An automatic control system for beam erection

Abstract

The present invention provides a beam erection automatic control system, comprising: an RTK receiver, arranged beside the hoist of the overhead crane of the beam erection equipment, for positioning the spatial coordinates of the overhead crane; a lifting height encoder, arranged on the main shaft of the hoist of the overhead crane of the beam erection equipment, for positioning the spatial coordinates of the spreader; a main beam control station, arranged in the operating room of the beam erection equipment, communicatively connected to the RTK receiver and the lifting height encoder; the main beam control station is used for receiving the spatial coordinates of the overhead crane and the spatial coordinates of the spreader, automatically generating a beam erection plan and sending a beam erection instruction; a trolley control station, arranged on the traversing trolley of the overhead crane of the beam erection equipment, electrically connected to the main beam control station, for controlling the lifting, traversing and longitudinal movement of the spreader; a leg control station, arranged on the leg of the beam erection equipment, electrically connected to the main beam control station, for controlling the overall traversing of the leg. The present invention can solve the technical problems existing in the prior art that when beam erection is carried out manually, the erection efficiency is relatively low, it is easy to make mistakes, resulting in safety accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of highway and railway bridge construction, and particularly relates to an automatic beam erection control system. Background Art

[0002] In highway and railway projects, when carrying out bridge construction, with the increasing requirements for bridge prefabrication, more and more bridge projects adopt the on-site installation process of precast beams for construction. For most precast beams, a bridge girder erecting machine is used for on-site installation. However, the current level of automatic control of bridge girder erecting machines is very low, and the beam erection operation almost completely relies on manual control by humans. For the beam erection working conditions with relatively complex processes, when manual operation is adopted, a large number of operators are required to work together, the erection efficiency is low, and it is easy to make mistakes, resulting in safety accidents. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the present invention proposes an automatic beam erection control system to solve the technical problems in the existing technology that the erection efficiency is low, it is easy to make mistakes, and safety accidents are caused when beam erection is carried out manually.

[0004] The technical solution adopted by the present invention is an automatic beam erection control system;

[0005] In the first implementable mode, it includes:

[0006] An RTK receiver, arranged beside the hoist of the trolley of the beam erection equipment, for positioning the spatial coordinates of the trolley;

[0007] A lifting height encoder, arranged on the main shaft of the hoist of the trolley of the beam erection equipment, for positioning the spatial coordinates of the spreader;

[0008] A main girder control station, arranged in the operation room of the beam erection equipment, and communicatively connected to the RTK receiver and the lifting height encoder; the main girder control station includes a control platform, and the control platform is used for receiving the spatial coordinates of the trolley and the spatial coordinates of the spreader; it is also used for automatically generating a beam erection plan according to the spatial coordinates of the trolley, the spatial coordinates of the spreader and the beam erection control boundary conditions, and sending a beam erection instruction;

[0009] A trolley control station, arranged on the transverse trolley of the trolley of the beam erection equipment, and electrically connected to the main girder control station, for controlling the lifting, transverse movement and longitudinal movement of the spreader according to the beam erection instruction; and

[0010] A leg control station, arranged on the legs of the beam erection equipment, and electrically connected to the main girder control station, for controlling the overall transverse movement of the legs according to the beam erection instruction.

[0011] Combined with the first implementable mode, in the second implementable mode, the beam erection equipment is a bridge girder erecting machine, the trolley includes a front trolley and a rear trolley, and the legs include a front leg and a middle leg.

[0012] Combined with the second implementation method, in the third implementation method, there are 2 RTK receivers, which are respectively arranged beside the winches of the front and rear trolleys of the bridge erecting machine.

[0013] Combined with the second implementation method, in the fourth implementation method, there are 2 lifting height encoders, which are respectively arranged on the main shafts of the winches of the front and rear trolleys of the bridge erecting machine.

[0014] Combined with the second implementation method, in the fifth implementation method, there is 1 traverse travel encoder respectively provided at the front outrigger control station and the middle outrigger control station.

