An automatic operation method for beam gantry crane based on Beidou system

Abstract

The present invention provides a method for the automatic operation of a beam lifting machine based on the Beidou system, which includes the following steps: Step S1, install positioning modules on the beam lifting machine, the beam lifting channels in the beam yard, and each box girder position; Step S2, establish an electronic map of the corresponding beam yard in the control system; Step S3, design a handling route for the electronic map based on the box girder parameters in the beam yard; Step S4, the beam lifting machine moves along the handling route to the designated box girder position and connects the lifting tool of the beam lifting machine to the box girder; Step S5, after determining that the box girder is in a balanced force state, the beam lifting machine places the box girder on the beam transport vehicle according to the handling route. The moving position of the beam lifting machine is precisely controlled by the positioning module. When a box girder needs to be handled, the handling path is automatically generated by the electronic map, and the beam lifting machine is guided by the positioning module during the moving process. No manual driving control is required during the handling process, which improves the accuracy of operation and saves manpower and material resources.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent beam yards, and particularly relates to a method for automatically operating a beam lifting machine based on the Beidou system. Background Art

[0002] A beam lifting machine is a gantry crane specially designed for bridge construction. The beam lifting machine mainly consists of a fabricated main beam, legs, overhead cranes, etc. The components are connected by pin shafts and high-strength bolts, which are easy to disassemble, assemble and transport; compared with ordinary gantry cranes, it is convenient and fast to install, economical and practical. It is suitable for road and bridge construction units that often move or beam yards for transporting beam slabs.

[0003] High-speed railway box girders are generally prepared and maintained in the beam yard. After the box girder maintenance is completed, it needs to be lifted by a beam lifting machine and transported to a beam transport vehicle for installation. At present, the beam lifting machine is controlled manually, with a low degree of automation, and the accuracy is insufficient when manually controlling the movement of the beam lifting machine, which is prone to safety accidents.

[0004] Therefore, it is necessary to provide an improved technical solution for the above-mentioned deficiencies of the prior art. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art. The present invention provides a method for automatically operating a beam lifting machine based on the Beidou system.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] A method for automatically operating a beam lifting machine based on the Beidou system, comprising the following steps:

[0008] Step S1, installing positioning modules on the beam lifting machine, the beam lifting passage of the beam yard, and each box girder position.

[0009] Step S2, establishing an electronic map of the corresponding beam yard in the control system, and marking the positioning modules corresponding to the beam lifting passage and the box girder positions in the electronic map.

[0010] Step S3, issuing a beam lifting instruction to the beam lifting machine through the control system, and the electronic map designs a handling route based on the box girder parameters in the beam yard.

[0011] Step S4, the beam lifting machine moves along the handling route to the designated box girder position, connects the lifting tool of the beam lifting machine with the box girder, initially lifts the box girder, and judges whether the force on the box girder is balanced by the force on the lifting tool.

[0012] Step S5, after determining that the force on the box girder is balanced, the beam lifting machine places the box girder on the beam transport vehicle according to the handling route.

[0013] Preferably, obstacle detection modules are provided on the outriggers of the beam hoisting machine on both sides of the box girder, which are used to detect the storage beam height in front of the running track and lift the box girder height based on the storage beam height.

[0014] Preferably, a collision prevention fence is provided on the outer periphery of the tires of the beam hoisting machine, and a collision prevention strip is provided on the outer side of the collision prevention fence. The collision prevention strip includes a hollow rubber strip and an induction strip. Induction strips are respectively arranged on opposite sides inside the rubber strip, and there is a gap between the two induction strips. In response to external force squeezing the collision prevention strip, the two induction strips come into contact with each other to generate a trigger signal.

[0015] Preferably, the box girder parameters include the box girder maintenance period, the distance between the box girder and the beam hoisting machine, and the relative position between the box girder and the beam transporter;

[0016] Among them, when performing path planning, the priority of the box girder maintenance period > the priority of the distance between the box girder and the beam hoisting machine > the relative position between the box girder and the beam transporter.

[0017] Preferably, a box girder casting production line is provided in the beam yard, the control system is correspondingly connected to the production management system, and a positioning module is provided at least at the demolding station of the box girder casting production line. The beam hoisting machine transports the demolded box girder to the box girder position, and after placing the box girder at the box girder position, the state of the beam hoisting machine, the position of the box girder, and the production information of the box girder are marked, so that in step S4, the beam hoisting machine restores the marked state according to the marked information and connects the spreader to the box girder.

