizontal state to a vertical state. The front crane (8) and the rear crane (9) work together to vertically lift the precast pier (16) to the position above the hole to be installed, and then install it.

18. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 17, characterized in that, The method includes installing precast cap beams (17) transported from the bridge deck on the ground using a bridge erecting machine, with the following steps: The front outrigger (4) of the bridge erecting machine is supported on the ground, while the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the erected main beam (15). The bridge erecting machine is adjusted to a suitable height. Adjust the positions of the front crane (8) and the rear crane (9), and install the slewing device (10) and the lower lifting beam on the upper lifting spreader beam (11); The precast cap beam (17) is transported from the erected main beam (15) to the tail of the bridge erecting machine using a beam transport vehicle (19), so that the precast cap beam (17) is located below the slewing hoist (10) and the lower lifting spreader beam; After the lower lifting beam is connected to the precast cap beam (17), the front crane (8) and the rear crane (9) lift the precast cap beam (17) and move the beam transport vehicle (19). The front crane (8) and rear crane (9) are coordinated to lift the precast cap beam (17) to the outside of the erected main beam (15), and the precast cap beam (17) is adjusted from the longitudinal direction to the transverse direction by the slewing hoist. Continue to control the front crane (8) and the rear crane (9) to lift the precast cap beam (17) forward to above the erected pier column (13); Drive the slewing hoist, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam (17) and align it with the top of the erected pier column (13) for installation.

19. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 18, characterized in that, The method includes installing the precast main beam (18) transported from the bridge deck on the ground using a bridge erecting machine, with the following steps: The front outrigger (4) of the bridge erecting machine is supported on the ground, while the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the erected main beam (15). The bridge erecting machine is adjusted to a suitable height. Two beam transport vehicles (19) are used to transport the precast main beam (18) from the erected main beam (15) to the tail of the bridge erecting machine, so that the front end of the precast main beam (18) is located below the front crane (8); The front crane (8) lifts the precast main beam (18), so that the front end of the precast main beam (18) is suspended on the front crane (8) and the rear end is supported on the rear beam transport vehicle (19). The front beam transport vehicle (19) is then removed. The front crane (8) and the rear beam transport vehicle (19) are moved forward in coordination to position the rear end of the precast main beam (18) at the lifting position of the rear crane (9); The rear crane (9) lifts the precast main beam (18) so that the precast main beam (18) is suspended on the front crane (8) and the rear crane (9). The front crane (8) and the rear crane (9) are controlled to move forward to the vicinity of the hole to be installed. After the front crane (8) and rear crane (9) are controlled to adjust the precast main beam (18) to the design position, the front crane (8) and rear crane (9) lower the precast main beam (18) for alignment and installation.

20. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 1 to 9, and the method includes installing the bridge erecting machine onto a precast main beam (18) for a curved bridge transported on the bridge deck, as follows: The front outrigger (4) of the bridge erecting machine is supported on the ground, while the middle outrigger (5) and the rear telescopic outrigger (7) are supported on the already erected main beam (15). The bridge erecting machine is then positioned to the inside of the curved bridge. Two beam transport vehicles (19) are used to transport the outermost precast main beam (18) of the curved bridge to the tail of the bridge erecting machine on the erected main beam (15); After the front end of the precast main beam (18) reaches the designed lifting position of the front crane (8), the front crane (8) lifts the front end of the precast main beam (18), and the rear end of the precast main beam (18) is supported on the beam transport vehicle (19) at the rear. The bridge erecting machine is supported by the front support leg (4) and the middle support leg (5). The bridge erecting machine and the beam transport vehicle (19) are controlled in coordination. By controlling the transverse rotation device (502) of the middle support leg (5), the single main beam (1) is rotated around the center of the middle support leg (5), so that the precast main beam (18) moves forward and gradually adjusts its angle until it is parallel to the single main beam (1). When the rear end of the precast main beam (18) reaches the designed lifting position of the rear crane (9), the rear crane (9) lifts the rear end of the precast main beam (18). At this time, the precast main beam (18) is suspended on the front crane (8) and the rear crane (9). The bridge erecting machine hoisted the precast main beam (18) and moved it laterally to the designed installation position. It was then lowered and aligned for installation, thus completing the erection of the outermost precast main beam (18). Repeat the above steps, and the bridge erecting machine and the beam transport vehicle (19) rotate together to feed the beams, and complete the installation of the remaining precast main beams (18) from the outer arc of the curved bridge to the inner arc.

21. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 1 to 9, and the method includes the bridge erecting machine's self-transferring, with the following steps: Before the relocation, if there are no obstacles in front of the bridge erecting machine and the relocation is short, the front outrigger (4) and rear outrigger (6) can be driven directly for self-relocation; For bridge erecting machines with height restrictions in front of them, the following steps can be used for self-transfer: Adjust the bridge erecting machine to be supported by the front outrigger (4) and the rear outrigger (6), and lower the front outrigger (4) and the rear outrigger (6) to the lowest height; Extend the front telescopic outrigger (3) and the rear telescopic outrigger (7) to their maximum length, adjust the bridge erecting machine to be supported by the front telescopic outrigger (3) and the rear telescopic outrigger (7), and disconnect the front outrigger (4) and the rear outrigger (6) from the single main beam (1). Adjust the height of the front telescopic outrigger (3) and the rear telescopic outrigger (7) to the lowest position; Remove the upper structure of the front outrigger (4) and the rear outrigger (6), and move the first traveling mechanism (405) and the second traveling mechanism to the bottom of the single main beam (1) and connect them with the support of the single main beam (1). At this time, the first traveling mechanism (405) and the second traveling mechanism can pass through the height restriction obstacle and realize the self-transfer of the entire bridge erecting machine. For locations requiring long-distance relocation, the following steps can be used for self-relocation: The bridge erecting machine is lowered to its lowest height and supported by the first traveling mechanism (405) and the second traveling mechanism; Drive the transfer module transport vehicle (23) so that two transfer module transport vehicles (23) are set under each single main beam segment below the bridge erecting machine. Adjust the support height of the transfer module transport vehicle (23) so that the single main beam (1) is supported on the transfer module transport vehicle (23). The bridge erecting machine is supported by a transfer module transport vehicle (23). The connection between the single main beam segments (101) is released, so that the single main beam (1) is decomposed into multiple single main beam segments (101). Each single main beam segment (101) is transported in sections by the transfer module transport vehicle (23) to complete the long-distance rapid transfer operation of the bridge erecting machine.

22. A multifunctional intelligent bridge erecting machine, characterized in that, include: The bridge erecting machine body, digital twin central control console, control subsystem, production subsystem, quality subsystem, and safety subsystem; The digital twin control console is used to simulate and pre-run the work instructions output by the control subsystem, considering the feasibility of control, quality boundaries, safety risks, and matching degree with the construction plan. The control subsystem is used to control the bridge erection operation based on the simulation results and work instructions; The production subsystem is used to adjust the work plan for bridge erection operations and obtain the plan adjustment results; The quality subsystem is used to perform quality inspection on bridge erection operations and generate quality results. The safety subsystem is used to detect safety risks in bridge erection operations and generate safety results. Among them, the output of any one of the production subsystem, quality subsystem, and safety subsystem is fed back to one or more other subsystems so that the other subsystems can adjust their working status. The bridge erecting machine body includes a single main beam (1), auxiliary legs (2), front telescopic legs (3), front legs (4), middle legs (5), rear legs (6) and rear telescopic legs (7). The single main beam (1) is slidably connected to a front crane (8) and a rear crane (9). The auxiliary support leg (2) is slidably connected to the front end of the single main beam (1); The front telescopic outrigger (3) is slidably connected to the single main beam (1); The top of the front support leg (4) is slidably connected to the single main beam (1), and the bottom is provided with a first traveling mechanism (405). The top of the middle support leg (5) is slidably connected to the single main beam (1); The top of the rear support leg (6) is slidably connected to the single main beam (1), and the bottom is provided with a second traveling mechanism; The rear telescopic outrigger (7) is slidably connected to the rear end of the single main beam (1); The auxiliary support leg (2), front telescopic support leg (3), front support leg (4), middle support leg (5), rear support leg (6) and rear telescopic support leg (7) are used to vertically adjust the support height of the single main beam (1).

23. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The single main beam (1) includes multiple detachable single main beam segments (101), which are sequentially connected to form the single main beam (1). The top of the single main beam (1) is provided with an upper slide rail (102) that slides to connect the front support leg (4) and the middle support leg (5), and the bottom of the single main beam (1) is provided with a lower slide rail (103) that slides to connect the rear support leg (6), the front crane (8) and the rear crane (9).

24. A multifunctional intelligent bridge erecting machine as described in claim 23, characterized in that: The multiple single main beam segments (101) are connected by a quick connection device (104), which includes a plug and a socket located between two adjacent single main beam segments (101) that can be plugged into each other, and a cylindrical pin is inserted between the plug and the socket. The bridge erecting machine is equipped with a beam transport vehicle (19) for transporting single main beam segments (101), precast piers (16), precast cap beams (17), and precast main beams (18).

25. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The auxiliary support leg (2) includes an auxiliary support leg beam (201) that slides at the bottom of the single main beam (1). Both ends of the auxiliary support leg beam (201) are connected to first support columns (202), and a first top support beam (203) is connected between the bottoms of the two first support columns (202). The bottom of each of the two first support columns (202) is coaxially sleeved with a second support column (204), and a second top support beam (205) is vertically slidably connected between the two second support columns (204). The first top support beam (203) and the second top support beam (205) are connected by a first intelligent lifting device (206). The first intelligent lifting device (206) drives the second support column (204) to move up and down relative to the first support column (202) through telescopic movement. The first support column (202) is fixedly provided with a first automatic pin device (207) that is pluggable to the second support column (204), and the two ends of the second top support beam (205) are provided with a second automatic pin device (208) that is pluggable to the second support column (204).

26. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The front telescopic outrigger (3) includes a front outrigger crossbeam (301) slidably connected above the single main beam (1), and both ends of the front outrigger crossbeam (301) are connected to a height-adjustable third support column (303). A single-column leg lower crossbeam (305) is connected between the bottoms of the two third support columns (303), and a transverse trolley (306) is connected to the bottom of the single-column leg lower crossbeam (305). The transverse trolley (306) is supported on the transverse track beam (307). The front support leg crossbeam (301), the two third support columns (303), and the single column support leg lower crossbeam (305) form a rectangular structure; A driving device (302) is connected between the front outrigger crossbeam (301) and the single main beam (1), and the driving device (302) drives the front telescopic outrigger (3) to move along the length direction of the single main beam (1).

27. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The front support leg (4) includes a first upper frame crossbeam (401) supported at the bottom of the single main beam (1), and the first upper frame crossbeam (401) is a rectangular frame structure; Multiple telescopic columns (402) that can be automatically lifted and locked are fixedly connected to the bottom of the first upper frame beam (401), and multiple layers of cross bracing (404) are provided between two adjacent telescopic columns (402). The bottom of each of the multiple telescopic columns (402) is connected to a lower column (403), which is supported on a first traveling mechanism (405) that has longitudinal, lateral and turning functions; The rear support leg (6) has the same structure as the front support leg (4).

28. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The middle support leg (5) includes a second upper frame crossbeam (501) slidably connected above the single main beam (1), and the second upper frame crossbeam (501) is a rectangular frame structure; A transverse rotation device (502) is provided at the connection between the second upper frame crossbeam (501) and the single main beam (1), which can drive the middle support leg (5) to move and rotate longitudinally along the single main beam (1); The two ends of the second upper frame beam (501) are vertically slidably connected to two height-adjustable fourth support columns (503), and each of the fourth support columns (503) is provided with a third automatic pin device (506). A conversion beam (504) is vertically slidably connected between the two fourth support columns (503) located on the same side of the single main beam (1), and a second intelligent lifting device (505) is provided between the conversion beam (504) and the second upper frame beam (501). The bottom of the fourth support column (503) is connected to the frame bottom beam (507), and the fourth support column (503) and the frame bottom beam (507) are connected by a quick-connect device (509). A transverse mechanism (508) is provided on the bottom crossbeam (507) of the frame, and the bottom crossbeam (507) of the frame is supported on the lower transverse track (510) by the transverse mechanism (508); The two ends of the conversion beam (504) are provided with a third automatic pin device (506) for plugging and unplugging connection to the fourth support column (503), and the end of the second upper frame beam (501) is provided with a fourth automatic pin device (511) for plugging and unplugging connection to the fourth support column (503).

29. A multifunctional intelligent bridge erecting machine as described in claim 22, characterized in that: The bottom of the front crane (8) and the rear crane (9) are connected to the upper lifting spreader beam (11) by steel wire rope and pulley block, and the middle of the upper lifting spreader beam (11) is connected to the slewing device (10). The bottom of the slewing lifting device (10) is connected to a lower lifting beam via a universal joint. A first telescopic mechanism and a second telescopic mechanism are provided between the slewing lifting device (10) and the lower lifting beam to drive the lower lifting beam to rotate around the universal joint. It also includes a pier turning frame (20) and a pad block (21) used in conjunction with the front crane (8) and the rear crane (9), the pier turning frame (20) including a base and an "L"-shaped turning frame that rotates on the base.

30. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that, During the bridge erection operation controlled by the control subsystem, the control subsystem is specifically used for: The error vector is determined based on the real-time displacement and target displacement corresponding to the middle outrigger (5) and the crane respectively, as well as the longitudinal swing angle and lateral swing angle corresponding to the load. The crane is a front crane (8) and / or a rear crane (9). Based on the error vector and the second-order nonlinear dynamic matrix equation containing external lumped disturbances, the basic traction torque required for the forced drive outrigger (5) and the crane to overcome track friction and approach the target displacement is determined; The anti-sway reverse damping compensation torque corresponding to the error vector is determined by using an Actor-Critic dual neural network and minimizing the performance evaluation cost function. The total driving torque is determined based on the basic traction torque and the anti-sway reverse damping compensation torque; The operation of the middle outrigger (5) and the crane is controlled based on the total driving torque.

31. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that, During the process of controlling the movement of the bridge erecting machine body by the control subsystem, the control subsystem is specifically used for: Global path planning is performed based on the target A-star algorithm to determine the target path corresponding to the bridge erecting machine body; The heuristic function for the Target A algorithm is: In the formula, Indicates the coordinates of the current probe node. Indicates the coordinates of the target beam drop position point; This represents the integral of energy consumption cost. Indicates the coefficient of track friction. The total mass of the machine and the load being lifted. and These represent instantaneous velocity and acceleration, respectively. Indicates the wind penalty weight; This indicates the wind field intensity at the current altitude; This indicates the theoretical maximum wind speed limit that allows for operation. Let represent the repulsive term of the artificial potential field, t represent the upper limit of integration, and h represent the integration variable.

32. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that, After the grouting operation during bridge erection is completed, the quality subsystem is specifically used for: The multi-view phased array ultrasonic image of the target corresponding to the grouting sleeve is cropped to obtain the target ultrasonic image corresponding to the inside of the grouting sleeve. Defect segmentation is performed on the target ultrasound image based on the target SAM model to generate a target defect segmentation image; The grout fullness is determined by the area of ​​the target defect segmentation image and the area of ​​the target multi-view phased array ultrasonic image. Grouting quality is tested based on the grouting fullness, and grouting quality results are generated.

33. A multifunctional intelligent bridge erecting machine as described in claim 32, characterized in that: The target SAM model includes a feature extractor and a multi-view cue pyramid module; The feature extractor is used to extract features from the output features of the ViT module in the image encoder of the target SAM model to obtain a multi-view image feature map; The multi-view cue pyramid module is used to perform multi-level pooling operations on the feature maps of multi-view images. After convolution processing of each pooling result, multiple local features are obtained. After upsampling operation of each local feature, multiple upsampled features are obtained. After channel concatenation of all upsampled features, residual fusion is performed with the feature maps of multi-view images. The fusion result is then subjected to convolution operation and flattening processing in sequence to obtain self-generated cue, which is used by the mask decoder in the target SAM model to perform defect segmentation of the target ultrasound image based on the self-generated cue.

34. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that: Any one of the production, quality, and safety subsystems generates a target event based on its output, and triggers other subsystems to adjust their working status by sending the target event.

35. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that, The digital twin control console is also used for: The priority of each data stream is determined based on the data transmission cycle, data frame length, and business weight coefficient of the data streams output by each subsystem. All data streams are controlled through a multi-level transmission mechanism using a time-sensitive network and in descending order of priority. The data flow includes the control flow output by the control subsystem, the safety flow output by the safety subsystem, the quality flow output by the quality subsystem, and the production flow output by the production subsystem. The data flows with the business weight coefficient from high to low are the control flow, safety flow, quality flow, and production flow, respectively.

36. A multifunctional intelligent bridge erecting machine as described in any one of claims 22 to 29, characterized in that, During the safety risk detection process for bridge erection operations, the safety subsystem is specifically used for: Key points are extracted from the target image corresponding to the bridge construction operation using the YOLO-Pose model to obtain the target key points; All target key points are stacked to obtain 3D heat map data; The 3D heatmap data is subjected to multi-level nonlinear transformation by a multi-scale feature fusion module to obtain feature maps of different scales. The feature maps of different scales are densely connected to obtain a fused feature map. Global average pooling is performed on the fused feature map, and channel weights are assigned to the pooled feature map to output the target feature map. The action recognition module performs global average pooling and fully connected processing on the target feature map to obtain the classification result corresponding to the target image, and outputs the security risk result based on the classification result.

37. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 22 to 29, and the method includes converting the bridge erecting machine into a gantry crane operation mode, an integrated machine operation mode, and a bridge-on-the-bridge operation mode: When the bridge erecting machine is switched to gantry crane operation mode: the control subsystem controls the front outrigger (4) and the rear outrigger (6) to support the single main beam (1) on the ground; When the bridge erecting machine is converted to the integrated machine operation mode: the control subsystem controls the front outrigger (4) to support on the ground, and the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15); When the bridge erecting machine is switched to bridge operation mode: the control subsystem controls the auxiliary outrigger (2) and the front telescopic outrigger (3) to support the pier top in front of the hole to be erected, and the middle outrigger (5) and the rear telescopic outrigger (7) to support the main beam (15) that has been erected.

38. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 37, characterized in that, The method includes converting the bridge erecting machine from gantry crane operation mode to integrated machine operation mode, and the steps are as follows: The control subsystem controls the main beam (1) to be supported on the ground by the front leg (4) and the rear leg (6); The control subsystem controls the middle support leg (5) to move forward and adjust its height so that the middle support leg (5) is supported on the top of the rear end of the main beam (15). The single main beam (1) is adjusted to be supported by the middle support leg (5) and the front support leg (4). The rear support leg (6) is removed. The control subsystem drives the front outrigger (4) to move the single main beam (1) and the rear telescopic outrigger (7) forward together until the rear telescopic outrigger (7) reaches the vicinity of the middle outrigger (5). The height of the column of the rear telescopic outrigger (7) is adjusted so that it is supported on the erected main beam (15). The control subsystem adjusts the single main beam (1) supported by the rear telescopic outrigger (7) and the front outrigger (4), and moves the middle outrigger (5) forward to the top of the front end of the erected main beam (15); The control subsystem adjusts the single main beam (1) to be supported by the middle support leg (5) and the front support leg (4), disengages the rear telescopic support leg (7), and drives the single main beam (1) forward to the pier position, completing the bridge erecting machine's bridge operation and switching to the integrated machine operation mode.

39. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 37, characterized in that, The method includes converting the bridge erecting machine from an integrated machine operation mode to a bridge-on-the-bridge operation mode, and the steps are as follows: The control subsystem controls the front outrigger (4) to support on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15), and controls the front outrigger (4) to drive the front end of the single main beam (1) to move to the outside of the erected pier (13). The control subsystem controls the auxiliary leg (2) and the front telescopic leg (3) to move forward along the length of the single main beam (1) so that the auxiliary leg (2) and the front telescopic leg (3) are located above the erected pier column (13), and adjusts the support height of the auxiliary leg (2) and the front telescopic leg (3). The control subsystem adjusts the support status of the bridge erecting machine. The auxiliary outrigger (2) and the front telescopic outrigger (3) are supported on the already erected cap beam (14) on the top of the already erected pier (13) in front of the bridge erecting line. The middle outrigger (5) and the rear telescopic outrigger (7) are supported on the already erected main beam (15). The control subsystem disconnects the front outrigger (4) from the single main beam (1), lowers the height of the front outrigger (4), and drives the front outrigger (4) away, thus completing the conversion from integrated machine operation mode to bridge operation mode.

40. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 37, characterized in that, The method includes converting the bridge erecting machine from bridge-operated mode to gantry crane operation mode, and the steps are as follows: The control subsystem controls the main beam (1) to be supported by the front telescopic outrigger (3) and the middle outrigger (5), and to detach the rear telescopic outrigger (7); The control subsystem controls the middle support leg (5) to drive the single main beam (1) to move forward with the auxiliary support leg (2) and the rear telescopic support leg (7) until the rear telescopic support leg (7) reaches the vicinity of the middle support leg (5); The control subsystem adjusts the main beam (1) to be supported by the front telescopic outrigger (3) and the rear telescopic outrigger (7), and drives the middle outrigger to move forward to support the front end of the erected main beam (15); The control subsystem controls the main beam (1) supported by the middle support leg (5) and the rear telescopic support leg (7), and moves the front telescopic support leg (3) to the vicinity of the auxiliary support leg (2); The control subsystem drives the front outrigger (4) to below the single main beam (1), adjusts the position and height of the front outrigger (4) and connects it to the single main beam (1); The control subsystem adjusts the support status of the bridge erecting machine so that the single main beam (1) is supported by the front support leg (4) and the rear telescopic support leg (7), and the middle support leg (5) moves towards the middle of the erected main beam (15) and supports the single main beam (1). The control subsystem controls the rear telescopic outrigger (7) to disengage, and the front outrigger (4) moves forward together with the auxiliary outrigger (2), the front telescopic outrigger (3) and the rear telescopic outrigger (7) until the rear telescopic outrigger (7) reaches the vicinity of the middle outrigger (5); The control subsystem adjusts the support status of the bridge erecting machine so that the single main beam (1) is supported by the front outrigger (4) and the rear telescopic outrigger (7), and drives the middle outrigger (5) to move forward to the outside of the erected main beam (15); The control subsystem drives the rear outrigger (6) to below the single main beam (1), adjusts the position and height of the rear outrigger (6) so that it supports and connects to the single main beam (1); The control subsystem controls the rear telescopic outrigger (7) to disengage, so that the bridge erecting machine is supported by the front outrigger (4) and the rear outrigger (6), thus completing the conversion from the bridge operation mode to the gantry crane operation mode.

41. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 22 to 36, and the method includes the bridge erecting machine installing precast piers (16) transported on the ground, as follows: The control subsystem is supported on the ground by front outriggers (4) and rear outriggers (6). The position of the bridge erecting machine is adjusted by the first traveling mechanism (405) and the second traveling mechanism, and the first traveling mechanism (405) and the second traveling mechanism are locked. The control subsystem adjusts the support height of the front outrigger (4) and the rear outrigger (6), and the front crane (8) and the rear crane (9) are connected to the upper lifting spreader beam (11) by wire rope and pulley block. The precast pier (16) is transported to the vicinity of the hole to be installed using a beam transport vehicle (19). One end of the precast pier (16) is supported on the pier turning frame (20), and the other end is equipped with a pier lifting lug. The beam transport vehicle (19) adjusts the position of the precast pier (16) so that the precast pier (16) is located directly below the bridge erecting machine. The quality subsystem detects the transportation deformation of the precast pier (16) by using real-time point cloud data corresponding to the precast pier (16). If the precast pier (16) does not have transportation deformation, the trigger control subsystem controls the front crane (8) and the rear crane (9) to lower the upper lifting spreader beam (11) and connect it with the pier lifting lug, so that the front crane (8) and the rear crane (9) slowly lift the precast pier (16) while lifting and moving backward. Under the action of the pier turning frame (20), the pier is slowly lifted. After the precast pier (16) is completely lifted vertically, the control subsystem removes the beam transport vehicle (19), so that the front crane (8) and the rear crane (9) can lift the precast pier (16) to the position above the hole to be installed for alignment and installation.

42. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 41, characterized in that, The method includes installing precast cap beams (17) transported on the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front outrigger (4) and rear outrigger (6) to support themselves on the ground, and uses the first traveling mechanism (405) and the second traveling mechanism to adjust the position of the bridge erecting machine and lock the first traveling mechanism (405) and the second traveling mechanism. The control subsystem adjusts the support height of the front outrigger (4) and the rear outrigger (6), and installs the slewing device (10) and the lower lifting beam on the upper lifting spreader beam (11); The precast cap beam (17) is transported to the vicinity of the hole to be installed using a beam transport vehicle (19); Drive the beam transport vehicle (19) to rotate the precast cap beam (17) from the longitudinal direction of the bridge to the transverse direction in the plane and place it directly below the bridge erecting machine; The quality subsystem detects the transportation deformation of the precast cap beam (17) by using real-time point cloud data corresponding to the precast cap beam (17). If the precast cap beam (17) does not have transportation deformation, the trigger control subsystem controls the front crane (8) and the rear crane (9) to lower the slewing hoist (10) and the upper lifting spreader beam (11) to connect with the precast cap beam (17) and slowly lift the precast cap beam (17) so that the bottom of the precast cap beam (17) is higher than the anchoring steel bars (22) reserved on the erected pier column (13). The control subsystem coordinates the movement of the front crane (8) and the rear crane (9) to lift the precast cap beam (17) above the erected pier column (13); The control subsystem drives the slewing hoist, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam (17) and align it with the top of the erected pier column (13) for installation.

43. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 42, characterized in that, The method also includes installing the precast main beam (18) transported on the ground using a bridge erecting machine, as follows: The control subsystem controls the front outrigger (4) and rear outrigger (6) to support themselves on the ground, and uses the first traveling mechanism (405) and the second traveling mechanism to adjust the position of the bridge erecting machine and lock the first traveling mechanism (405) and the second traveling mechanism. The control subsystem adjusts the support height of the front outrigger (4) and the rear outrigger (6); The precast main beam (18) is transported to the vicinity of the span to be erected using a beam transport vehicle (19), and placed along the direction of the bridge line so that the rear end of the precast main beam (18) is behind the next erected cap beam (14), and the front end of the precast main beam (18) is outside the previous erected cap beam (14). The quality subsystem detects the transportation deformation of the precast main beam (18) by using real-time point cloud data corresponding to the precast main beam (18). If the precast main beam (18) does not have transportation deformation, the trigger control subsystem coordinates the front crane (8) and the rear crane (9) to lift the precast main beam (18). When the rear end of the precast main beam (18) is close to the bottom of the top cap beam (14) of the next erected pier column (13), the control subsystem controls the rear crane (9) to stop lifting, and the front crane (8) to continue lifting, so that the front end of the precast main beam (18) is higher than the top cap beam (14) of the previous erected pier column (13), so that the precast main beam (18) is in an inclined state; The control subsystem controls the front crane (8) and the rear crane (9) to move forward so that the rear end of the precast main beam (18) is located outside the front side of the top cap beam (14) of the rear pier column (13); The control subsystem controls the front crane (8) to maintain its height and position, while the rear crane (9) lifts the precast main beam (18) to adjust it from an inclined state to a horizontal state. The control subsystem coordinates with the front crane (8) and the rear crane (9) to move backward and hoist the precast main beam (18) to the design position for lowering and alignment installation.

44. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 22 to 36, and the method includes the bridge erecting machine installing precast piers (16) transported on the bridge deck on the ground, with the following steps: The control subsystem controls the front outrigger (4) to support on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15), and adjusts the bridge erecting machine to a suitable height; Two beam transport vehicles (19) are used to transport the precast pier (16) from the erected main beam (15) to the tail of the bridge erecting machine, so that the front end of the precast pier (16) is located below the front crane (8); The quality subsystem detects the transportation deformation of the precast pier (16) using real-time point cloud data corresponding to the precast pier (16). If the precast pier (16) does not have transportation deformation, the control subsystem is triggered to control the front crane (8) to lift the precast pier (16), so that the front end of the precast pier (16) is suspended on the front crane (8) and the rear end is supported on the rear beam transport vehicle (19), and the front beam transport vehicle (19) is removed. The control subsystem coordinates the front crane (8) and the rear beam transport vehicle (19) to move forward and position the rear end of the precast pier (16) at the lifting position of the rear crane (9); The control subsystem controls the rear crane (9) to lift the precast pier (16), so that the precast pier (16) is suspended on the front crane (8) and the rear crane (9), and controls the front crane (8) and the rear crane (9) to move forward to the vicinity of the hole to be installed; The control subsystem controls the front crane (8) and the rear crane (9) to lower the precast pier (16), so that one end of the precast pier (16) is supported on the pier turning frame (20) on the ground and the other end is supported on the pad (21) on the ground. The control subsystem adjusts the positions of the front crane (8) and the rear crane (9) and installs the upper lifting spreader beam (11). The lifting rope of the upper lifting spreader beam (11) is installed on the top of the precast pier (16) in preparation for lifting. The control subsystem coordinates the front crane (8) and the rear crane (9) to lift and move backward together, so that the precast pier (16) is slowly lifted and adjusted from a horizontal state to a vertical state; The control subsystem coordinates the front crane (8) and the rear crane (9) to vertically lift the precast pier (16) to the position above the hole to be installed, and then install it.

45. The construction method of a multifunctional intelligent bridge erecting machine as described in claim 44, characterized in that, The method includes installing precast cap beams (17) transported from the bridge deck on the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front outrigger (4) to support on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15), and adjusts the bridge erecting machine to a suitable height; The control subsystem adjusts the positions of the front crane (8) and the rear crane (9), and installs the slewing device (10) and the lower crane on the upper lifting spreader beam (11); The precast cap beam (17) is transported from the erected main beam (15) to the tail of the bridge erecting machine using a beam transport vehicle (19), so that the precast cap beam (17) is located below the slewing hoist (10) and the lower lifting spreader beam; After the lower lifting spreader beam is connected to the precast cap beam (17), the quality subsystem detects the transportation deformation of the precast cap beam (17) through the real-time point cloud data corresponding to the precast cap beam (17). If the precast cap beam (17) does not have transportation deformation, the trigger control subsystem controls the front crane (8) and the rear crane (9) to lift the precast cap beam (17) and remove the beam transport vehicle (19). The control subsystem coordinates the front crane (8) and the rear crane (9) to lift the precast cap beam (17) to the outside of the erected main beam (15), and adjusts the precast cap beam (17) from the longitudinal direction to the transverse direction through the slewing hoist; The control subsystem continues to control the front crane (8) and the rear crane (9) to lift the precast cap beam (17) forward to above the erected pier column (13); The control subsystem drives the slewing hoist, the first telescopic mechanism and the second telescopic mechanism to precisely adjust the posture of the precast cap beam (17) and align it with the top of the erected pier column (13) for installation.

46. ​​The construction method of a multifunctional intelligent bridge erecting machine as described in claim 45, characterized in that, The method includes installing the precast main beam (18) transported from the bridge deck on the ground using a bridge erecting machine, with the following steps: The control subsystem controls the front outrigger (4) to support on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15), and adjusts the bridge erecting machine to a suitable height; Two beam transport vehicles (19) are used to transport the precast main beam (18) from the erected main beam (15) to the tail of the bridge erecting machine, so that the front end of the precast main beam (18) is located below the front crane (8); The quality subsystem detects the transportation deformation of the precast main beam (18) by using real-time point cloud data corresponding to the precast main beam (18). If the precast main beam (18) does not have transportation deformation, the control subsystem is triggered to control the front crane (8) to lift the precast main beam (18), so that the front end of the precast main beam (18) is suspended on the front crane (8) and the rear end is supported on the rear beam transport vehicle (19), and the front beam transport vehicle (19) is removed. The control subsystem coordinates the movement of the front crane (8) and the rear beam transport vehicle (19) forward, positioning the rear end of the precast main beam (18) at the lifting position of the rear crane (9); The control subsystem controls the rear crane (9) to lift the precast main beam (18), so that the precast main beam (18) is suspended on the front crane (8) and the rear crane (9), and controls the front crane (8) and the rear crane (9) to move forward to the vicinity of the hole to be installed; After the control subsystem controls the front crane (8) and the rear crane (9) to adjust the precast main beam (18) to the design position, the front crane (8) and the rear crane (9) lower the precast main beam (18) for alignment and installation.

47. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 22 to 36, and the method includes installing the bridge erecting machine onto a precast main beam (18) for a curved bridge transported on the bridge deck, as follows: The control subsystem controls the front outrigger (4) to support on the ground, the middle outrigger (5) and the rear telescopic outrigger (7) to support on the erected main beam (15), and adjusts the bridge erecting machine to the inside of the curved bridge. Two beam transport vehicles (19) are used to transport the outermost precast main beam (18) of the curved bridge to the tail of the bridge erecting machine on the erected main beam (15); After the front end of the precast main beam (18) reaches the designed lifting position of the front crane (8), the quality subsystem detects the transportation deformation of the precast main beam (18) through the real-time point cloud data corresponding to the precast main beam (18). If the precast main beam (18) does not have transportation deformation, the control subsystem is triggered to control the front crane (8) to lift the front end of the precast main beam (18), and the rear end of the precast main beam (18) is supported on the rear beam transport vehicle (19). The control subsystem adjusts the bridge erecting machine to be supported by the front support leg (4) and the middle support leg (5), and coordinates the control of the bridge erecting machine and the beam transport vehicle (19). By controlling the transverse rotation device (502) of the middle support leg (5), the single main beam (1) is rotated around the center of the middle support leg (5), so that the precast main beam (18) moves forward while gradually adjusting the angle until it is parallel to the single main beam (1). When the rear end of the precast main beam (18) reaches the designed lifting position of the rear crane (9), the control subsystem controls the rear crane (9) to lift the rear end of the precast main beam (18). At this time, the precast main beam (18) is suspended on the front crane (8) and the rear crane (9). The control subsystem controls the bridge erecting machine to lift the precast main beam (18) and move it laterally to the designed installation position, then lower it for alignment and installation, thus completing the erection of the outermost side beam; Repeat the above steps, and the bridge erecting machine and the beam transport vehicle (19) rotate together to feed the beams, and complete the installation of the remaining precast main beams (18) from the outer arc of the curved bridge to the inner arc.

48. A construction method for a multifunctional intelligent bridge erecting machine, characterized in that, The method uses the multifunctional intelligent bridge erecting machine according to any one of claims 22 to 36, and the method includes the bridge erecting machine's self-transferring, with the following steps: Before the relocation, if there are no obstacles in front of the bridge erecting machine (24) and the relocation is short, the front outrigger (4) and rear outrigger (6) can be driven directly for self-relocation; For bridge erecting machines with height restrictions in front of them, the following steps can be used for self-transfer: The control subsystem adjusts the bridge erecting machine to be supported by the front outrigger (4) and the rear outrigger (6), and lowers the front outrigger (4) and the rear outrigger (6) to the lowest height; The control subsystem extends the front telescopic outrigger (3) and the rear telescopic outrigger (7) to their maximum length, adjusts the bridge erecting machine to be supported by the front telescopic outrigger (3) and the rear telescopic outrigger (7), and disconnects the front outrigger (4) and the rear outrigger (6) from the single main beam (1). The control subsystem adjusts the height of the front telescopic outrigger (3) and the rear telescopic outrigger (7) to the lowest possible level; Remove the upper structure of the front outrigger (4) and the rear outrigger (6), and the control subsystem controls the first traveling mechanism (405) and the second traveling mechanism to travel to the bottom of the single main beam (1) and connect with the support of the single main beam (1). At this time, the first traveling mechanism (405) and the second traveling mechanism can pass through the height restriction obstacle, so as to realize the self-transfer of the entire bridge erecting machine. For locations requiring long-distance relocation, the following steps can be used for self-relocation: The control subsystem lowers the bridge erecting machine to its lowest height, supported by the first traveling mechanism (405) and the second traveling mechanism; Drive the transfer module transport vehicle (23) so that two transfer module transport vehicles (23) are set under each single main beam segment below the bridge erecting machine. Adjust the support height of the transfer module transport vehicle (23) so that the single main beam (1) is supported on the transfer module transport vehicle (23). The bridge erecting machine is supported by a transfer module transport vehicle (23). The connection between the single main beam segments (101) is released, so that the single main beam (1) is decomposed into multiple single main beam segments (101). Each single main beam segment (101) is transported in sections by the transfer module transport vehicle (23) to complete the long-distance rapid transfer operation of the bridge erecting machine.

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