[0015] Combined with the second implementation method, in the sixth implementation method, the communication connection methods of the main girder control station, the front trolley control station, the rear trolley control station, the front outrigger control station, and the middle outrigger control station are wireless industrial network bridges.

[0016] Combined with the first implementation method, in the seventh implementation method, the lifting, traverse, and longitudinal movement of the spreader and the overall traverse of the outriggers are driven by variable frequency speed regulation.

[0017] Combined with the first implementation method, in the eighth implementation method, it further includes a safety protection device, and the safety protection device includes:

[0018] An inclination sensor, placed on the precast beam slab;

[0019] An anti-collision indication device, installed at both ends of the precast beam slab; and

[0020] A load sensor, installed on the trolley.

[0021] Combined with the eighth implementation method, in the ninth implementation method, the anti-collision indication device is an ultrasonic anti-collision switch.

[0022] Combined with the eighth implementation method, in the tenth implementation method, the safety protection device further includes an RFID positioning device, and the RFID positioning device includes:

[0023] An RFID position reader, installed on the trolley;

[0024] A tag, installed on the main girder;

[0025] A traverse trolley encoder, installed on the traverse trolley of the trolley, and

[0026] A longitudinal movement trolley encoder, installed on the longitudinal movement trolley of the trolley.

[0027] Combined with the eighth implementation method, in the eleventh implementation method, the main girder control station is provided with an audible and visual alarm.

[0028] In the twelfth implementation manner, in combination with the first, fifth, or tenth implementation manner, the lifting height encoder, the transverse travel encoder, the transverse trolley encoder, and the longitudinal trolley encoder are absolute value encoders.

[0029] As can be seen from the above technical solutions, the beneficial technical effects of the present invention are as follows:

[0030] 1. The use of the beam erection automatic control system can realize the automatic control of the process from the precast beam being lifted off the beam transporting vehicle until it is installed in place, reduce labor consumption, improve the installation efficiency and the success rate of the first installation.

[0031] 2. The use of the safety protection device can prevent the precast beam from tilting, the precast beam from hitting the capping beam, and the RTK positioning deviation from being too large during the beam erection process, effectively improving the safety protection effect during the construction process and reducing the possibility of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation manners of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific implementation manners or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0033] Figure 1 Schematic diagram of beam erection by the bridge girder erection machine in Embodiment 1 of the present invention;

[0034] Figure 2 Schematic diagram of the distribution of control sensors in Embodiments 1 and 2 of the present invention;

[0035] Figure 3 Schematic diagram of feeding the beam under the bridge in Embodiment 1 of the present invention;

[0036] Figure 4 Schematic diagram of the bridge girder erection machine in place and starting to lift in Embodiment 1 of the present invention;

[0037] Figure 5 Schematic diagram of the process of lifting the beam body in Embodiment 1 of the present invention;

[0038] Figure 6 Schematic diagram of unilateral lifting of the beam body in Embodiment 1 of the present invention;

[0039] Figure 7 Schematic diagram of horizontal movement of the beam body with inclination in Embodiment 1 of the present invention;

[0040] Figure 8 Schematic diagram of unilateral lifting of the other side of the beam body in Embodiment 1 of the present invention;

[0041] Figure 9Schematic diagram of the overall backward movement of the beam slab in Embodiment 1 of the present invention.

[0042] Reference numerals:

[0043] 11 - Front overhead crane, 12 - Rear overhead crane, 13 - Front outrigger, 14 - Middle outrigger, 15 - Tail outrigger, 16 - Bracket, 17 - Sling, 18 - Suspension rope, 21 - Front overhead crane, 24 - Inclination sensor, 25 - Anti-collision indication device, 26 - Load sensor, 27 - RFID position reader, 28 - Cross-travel trolley encoder, 29 - Longitudinal-travel trolley encoder, 31 - Prefabricated beam slab, 32 - Pier body, 33 - Capping beam. Detailed implementation manners

[0044] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0045] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0046] Embodiment 1

[0047] The present invention provides a beam erection automatic control system, including:

[0048] An RTK receiver 21, arranged beside the winch of the overhead crane of the beam erection equipment, for positioning the spatial coordinates of the overhead crane;

[0049] A lifting height encoder 22, arranged on the main shaft of the winch of the overhead crane of the beam erection equipment, for positioning the spatial coordinates of the sling;

[0050] A main beam control station, arranged in the operation room of the beam erection equipment, communicatively connected to the RTK receiver 21 and the lifting height encoder 22; the main beam control station includes a control platform, and the control platform is used to receive the spatial coordinates of the overhead crane and the spatial coordinates of the sling; it is also used to automatically generate a beam erection plan according to the spatial coordinates of the overhead crane, the spatial coordinates of the sling and the beam erection control boundary conditions, and send a beam erection instruction;

[0051] An overhead crane control station, arranged on the cross-travel trolley of the overhead crane of the beam erection equipment, electrically connected to the main beam control station, for controlling the lifting, cross-travel and longitudinal-travel of the sling 17 according to the beam erection instruction; and

[0052] An outrigger control station, arranged on the outrigger of the beam erection equipment, electrically connected to the main beam control station, for controlling the overall cross-travel of the outrigger according to the beam erection instruction.

[0053] The working principle of Embodiment 1 is described in detail below:

[0054] In this embodiment, the RTK positioning technology based on the satellite positioning system is selected to measure the spatial position and attitude of the precast beam to be lifted. RTK is a real-time kinematic carrier phase differential technology. Its principle is to solve the coordinates by taking the difference in the way of real-time processing of the carrier phase observations of two measurement stations, and sending the carrier phase collected by the reference station to the user receiver. The selection of the satellite positioning system is not limited. In this embodiment, for example, Beidou and GPS are used. At the installation site, the data of the final installation position of the structure and the precast beam are known through the design drawing documents or acceptance materials. The relevant coordinates of the precast beam during the beam erection process and at the final position can be input into the beam erection automatic control system of this embodiment as the target values required during installation.

[0055] As Figure 1 shown, since the spreader 17 is located below the main structure of the bridge girder erecting machine and is easily blocked, if the RTK receiver 21 is installed on the spreader 17, it is likely to affect the measurement accuracy. Therefore, in this embodiment, as Figure 2 shown, one RTK receiver 21 is respectively installed beside the winches of the front and rear trolleys of the bridge girder erecting machine, so that the spatial coordinate positions of the front and rear trolleys can be located, and the positioning accuracy can reach the centimeter level. On the main shafts of the winches of the front and rear trolleys, one lifting height encoder 22 is respectively installed, which can accurately measure the distance between the spreader 17 and the RTK receiver 21 in the vertical direction and locate the spatial coordinates of the spreader. In this embodiment, the absolute value encoder is selected as the lifting height encoder 22. The absolute value encoder determines the code by mechanical position, without the need for memory or finding a reference point. The anti-interference characteristics of the encoder and the reliability of the data are high, and the positioning accuracy can reach millimeters. Based on the above measurements, the accurate spatial positions of the two spreaders can be known, and the spatial position and attitude of the object to be lifted can be accurately measured, and the measurement accuracy can reach the centimeter level. The installation methods of the RTK receiver 21 and the lifting height encoder 22 are not limited. In this embodiment, for example, the bolt connection method is selected for installation.

[0056] During the beam erection construction, it is also necessary to clarify the length of the lifting rope 18 and the position of the hanging point of the lifting rope 18 in the longitudinal distance of the precast beam 31; the data of the on-site structures (such as piers and cap beams) and the data of the precast beam 31 to be erected are the actual acceptance data, and these data form the boundary conditions for beam erection control; the coordinate position of the final installation of the precast beam 31 is used as the target value for beam erection control. These data are input into the control platform of the beam erection automatic control system of this embodiment, and the control platform automatically generates a beam erection plan for the precast beam 31 to ensure that the erection process has a clear route, does not touch any structures, and is finally accurately positioned. In this embodiment, the path finding optimization algorithm can be used to automatically generate the beam erection plan for the precast beam 31.