[0018] Preferably, the spreader is connected to and unhooked from the box girder through an automatic disassembly and assembly device, and the automatic disassembly and assembly device includes:

[0019] An assembly box, at the bottom of the assembly box, there is a first lifting module for lifting the assembly box and a first driving module for displacing inside the box girder;

[0020] A disassembly and assembly module, four disassembly and assembly modules are correspondingly arranged inside the assembly box. The disassembly and assembly module includes a placement groove and a rotating motor. The placement groove is rotatably connected inside the assembly box in the horizontal direction, and a nut is correspondingly assembled in the placement groove. The nut is adapted to the external thread of the suspension rod of the spreader;

[0021] An external gear is provided outside the placement groove, and the rotating motor drives the external gear through a driving gear.

[0022] Preferably, an installation seat for rotatably connecting the placement groove is provided inside the assembly box. A spring is provided inside the installation seat, the spring extends longitudinally into the nut, a baffle is provided at the upper end of the spring, and a stress gauge corresponding to the suspension rod is provided on the baffle. The stress gauge is correspondingly connected to the control system.

[0023] Preferably, the automatic disassembly and assembly device is correspondingly placed on the automatic moving device. A support groove corresponding to the automatic disassembly and assembly device is provided above the automatic moving device, and one side of the support groove is open;

[0024] A second lifting module for driving the support groove to lift and a second driving module for displacing between each box girder position are provided below the automatic moving device.

[0025] Beneficial effects: The moving position of the gantry crane is accurately controlled by the positioning module. When it is necessary to carry the box girder, the carrying path is automatically generated through the electronic map. During the movement of the gantry crane, it is guided by the positioning module, and manual driving control is not required during the carrying process, which improves the operation accuracy and saves manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. Among them:

[0027] Figure 1 It is a schematic diagram of the gantry crane carrying in the specific embodiment provided by the present invention;

[0028] Figure 2 It is a structural schematic diagram of the automatic moving device in the specific embodiment provided by the present invention;

[0029] Figure 3 It is a structural schematic diagram of the automatic disassembly and assembly device in the specific embodiment provided by the present invention;

[0030] Figure 4 It is a structural schematic diagram of the anti-collision strip in the specific embodiment provided by the present invention.

[0031] In the figure: 1. Gantry crane; 2. Leg; 3. Suspension gear; 4. Suspension rod; 5. Beam transport vehicle; 6. Box girder; 7. Support groove; 8. Second lifting module; 9. Second driving module; 10. First lifting module; 11. First driving module; 12. Assembly box; 13. Rotating motor; 14. Mounting seat; 15. Driving gear; 16. Outer gear; 17. Nut; 18. Baffle; 19. Spring; 20. Rubber strip; 21. Induction strip. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0033] In the description of the present invention, the orientation or positional relationship indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and does not require the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "connected" and "coupled" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate member. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0035] As Figures 1-4As shown in the figure, an automatic operation method of a beam hoisting machine based on the Beidou system includes the following steps: Step S1, install positioning modules on the beam hoisting machine 1, the beam hoisting passage in the beam yard, and each of the 6 positions of the box girders, and mark the key positions in the beam yard and on the beam hoisting machine 1 through the positioning modules; Step S2, establish an electronic map of the corresponding beam yard in the control system. The control system can be a PLC controller or a computer. The electronic map is generated based on the positioning modules and the actual floor plan of the beam yard. The positioning modules corresponding to the beam hoisting passage and the 6 positions of the box girders are marked in the electronic map. The control system is correspondingly connected to a display screen, so that the information of the beam hoisting passage and the 6 positions of the box girders at each position can be displayed through the electronic map. Step S3, issue a beam hoisting instruction to the beam hoisting machine 1 through the control system. The electronic map designs the handling route based on the parameters of the 6 box girders in the beam yard. The control system connects to the positioning module, the main control module of the beam hoisting machine 1, and other modules through a wireless network (wifi or 5G network), so as to control the beam hoisting machine 1 in real time. When a beam handling operation needs to be carried out, the traveling route of the beam hoisting machine 1 is revised in real time through the feedback of the positioning module by the main control module of the beam hoisting machine 1, so as to realize automatic handling. The control system can automatically operate (drive) the beam hoisting machine 1 to travel along a predetermined road (trajectory) in complex road conditions. It has functions such as automatic road obstacle recognition, automatic alarm, automatic braking, automatic maintaining of a safe distance, vehicle speed and cruise control; Step S4, the beam hoisting machine 1 moves along the handling route to the designated 6 positions of the box girder, connects the lifting tackle 3 of the beam hoisting machine 1 to the box girder 6, and initially lifts the box girder 6. Judge whether the force on the box girder 6 is balanced through the force on the lifting tackle 3. Specifically, a lifting tackle 3 is set at both ends of the box girder 6. Each lifting tackle 3 is provided with two suspender rods 4 (threaded columns). The suspender rods 4 pass through the top plate of the box girder 6 and are connected to nuts 17. The upper end of the suspender rod 4 is a non-circular structure (hexagon) and longitudinally passes through the lifting tackle. A cap-shaped limit protrusion corresponding to the lifting tackle 3 is provided above the suspender rod 4. A stress gauge is provided between the cap-shaped limit protrusion and the upper surface of the lifting tackle 3. The stress gauge is correspondingly connected to the main control unit of the beam hoisting machine 1, and thus is transmitted to the control system through the main control unit of the beam hoisting machine 1 through a wireless network. Therefore, it is possible to judge whether the force on the box girder 6 is balanced based on the force received by the four suspender rods 4. If it is determined that the force on the box girder 6 is unbalanced, the control system drives the beam hoisting machine 1 to lower the box girder 6 and adjust the nut 17. Step S5, after it is determined that the force on the box girder 6 is balanced, the beam hoisting machine 1 places the box girder 6 on the beam transporting vehicle 5 according to the handling route. After placing it on the beam transporting vehicle 5, the lifting tackle 3 is released, and the beam hoisting machine 1 is reset for the next beam handling.

