Deformation detection system and deformation detection method for main beam of overhead and portal crane

Abstract

The invention discloses a deformation detection system and a deformation detection method for a main beam of an overhead and portal crane, and belongs to the technical field of detection equipment, the deformation detection system comprises a laser position sensor, data analysis equipment and a wheel type walking vehicle, the laser position sensor comprises a laser transmitter and a laser receiver, the laser transmitter is mounted at one end of a main beam of the gantry crane, the laser receiver comprises a laser receiving target and a photoelectric converter, the laser receiving target is kept in a vertical state through a balancing weight, and the data analysis equipment is in communication connection with the photoelectric converter. The deformation detection method comprises the steps that the laser position sensor and the wheel type walking vehicle are started, the wheel type walking vehicle moves, a laser beam is received, the photoelectric converter converts the vertical position of laser on the target into an electric signal, the data analysis equipment obtains the instantaneous position according to the horizontal distance, and the vertical deformation degree of the instantaneous position is calculated. Reliable data support is provided for daily safety maintenance of the crane, and the problems that human eye detection is poor in accuracy and cannot be digitized are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to a deformation detection system and a deformation detection method for a main beam of a gantry crane. Background Art

[0002] The main beam of a gantry crane is mainly a metal structure. The metal structure is in a harsh environment such as high temperature, high pressure, large load and fatigue load, and is prone to overload deformation. If it is in a deformed state for a long time without repair, it may cause a series of safety problems. Therefore, it is particularly important to detect the deformation of the main beam of a gantry crane. However, as far as the inventor knows, there is no effective detection method, and it mainly relies on the human eye for judgment. However, the human eye has poor accuracy on the one hand, such as being unable to see some minor deformations, and on the other hand, it is impossible to quantify the deformation situation numerically, and cannot provide an effective reference for safety situation estimation. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned technical problems and to provide a deformation detection system and deformation detection method for the main beam of a gantry crane. A laser transmitter is used to provide a horizontal reference for the main beam, and a laser receiving target is used to receive the horizontal reference laser beam. The laser receiving target is installed with multiple rows of laser receiving modules in the vertical direction. Each module is fixed in the vertical direction and has an absolute position. When the laser receiving module receives the laser, a photoelectric conversion device is used to convert the laser signal into vertical position information, which is converted into a horizontal position using an encoder on the walking wheel and transmitted to a data analysis device. The data analysis device can be used to analyze and calculate the deformation position and deformation data of the main beam, thereby realizing automated and digitized detection, providing reliable data support for crane safety maintenance behaviors such as daily maintenance, regular inspection, and safety assessment of the crane, and solving the problem of poor accuracy of human eye detection and inability to digitize.

[0004] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention discloses a deformation detection system for the main beam of a gantry crane, comprising a laser position sensor, a data analysis device and a wheeled traveling vehicle capable of moving linearly along the beam length direction of the main beam of the gantry crane, wherein the laser position sensor comprises a laser transmitter and a laser receiver, wherein the laser transmitter is installed at one end of the main beam of the gantry crane, wherein the laser receiver comprises a laser receiving target and a photoelectric converter, wherein the laser receiving target is uprightly connected to the wheeled traveling vehicle, wherein the laser receiving target is maintained in a vertical state by a counterweight block, wherein the photoelectric converter is used to convert the laser signal received on the laser receiving target into an electrical signal, wherein the electrical signal comprises a vertical position value of the laser on the laser receiving target, wherein an encoder is installed on the wheeled traveling vehicle, wherein the horizontal distance to the laser transmitter is obtained by the encoder, and wherein the data analysis device and the encoder are both communicatively connected to the photoelectric converter.

[0005] Preferably, the laser receiving target comprises a plurality of laser receiving modules, and the plurality of laser receiving modules are distributed along the upright direction of the laser receiving target.

[0006] Preferably, a first angle sensor is provided on the laser receiving target, and the first angle sensor is communicatively connected to the data analysis device.

[0007] Preferably, a second angle sensor is provided on the laser emitter, and the laser emitter is installed on the main beam of the gantry crane through an angle adjustment device, and the second angle sensor is electrically connected to the angle adjustment device.