[0057] In this embodiment, for issuing the erection instruction of precast beam slices, a wireless decentralized control method based on a local area network is adopted, which is divided into a main beam control station, a front crane control station 11, a rear crane control station 12, a front outrigger control station 13, and a middle outrigger control station 14. Among them, the main beam control station serves as the master station, and the front crane control station 11, the rear crane control station 12, the front outrigger control station 13, and the middle outrigger control station 14 serve as slave stations. The control platform of the master station receives the remote control operation instruction, receives the spatial coordinates of the crane and the spatial coordinates of the spreader, receives the safety limit detection signal machine status signals of each slave station, automatically generates a beam erection plan according to the spatial coordinates of the crane, the spatial coordinates of the spreader and the beam erection control boundary conditions, generates the correct beam erection operation instruction according to the control logic, and sends the beam erection operation instruction to each slave station. Each slave station executes the corresponding operation actions according to the beam erection operation instruction. After adopting distributed control, only power supply cables need to be laid between the master station and the slave stations. The control and drive of each slave station are completed near the slave station for detection and control. In order to simplify the wiring more, the local area network uses a wireless industrial bridge to replace the network cable wiring, greatly reducing the wiring construction difficulty of the bridge erecting machine and also reducing the maintenance cost of the bridge erecting machine in subsequent use.

[0058] A control platform is set at the master station. Through the human-machine interface, the control platform can display the current operation instruction. When performing operation actions, it can also display all the fault information of the whole machine, which is convenient for maintenance personnel to repair the equipment.

[0059] The following is a detailed introduction to the master station and the slave stations respectively:

[0060] The main beam control station is set in the operation room of the bridge erecting machine, specifically in the driver's cab at the tail of the bridge erecting machine. The master station receives the operation instruction from the wire-controlled remote controller and generates a control instruction according to the signals detected and fed back by the slave stations (including safety limit, overload, status, etc.); at the same time, it displays various operation information and fault information on the human-machine interface of the control platform in real time. The hydraulic control of the tail outrigger 15 is directly controlled by the master station. The actions of the front crane, the rear crane, the front outrigger, and the middle outrigger are driven and controlled by their respective slave stations. In addition to completing the control function, the master station is also responsible for distributing power to each slave station.

[0061] The front crane control station 11 and the rear crane control station 12 are set on the cross-travel trolleys of the cranes of the bridge erecting machine and are electrically connected to the main beam control station (including power supply and communication), and are used to control the lifting, cross-travel and longitudinal movement of the spreader 17. Specifically, a variable frequency speed regulation drive method is adopted. The coordinated operation of the two cranes is controlled by the master station. There is no master-slave relationship or control relationship between the two slave stations.

[0062] Because the front outrigger and the middle outrigger of the bridge erection machine have the whole machine lateral movement and jacking action, which are relatively complex and have many driving components, a front outrigger control station 13 and a middle outrigger control station 14 are respectively set on the front outrigger and the middle outrigger of the bridge erection machine. The tail outrigger 15 and the bracket 16 do not have too much drive control except hydraulic pressure; therefore, the control of the tail outrigger 15 and the bracket 16 belongs to the main station control. The front outrigger control station 13 and the middle outrigger control station 14 are electrically connected to the main beam control station (including power supply and communication), and are used to control the whole machine lateral movement of the front outrigger and the middle outrigger, and adopt a variable frequency speed regulation drive mode. A lateral movement travel encoder 23 is respectively provided on the front outrigger control station 13 and the middle outrigger control station 14, which is used to detect the actual displacement value of the front outrigger and feed it back to the control platform. The lateral movement travel encoder uses an absolute encoder.

[0063] The following is an engineering implementation case to illustrate the effect of the automatic beam erection control system in this embodiment.