[0036] In an alternative embodiment, obstacle detection modules are provided on the legs 2 of the beam hoisting machine 1 on both sides of the box girder 6. The obstacle detection modules are infrared sensors. By installing infrared sensors on the legs 2, the height of the box girder 6 and the beam storage condition (the number of stored beam layers) are detected. Since the beam hoisting machine 1 has two gantry legs 2, multiple groups of infrared sensors evenly distributed longitudinally are provided on the same gantry leg 2. When the transporter travels through the beam storage area, the number of stored beam layers or the height of the current beam storage position is confirmed through the infrared sensors, and the monitoring data is uploaded to the control system, so as to display the actual beam storage condition of the position in real time. Combining with the state of the beam storage position, the height of the box girder 6 is lifted by the beam hoisting machine 1, thereby avoiding collisions during the handling process.

[0037] For example, the beam yard is designed for double-layer beam storage. For safety reasons, when traveling, the beam slab is first lifted to a height that can pass over two layers of box girders 6 to ensure that the lifted beam slab does not collide with the beam slabs stored below. At positions on the main beam gantry legs 2 higher than one layer (which can be reused to detect the beam storage state of two layers) and at the height of two-layer beam storage, one long-distance infrared sensor is installed on each of the left and right sides (a total of 8 infrared sensors of 50 meters). During the traveling process of the beam hoisting machine 1, when measuring the left or right movement of the whole machine, it is judged whether there is an obstacle above the beam slab through the laser, so as to ensure safe passage when the beam slab traverses the beam storage area and avoid collisions with the obstacles above.

[0038] In an alternative embodiment, during actual travel, it is necessary to ensure that the beam hoisting machine 1 does not collide with the wheels on the beam hoisting passage. An anti-collision fence is provided on the outer periphery of the tires of the beam hoisting machine 1. The anti-collision fence surrounds the outer periphery of the legs 2 of the beam hoisting machine 1. An anti-collision strip is provided on the outer side of the anti-collision fence. The anti-collision strip includes a hollow rubber strip 20 and induction strips 21. The two induction strips 21 are spaced apart in the outward direction of the anti-collision fence. The induction strips 21 are metal strips. The rubber strip 20 is adhered to the anti-collision fence. The induction strips 21 are respectively arranged on the opposite inner sides of the rubber strip 20. There is a gap between the two induction strips 21. In response to external force squeezing the anti-collision strip, the anti-collision strip deforms, and the induction strips 21 come into contact with each other, so that the two induction strips 21 come into contact with each other and generate a trigger signal. The two induction strips 21 are correspondingly connected to the control system. When the trigger signal of the induction strip 21 is received, the beam hoisting machine 1 is emergently stopped to avoid safety accidents.