[0008] Preferably, the angle adjustment device includes a hinge support, an electric telescopic cylinder and a controller, the hinge support is provided with a first hinge point and a second hinge point, the second hinge point is lower than the first hinge point, the laser emitter is hinged on the first hinge point, the cylinder body of the electric telescopic cylinder is hinged on the second hinge point, the piston rod of the electric telescopic cylinder is hinged to the laser emitter, and the electric telescopic cylinder and the second angle sensor are both electrically connected to the controller.

[0009] Preferably, the laser receiver comprises a battery, and the battery is electrically connected to the photoelectric converter.

[0010] Preferably, the laser receiver includes a wireless data transmitting device, the photoelectric converter is electrically connected to the wireless data transmitting device, and a wireless data receiving device is installed on the data analysis equipment.

[0011] Preferably, a display screen is installed on the data analysis device.

[0012] Also disclosed is a deformation detection method for a gantry crane main beam, which adopts the above-mentioned deformation detection system for the gantry crane main beam, and includes the following steps: starting a laser position sensor and a wheeled traveling vehicle, the wheeled traveling vehicle moves from one end of the gantry crane main beam to the other end, a laser receiving target receives a laser beam emitted by a laser transmitter, a photoelectric converter converts the laser signal into an electrical signal and transmits it to a data analysis device in real time, the electrical signal includes a vertical position value of the horizontal laser beam on the laser receiving target, an encoder obtains a horizontal distance between the laser receiving target and the laser transmitter, the data analysis device obtains the instantaneous position of the laser receiving target on the gantry crane main beam according to the horizontal distance, the data analysis device calculates the difference by subtracting the vertical position value of the laser receiving module at the instantaneous position from the vertical position value of the laser receiving module initially preset, and the difference is the vertical deformation degree of the gantry crane main beam at the instantaneous position.

[0013] Preferably, the first angle sensor transmits the tilt angle of the laser receiving target to the data analysis device in real time, and the data analysis device calibrates the vertical position value of the instantaneous position according to the tilt angle, and calculates the vertical deformation degree according to the calibrated position value of the instantaneous position:

[0014] Vertical deformation Δh = h1-h2, h1 = l*sinθ;

[0015] h2 is the initial laser receiving module position value, l is the instantaneous laser receiving module position, θ is the tilt angle of the instantaneous position, and h1 is the instantaneous laser receiving module position.

[0016] Preferably, the laser beam emission angle of the laser emitter is adjusted by the second angle sensor and the angle adjustment device to keep the laser beam horizontal.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] In the present invention, a laser transmitter of a laser position sensor is used to emit a horizontal light beam to provide a precise and unique horizontal reference for the main beam. The laser receiver receives the laser signal through a laser receiving target that always maintains a vertical state. A plurality of laser receiving modules are arranged in the vertical direction on the laser receiving target. Each laser receiving module has a unique position scale. When different laser receiving modules receive the horizontal reference laser beam, the laser signal is converted into horizontal position and vertical position information through a photoelectric conversion device and transmitted to a data analysis device. The data analysis device can then analyze and calculate the deformation position and deformation data of the main beam, thereby realizing automated and digitized detection, providing reliable data support for crane safety maintenance behaviors such as daily maintenance, regular inspection, and safety assessment of the crane, and solving the problem of poor accuracy of human eye detection and inability to digitize. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the working process of the deformation detection system (main beam is not deformed) in the embodiment;

[0021] Figure 2 Schematic diagram of the working process of the deformation detection system (main beam deformation) in the embodiment;

[0022] Figure 3 This is a schematic diagram of the structure of the laser emitter in the embodiment (the main beam is not deformed);

[0023] Figure 4 This is a schematic diagram of the structure of the laser receiver in the embodiment (the main beam is not deformed);

[0024] Figure 5 This is a schematic diagram of the structure of the laser emitter (main beam deformation) in the embodiment;

[0025] Figure 6 This is a schematic diagram of the structure of the laser receiver (main beam deformation) in the embodiment;

[0026] Figure 7 is a structural schematic diagram of the angle adjustment device in the embodiment;

[0027] Figure 8 It is a schematic diagram of calibration of the vertical position value of the instantaneous position in the embodiment (the laser receiving target is not swinging);

[0028] Fig. 9 It is a schematic diagram of calibration of the vertical position value (swing before the laser receives the target) of the instantaneous position in the embodiment;

[0029] Fig.10 It is a schematic diagram of calibration of the vertical position value of the instantaneous position (swing after the laser receives the target) in the embodiment.