[0064] Highway bridge erection machines usually use tail-end beam feeding. When feeding beams under the bridge, since the length of the precast beam is greater than the clear space distance at the edge of the pier cap beam, the precast beam needs to be lifted longitudinally and tilted, staggered from the cap beam, before it can be lifted to the bridge deck for installation. During the lifting process, the inclination angle and spatial position of the precast beam need to be strictly controlled to prevent collision, which poses great difficulty and safety risks. Taking the Hangzhou Yuhang Elevated Project as an example, the Hangzhou Yuhang Elevated Project is 34 kilometers long, with a total of 9,128 T-beams for the upper structure. The entire line is elevated, and there is a municipal road under the bridge. The road is not interrupted during construction. Due to the large number of breakpoints in the upper structure construction, bridge deck beam feeding cannot be used. The automatic beam erection control system of this embodiment was adopted, and the construction was successfully completed. Figure 3 As shown, the details are as follows:

[0065] 1. Bridge erection machine in place

[0066] like Figure 4 As shown, the bridge erection machine is in the beam erection state, the beam transport vehicle carries the prefabricated beam pieces to the beam hanging position, and the parking position is directly below the installation span.

[0067] 2. Beam lifting

[0068] like Figure 5 As shown, the beam erection automatic control system lifts the beam body into the air and withdraws the beam transport vehicle. It is raised as much as possible without colliding with the cap beam and the precast beam piece. In this embodiment, the precast beam piece is set to be 300 mm away from the bottom surface of the cap beam. The two vehicles move back synchronously to the front end of the beam to expose the cap beam, which is set to 300 mm.

[0069] 3. Beam lifting

[0070] like Figure 6As shown in the figure, the beam erection automatic control system lifts the beam body at one end and controls the rotation angle not to exceed 15°. That is, when the height difference between the front and rear ends of the beam body is 7.3 meters, the beam lifting stops.

[0071] 4. Oblique horizontal movement of the beam body

[0072] As Figure 7 shown in the figure, before and after starting the longitudinal gantry cranes of the beam erection automatic control system, the beam slab is moved parallel for about 3.7 meters, and the low-end beam body is moved out of the vertical projection range of the capping beam.

[0073] 5. Beam moving and lifting

[0074] As Figure 8 shown in the figure, after starting the hoisting mechanism of the beam erection automatic control system, when the rear end is hoisted higher than the bearing pad stone, the beam slab can be moved backward.

[0075] 6. Beam lowering and positioning

[0076] As Figure 9 shown in the figure, when the T-beam moves backward, the beam erection automatic control system starts the front and rear overhead cranes. The whole beam body moves backward to the longitudinal target position. The automatic control system controls the transverse trolleys of the front support legs and the middle support legs, and moves the whole bridge erection machine transversely to the transverse target position. After precise adjustment and alignment, the precast beam slab falls into place, and the automatic beam erection ends.

[0077] Figures 4 to 9 The numbers in

[0078] The beam erection process of the Hangzhou Yuhang viaduct project was installed in place at one time, without touching any structures during the process, and finally the positioning was accurate. In terms of installation efficiency, only 3 to 4 T-beams can be installed by manual labor in one shift (calculated according to 12 hours); when using the beam erection automatic control system in this embodiment for automatic beam erection, 5 to 6 T-beams can be installed in one shift (calculated according to 12 hours), and the efficiency is increased by about 50%.

[0079] Through the technical solution in this embodiment, it is possible to realize the automatic control of the process from the precast beam slab being lifted off the beam transport vehicle until it is installed in place, reduce personnel consumption, improve the installation efficiency and the one-time installation success rate.

[0080] Embodiment 2

[0081] During the process of lifting the beam, safety protection is particularly important. To solve the safety protection problem during the construction process, on the basis of Embodiment 1, it is further optimized, and relevant measures for safety protection are implemented using a safety protection device. In this embodiment, the safety protection device includes an inclination sensor 24, a collision prevention indication device 25, a load sensor 26, and an RFID positioning device. As Figure 2 shown in the figure, specifically as follows:

[0082] Place the portable inclination sensor 24 on the precast beam 31. The specific position is not limited. For example, in this embodiment, it is placed on the upper surface of the precast beam 31 in an adsorption manner. The detection signal of the inclination sensor 24 is sent to the control system through its own wireless transmission module. When the detected longitudinal and lateral inclination changes of the precast beam 31 are greater than the warning set value, stop the automatic beam lifting process and give an audible and visual alarm prompt.