[0039] In an alternative embodiment, the parameters of the box girder 6 include the curing period (curing time) of the box girder 6, the distance between the box girder 6 and the beam lifting machine 1, and the relative position between the box girder 6 and the beam transporting vehicle 5. Among them, when path planning is carried out, the priority of the curing period of the box girder 6 > the priority of the distance between the box girder 6 and the beam lifting machine 1 > or = the priority of the relative position between the box girder 6 and the beam transporting vehicle 5. Specifically, the curing period of the box girder 6 determines the curing time and the entry time of the box girder 6, so as to carry the box girder 6 in sequence. Correspondingly, the sorting of the distance between the box girder 6 and the beam lifting machine 1 and the relative position between the box girder 6 and the beam transporting vehicle 5 can ensure that the beam lifting machine 1 moves along the nearest path.

[0040] In this embodiment, path planning refers to searching for an optimal or sub-optimal path from the position where the beam lifting machine 1 is located to the target position according to the above priorities. In the whole system, path planning is carried out from top to bottom and includes two aspects:

[0041] (1) Obtain environmental information, that is, obtain all system information that may interact with the path planning of the beam lifting machine 1, including path information, beam storage pedestal site information, demolding pedestal site information, task information, etc.

[0042] (2) Based on the known performance indicators, solve the optimal path on the basis of the obtained environmental information. In a single beam lifting machine 1 scheduling system, the system environment is relatively simple. After the task scheduling system issues a transportation instruction, the starting point and the ending point of the beam lifting machine 1 are determined, and the path planning system only needs to select the shortest path.

[0043] This system uses a vector electronic map tool to construct the layout of the beam yard landmarks and simulate the on-site environment. And pick up the structured data of the scheduling system on this electronic map, so as to realize graphical control.

[0044] In an alternative embodiment, a box girder 6 casting production line is provided in the beam yard. The box girder 6 casting production line is used to produce box girders 6. The control system is correspondingly connected to the production management system to master the production information of the box girders 6 in the beam yard. At least a positioning module is provided at the demolding station of the box girder 6 casting production line to meet the requirements of map components. The beam lifting machine 1 transports the demolded box girder 6 to the box girder 6 station. After placing the box girder 6 at the box girder 6 station, the state of the beam lifting machine 1, the position of the box girder 6, and the production information of the box girder 6 are marked, so that the beam lifting machine 1 restores the marked state according to the marked information in step S4. In the state of the beam transporting vehicle 5 of this marked information, at this time, the suspension rod 4 of the spreader 3 is directly opposite the lifting screw hole on the top plate of the box girder 6, which is convenient for connecting the spreader 3 with the box girder 6. In this way, it is ensured that the states of the beam lifting machine 1 for lifting and lowering are the same, ensuring the lifting accuracy and the force balance of the box girder 6. After the handling is completed, the box girder 6 at this station is marked as an empty position state, which is convenient for handling the next box girder 6.

[0045] Furthermore, an image recognition module is provided below the spreader 3. The image recognition module is correspondingly connected to the main control unit of the gantry crane 1. The position of the screw hole is identified by the binocular camera through the spatial positioning technology and positioned. Based on the recognition result, the spreader 3 is finely adjusted, and the robot vision positioning technology is used for positioning, so as to ensure that the suspension rod 4 is directly opposite to the screw hole.

[0046] Alternatively, a camera or the like is provided below the spreader 3, and the main control unit of the gantry crane 1 is connected through a mobile terminal (mobile phone) or a control handle, so as to control the spreader.

[0047] In an alternative embodiment, in order to further improve the degree of automation, the present application connects and unhooks the spreader 3 and the box girder 6 through an automatic disassembly and assembly device. The automatic disassembly and assembly device is communicatively connected to the control system through a wireless network, and can synchronize specific box girder 6 handling information and path information, etc., including an assembly box 12 and a disassembly and assembly module. A first lifting module 10 for lifting the assembly box 12 and a first driving module 11 for displacing inside the box girder 6 are provided at the bottom of the assembly box 12; the first lifting module 10 is preferably a scissor hydraulic support, and the bottom first driving module 11 is a driving wheel driven by four driving motors. The main control unit of the automatic disassembly and assembly device is connected to the control series through a wireless module, so as to realize automatic operation. Four disassembly and assembly modules are correspondingly arranged inside the assembly box 12, so as to meet the installation or disassembly of the nuts 17 of the four suspension rods 4 for lifting the box girder 6.