[0030] Explanation of the reference numerals: 1. Laser transmitter; 2. Laser receiving target; 3. Articulated support; 4. Wheeled traveling vehicle; 5. Counterweight; 6. Main beam of gantry crane; 7. Electric telescopic cylinder. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] This embodiment provides a deformation detection system for the main beam of a gantry crane. Figures 1 to 9As shown, it includes a laser position sensor, a data analysis device and a wheeled traveling vehicle 4. The laser position sensor includes a laser transmitter 1 and a laser receiver. The laser transmitter 1 is installed at one end of the main beam 6 of the gantry crane and emits a laser as a reference for the horizontal direction of the main beam 6 of the gantry crane. The laser receiver includes a laser receiving target 2 and a photoelectric converter. The laser receiving target 2 receives the horizontal laser signal in real time. The photoelectric converter is used to convert the laser signal into an electrical signal, and the electrical signal includes the vertical position value of the laser on the laser receiving target 2. The laser receiving target 2 is rotatably connected to the wheeled traveling vehicle 4, and the wheeled traveling vehicle 4 can move along the beam length direction of the main beam 6 of the gantry crane. When the main beam 6 of the gantry crane is deformed, the wheeled traveling vehicle 4 will carry the laser receiving target 2 and move vertically according to the deformation. An encoder is installed on the wheeled traveling vehicle 4, and the horizontal distance between the laser receiving target 2 and the laser transmitter 1 is obtained through the encoder. The laser receiving target 2 is kept in a vertical state by the counterweight 5. If the counterweight 5 is installed at one end of the laser receiving target 2 (preferably the 0 scale end), the laser receiving target 2 will be kept in a vertical state under the gravity of the counterweight 5. The photoelectric converter can be installed on the wheeled vehicle 4 and travel with the wheeled vehicle 4, or it can be installed on the wheeled vehicle 4. The data analysis device is connected to the photoelectric converter in communication. The data analysis device receives the electrical signal converted by the photoelectric converter and measures the instantaneous position of the laser receiving target 2 on the main beam 6 of the gantry crane and the deformation of the instantaneous position according to the vertical position value and the horizontal distance.

[0034] Working principle:

[0035] Start the laser transmitter 1 and the laser receiver, and drive the wheeled traveling vehicle 4 to move from one end of the main beam 6 of the gantry crane to the other end. One end of the laser transmitter 1 can be the starting end, or the other end can be the starting end. The laser emitted by the laser transmitter 1 will hit the laser receiving target 2 in real time. Multiple rows of laser receiving modules are arranged in the vertical direction on the laser receiving target 2. Each laser receiving module has a unique position scale. When different laser receiving modules receive the horizontal reference laser beam, the photoelectric converter will convert the laser signal generated by the laser hitting the laser receiving target 2 in real time into an electrical signal, and then transmit it to the data analysis equipment in real time. The electrical signal includes the vertical position value of the laser beam on the laser receiving target 2. An encoder is installed on the wheeled traveling vehicle 4, and the horizontal distance between the laser receiving target 2 and the laser transmitter 1 is obtained through the encoder. The data analysis equipment can obtain the instantaneous position of the laser receiving target 2 on the main beam 6 of the gantry crane based on the horizontal distance. The data analysis equipment calculates the scale difference Δh by subtracting the initial vertical position value h2 (the vertical position value of the laser beam on the laser receiving target 2 when it is not deformed) from the vertical position value h1 of the instantaneous position. The scale difference Δh is the vertical deformation of the main beam 6 of the gantry crane at the instantaneous position. The overall deformation of the main beam 6 of the gantry crane can be obtained based on the instantaneous position and the vertical deformation at the instantaneous position. Based on the deformation, the deformed main beam 6 of the gantry crane and the deformation diagram corresponding to each instantaneous position can also be drawn.