[0083] Place anti-collision indication devices 25 at both ends of the precast beam 31. The specific position is not limited. For example, in this embodiment, they are placed on the top surfaces of the left and right ends of the precast beam 31 in an adsorption manner, namely the front and rear anti-collision indication devices. When the precast beam 31 approaches the bottom of the capping beam and reaches the set safety distance value, stop the machine and give an audible and visual alarm. In this embodiment, the front and rear anti-collision indication devices are portable ultrasonic anti-collision switches.

[0084] On the front and rear overhead cranes, one load sensor 26 is provided respectively. The specific position is not limited. For example, in this embodiment, it is installed on the front and rear overhead cranes in a bolt connection manner. During the lifting process, when the load sensor 26 detects that the load change rate is greater than 10%, it indicates that a collision may occur, stop the machine and give an audible and visual alarm.

[0085] Sometimes, due to reasons such as communication failures, satellite communication interruptions may occur. At this time, the coordinate information of the precast beam 31 calculated using RTK positioning technology may be distorted. In this embodiment, an RFID (Radio Frequency Identification) positioning device is used for RTK dynamic positioning verification and protection. The RFID positioning device includes an RFID position reader 27, tags, a cross-travel trolley encoder 28, and a longitudinal-travel trolley encoder 29. Install the RFID position reader 27 on the overhead crane. The installation position and method are not limited. For example, in this embodiment, it is installed on the overhead crane body in a bolt connection manner. The tags are set on the main beam of the bridge erecting machine. The installation position and method are not limited. For example, in this embodiment, they are installed on the top chord surface of the main beam in an epoxy adhesive paste manner. The cross-travel trolley encoder 28 and the longitudinal-travel trolley encoder 29 are respectively installed on the cross-travel trolley and the longitudinal-travel trolley of the overhead crane to detect the relative position changes of the cross-travel trolley and the longitudinal-travel trolley; the installation position and method are not limited. For example, in this embodiment, they are installed on the cross-travel trolley and the longitudinal-travel trolley bodies in a bolt connection manner. When the difference between the position change detected by the encoder and the RTK dynamic position change is greater than the set threshold, stop the machine and give an audible and visual alarm. In this embodiment, the cross-travel trolley encoder 28 and the longitudinal-travel trolley encoder 29 use absolute encoders, and the set threshold for the difference between the position change detected by the encoder and the RTK dynamic position change is that the difference does not exceed 10%.

[0086] In this embodiment, the inclination sensor, the ultrasonic anti-collision switch, and the load sensor all use wireless communication methods to transmit detection signals to the control platform. For the method of acoustic and optical alarm, an acoustic and optical alarm can be selected and installed in the main beam control station, that is, in the driver's cab at the tail of the bridge erecting machine.