[0048] The disassembly and assembly module includes a placement groove and a rotation motor 13. The inside of the placement groove is a hexagonal groove corresponding to the nut 17. The placement groove is rotatably connected inside the assembly box 12 in the horizontal direction. The nut 17 is correspondingly placed in the placement groove. The nut 17 is adapted to the external thread of the suspension rod 4 of the spreader 3. An external gear 16 is provided outside the placement groove. The rotation motor 13 drives the external gear 16 through the driving gear 15, so as to drive the nut 17 to rotate, and thus realize the connection between the nut 17 and the suspension rod 4.

[0049] In this embodiment, an installation seat 14 for rotatably connecting the placement groove is provided inside the assembly box 12. A rotation groove for rotatably connecting the lower end of the placement groove is provided above the installation seat 14. The installation seat 14 is a hollow structure. A spring 19 is provided inside the seat. The spring 19 extends longitudinally into the nut 17. A baffle 18 is provided at the upper end of the spring 19. The upper surface of the baffle 18 is in the same plane as the upper edge of the nut 17. A stress gauge corresponding to the suspension rod 4 is provided on the baffle 18. The stress gauge is correspondingly connected to the control system. When the assembly box 12 is jacked up, the baffle 18 contacts the suspension rod 4 (the end of the suspension rod 4 is spherical or frustum-shaped). At this time, the rotation motor 13 is controlled to start, driving the nut 17 to rotate. During the rotation process, the first lifting module 10 is linked and continues to be jacked up.

[0050] In order to meet the positioning requirements of the automatic disassembly and assembly device, an image recognition module is provided above the assembly box 12. The image recognition module is connected to the main control unit of the automatic disassembly and assembly device. The position of the suspension rod 4 is identified by the spatial positioning technology of the binocular camera for positioning. The first driving module 11 is driven to perform fine-tuning based on the recognition result. The robot vision positioning technology is used for positioning, thereby ensuring that the nut 17 is automatically facing the suspension rod 4.

[0051] Furthermore, a camera is placed above the assembly box 12 to control the main control unit of the automatic disassembly and assembly device through a mobile terminal (mobile phone) or an operating watch to perform remote alignment.

[0052] In an optional embodiment, the automatic disassembly and assembly device is placed corresponding to the automatic moving device, and a bracket 7 corresponding to the automatic disassembly and assembly device is provided above the automatic moving device. One side of the bracket 7 is open, so that the open side of the bracket 7 can be facing the inner cavity ground of the box beam 6. At this time, the automatic disassembly and assembly device can move toward the inner cavity of the box beam 6 to realize the driving of the transportation of the automatic disassembly and assembly device. A second lifting module 8 for driving the bracket 7 to lift and lower and a second driving module 9 for displacement between the platforms of the box beam 6 are provided below the automatic moving device.

[0053] Correspondingly, the second lifting module 8 is a scissor-type hydraulic support, which can drive the bracket 7 to be higher than and flush with the ground of the inner cavity of the box beam 6, and close to the box beam 6 to facilitate the movement of the automatic disassembly and assembly device. The second driving module 9 has driving wheels driven by four driving motors to realize the movement between the box beams 6 in the channel of the box beam 6. The main control unit of the automatic moving device is also connected to the control system through a wireless module. The automatic moving device and the automatic disassembly and assembly device work together to realize the installation of the nut 17 and the switching between the box beams 6. After the installation of the nut 17 of the box beam 6 is completed, pre-lifting is performed, and the corresponding nut 17 is adjusted by feeling the lifting feedback.

[0054] After the adjustment is completed, the automatic disassembly and assembly device is moved to the beam transport vehicle 5 through the automatic moving device, so as to facilitate the unscrewing operation of the nut 17. The unscrewing operation is opposite to the unscrewing operation. The assembly box 12 is lifted upward so that the nut 17 is located in the placement groove, and then the unscrewing operation is performed. During the unscrewing process, the first lifting device cooperates to lower.

