The invention belongs to the technical field of bridge construction, and discloses a rubber-tyred beam lifter small-curve-radius unbalanced cantilever and assembly construction system. The rubber-tyred beam lifter small-curve-radius unbalanced cantilever and assembly construction system comprise an image acquisition module, an information acquisition module, a central control module, a three-dimensional model construction module, a sequence determination module, a positioning module, a calculation module, a loading data determination module, a grabbing module, a movement control module, an adjustment module and a construction result visualization module. According to the system, the limitation of symmetrical hoisting can be avoided, the huge economic cost for meeting the transportation condition on the premise of symmetrical hoisting is avoided, and the application range of the bridge cantilever assembly technology is greatly widened; and the steps are simple, the design is reasonable, construction is easy and convenient to construct, the using effect is good, the construction process is safe, the construction period is short, and the input construction cost is low.