[0087] Through the safety protection device of this embodiment, it is possible to avoid the inclination of precast beam slices, the impact between precast beam slices and cap beams, and excessive RTK positioning deviation during the beam erection process, effectively improve the safety protection effect during the construction process, and reduce the possibility of safety accidents.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. An automatic control system for beam erection, characterized in that, Comprising: An RTK receiver (21), arranged beside the hoist of the overhead crane of the girder erection equipment, for positioning the spatial coordinates of the overhead crane; A lifting height encoder (22), arranged on the main shaft of the hoist of the overhead crane of the girder erection equipment, for positioning the spatial coordinates of the spreader; A main girder control station, arranged in the operation room of the girder erection equipment, communicatively connected to the RTK receiver (21) and the lifting height encoder (22); the main girder control station includes a control platform, and the control platform is used for receiving the spatial coordinates of the overhead crane and the spatial coordinates of the spreader; it is also used for automatically generating a girder erection plan according to the spatial coordinates of the overhead crane, the spatial coordinates of the spreader and the girder erection control boundary conditions, and sending a girder erection instruction; An overhead crane control station, arranged on the transverse trolley of the overhead crane of the girder erection equipment, electrically connected to the main girder control station, for controlling the lifting, transverse movement and longitudinal movement of the spreader (17) according to the girder erection instruction; And A leg control station, arranged on the legs of the girder erection equipment, electrically connected to the main girder control station, for controlling the overall transverse movement of the legs according to the girder erection instruction; The girder erection automatic control system works in the following manner: Make the bridge girder erection machine in the girder erection state, the beam transport vehicle transports the precast beam to the beam hanging position, and the parking position is directly below the installed bridge span; the girder erection automatic control system lifts the beam body into the air and evacuates the beam transport vehicle; the girder erection automatic control system lifts the beam body at one end and controls the rotation angle not to exceed 15°; after the girder erection automatic control system starts the hoisting mechanism, when the rear end lifting height exceeds the bearing pad stone, the beam slab can be moved backward; when the T-beam moves backward, the girder erection automatic control system starts the front and rear overhead cranes, and the beam body moves backward as a whole to the longitudinal target position. The automatic control system controls the transverse trolleys of the front legs and the middle legs according to the girder erection plan automatically generated by the path finding optimization algorithm, and transversely moves the whole bridge girder erection machine to the transverse target position. After precise adjustment and alignment, the precast beam slab falls into place, completing the one-time installation of automatic girder erection.

2. The automatic control system for beam erection according to claim 1, wherein: The girder erection equipment is a bridge girder erection machine, the overhead crane includes a front overhead crane and a rear overhead crane, and the legs include front legs and middle legs.

3. The automatic beam erection control system according to claim 2, characterized in that: There are 2 RTK receivers (21), respectively arranged beside the hoists of the front and rear overhead cranes of the bridge girder erection machine.

4. The automatic beam erection control system according to claim 2, wherein: There are 2 lifting height encoders (22), respectively arranged on the main shafts of the hoists of the front and rear overhead cranes of the bridge girder erection machine.

5. The automatic beam erection control system according to claim 2, characterized in that: The front leg control station (13) and the middle leg control station (14) are respectively provided with 1 transverse travel encoder (23).

6. The automatic beam erection control system according to claim 2, characterized in that: The communication connection methods of the main girder control station, the front overhead crane control station (11), the rear overhead crane control station (12), the front leg control station (13) and the middle leg control station (14) are wireless industrial network bridges.

7. The automatic beam erection control system according to claim 1, characterized in that: The lifting, transverse movement and longitudinal movement of the spreader (17) and the overall transverse movement of the legs are driven by variable frequency speed regulation.

8. The automatic beam erection control system according to claim 1, characterized in that, It further includes a safety protection device, and the safety protection device includes: An inclination sensor (24), placed on the precast beam slab (31); An anti-collision indication device (25), installed at both ends of the precast beam slab (31); and A load sensor (26), installed on the overhead crane.

9. The automatic beam erection control system according to claim 8, characterized in that: The anti-collision indication device (25) is an ultrasonic anti-collision switch.

10. A beam erection automatic control system according to claim 8, characterized in that, The safety protection device further includes an RFID positioning device, and the RFID positioning device includes: An RFID position reader (27), installed on the overhead crane; A tag, installed on the main beam; A cross-travel trolley encoder (28), installed on the cross-travel trolley of the overhead crane, and A longitudinal-travel trolley encoder (29), installed on the longitudinal-travel trolley of the overhead crane.

11. An automatic beam erection control system according to claim 10, characterized in that: The main beam control station is equipped with an audible and visual alarm.

12. The automatic beam erection control system according to claim 1 or 5 or 10, characterized in that: The hoisting height encoder (22), the cross-travel stroke encoder (23), the cross-travel trolley encoder (28), and the longitudinal-travel trolley encoder (29) select absolute encoders.

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