[0055] In an optional implementation, the positioning module is a GNSS module, which is used to position and limit each position in the box beam 6 and the moving trajectory of the beam lifting machine 1 with high accuracy to ensure the accuracy of beam moving.

[0056] The electronic map is provided with a deviation correction unit, which compares the relative position of the beam lifting machine 1 and the transport route in real time to guide the beam lifting machine 1 to move along the preset transport route.

[0057] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. An automatic operation method of a beam gantry crane based on the Beidou system, characterized in that, it includes the following steps: Step S1, install positioning modules on the beam gantry crane, the beam lifting passage of the beam yard, and each box girder position; Step S2, establish an electronic map of the corresponding beam yard in the control system, and mark the positioning modules corresponding to the beam lifting passage and the box girder positions in the electronic map; Step S3, issue a beam lifting instruction to the beam gantry crane through the control system, and the electronic map designs a handling route based on the box girder parameters in the beam yard; Step S4, the beam gantry crane moves along the handling route to the designated box girder position, connects the lifting tackle of the beam gantry crane to the box girder, initially lifts the box girder, and judges whether the force on the box girder is balanced by the force on the lifting tackle; The lifting tackle is connected to and unhooked from the box girder through an automatic disassembly and assembly device, and the automatic disassembly and assembly device includes: An assembly box, the bottom of the assembly box is provided with a first lifting module for lifting the assembly box and a first driving module for displacing inside the box girder; A disassembly and assembly module, four of the disassembly and assembly modules are correspondingly arranged inside the assembly box, the disassembly and assembly module includes a placement groove and a rotating motor, the placement groove is rotatably connected inside the assembly box in the horizontal direction, a nut is correspondingly assembled in the placement groove, and the nut is adapted to the external thread of the lifting rod of the lifting tackle; An external gear is provided outside the placement groove, and the rotating motor drives the gear to mesh with the external gear; An installation seat for rotatably connecting the placement groove is provided inside the assembly box, a spring is provided inside the installation seat, the spring extends longitudinally into the nut, a baffle is provided at the upper end of the spring, a stress gauge corresponding to the lifting rod is provided on the baffle, and the stress gauge is correspondingly connected to the control system; Step S5, after determining that the force on the box girder is balanced, the beam gantry crane places the box girder on the beam transporter according to the handling route.

2. The automatic operation method of the beam gantry crane based on the Beidou system according to claim 1, characterized in that, Obstacle detection modules are provided on the outriggers of the beam gantry crane on both sides of the box girder, which are used to detect the stored beam height in front of the running track, and the box girder height is lifted based on the stored beam height.

3. The automatic operation method of the beam gantry crane based on the Beidou system according to claim 1, characterized in that, An anti-collision bar is provided on the outer circumference of the tires of the beam gantry crane, and an anti-collision strip is provided on the outside of the anti-collision bar. The anti-collision strip includes a hollow rubber strip and an induction strip. Induction strips are respectively arranged on opposite sides inside the rubber strip, and there is a gap between the two induction strips. In response to external force squeezing the anti-collision strip, the two induction strips come into contact with each other to generate a trigger signal.

4. The automatic operation method of the beam gantry crane based on the Beidou system according to claim 1, characterized in that, The box girder parameters include the box girder maintenance period, the distance between the box girder and the beam gantry crane, and the relative position between the box girder and the beam transporter; Among them, when performing path planning, the priority of the box girder maintenance period > the priority of the distance between the box girder and the beam gantry crane > the relative position between the box girder and the beam transporter.

5. The automatic operation method of the beam gantry crane based on the Beidou system according to claim 1, characterized in that, There is a box girder casting production line in the beam yard. The control system is correspondingly connected to the production management system. There is at least a positioning module at the demolding station of the box girder casting production line. The beam lifter transports the demolded box girder to the box girder position. After placing the box girder at the box girder position, the state of the beam lifter, the position of the box girder, and the production information of the box girder are marked, so that in step S4, the beam lifter restores the marked state according to the marked information and connects the spreader to the box girder.

6. The automatic operation method of the beam lifter based on the Beidou system according to claim 1, characterized in that, the automatic disassembly and assembly device is correspondingly placed on the automatic moving device. There is a support groove corresponding to the automatic disassembly and assembly device above the automatic moving device, and one side of the support groove is open; a second lifting module for driving the support groove to lift and a second driving module for displacing between each box girder position are provided below the automatic moving device.

Images