[0036] Using this deformation detection system to detect the deformation of the crane main beam can effectively reduce measurement errors and solve a series of shortcomings of traditional main beam deformation detection technology, such as large measurement errors, incomplete measurement data, low detection efficiency, and low detection reliability. The detection personnel can obtain the detection results in real time without complicated operations, which greatly improves the detection efficiency. The overall deformation of the main beam, the main load-bearing structural component of the tested gantry crane, can be obtained. The measurement data can provide reliable data support for crane safety maintenance behaviors such as daily maintenance, regular inspection, and safety assessment of the crane.

[0037] In one embodiment, if Figures 1 to 9 As shown, the laser receiving target 2 includes a plurality of laser receiving modules, and the plurality of laser receiving modules are distributed along the vertical direction of the laser receiving target 2. The vertical position of the horizontal laser can be obtained by which laser receiving module the horizontal laser is irradiated.

[0038] In one embodiment, if Figures 1 to 9As shown, a first angle sensor is provided on the laser receiving target 2, and the first angle sensor is connected to the data analysis device in communication so as to transmit the inclination angle of the laser receiving target 2 to the data analysis device in real time. When driving the wheeled vehicle 4 to move, the walking speed of the wheeled vehicle 4 should be reduced as much as possible to ensure the stability of walking, so that the laser receiving target 2 can be smoothly rotated to a vertical state as the main beam deforms, and the laser receiving target 2 can be prevented from swinging back and forth to affect the measurement accuracy. Once the swing occurs, the data analysis device can analyze and calculate according to the inclination angle monitored by the first angle sensor to eliminate the error caused by the swing. The specific first angle sensor transmits the inclination angle θ of the laser receiving target 2 to the data analysis device in real time, and the data analysis device calibrates the vertical position value of the instantaneous position according to the inclination angle: h1=l*sinθ, and then uses the calibrated vertical position value to calculate: Δh=h1-h2. h2 is the vertical position value of the laser beam received on the initial laser receiving target (the vertical position value of the laser beam on the laser receiving target 2 when it is not deformed), l is the vertical position value of the laser beam received on the laser receiving target at the instantaneous position, θ is the inclination angle of the instantaneous position, and h1 is the calibration position value of the instantaneous position.

[0039] In one embodiment, if Figures 1 to 9 As shown, the laser receiving target 2 can also be kept in a vertical state by an active adjustment device, such as a telescopic mechanism, the fixed end of the telescopic mechanism is hinged to the wheeled vehicle 4, and the telescopic end of the telescopic mechanism is hinged to the bottom of the laser receiving target 2, and the angle of the laser receiving target 2 is adjusted in real time according to the angle of the first angle sensor to keep it vertical. The telescopic mechanism is such as an electric telescopic rod, which is controlled by a control device, and the control device is electrically connected to the first angle sensor.

[0040] In one embodiment, if Figures 1 to 9 As shown, a second angle sensor is provided on the laser emitter 1, and the laser emitter 1 is installed on the main beam 6 of the gantry crane through an angle adjustment device, and the second angle sensor is electrically connected to the angle adjustment device. The angle adjustment device will adjust the angle of the laser emitter 1 according to the value monitored by the second angle sensor, so as to adjust the emission angle and ensure that the laser beam is always horizontal, so as to eliminate the problem of laser beam tilt caused by deformation of the main beam 6 of the gantry crane or other reasons.

[0041] In one embodiment, if Figures 1 to 9As shown, the angle adjustment device includes a hinge support 3, an electric telescopic cylinder 7 and a controller (not shown). The hinge support 3 is provided with a first hinge point and a second hinge point, the second hinge point is lower than the first hinge point, the laser emitter 1 is hinged on the first hinge point, the cylinder body of the electric telescopic cylinder 7 is hinged on the second hinge point, the piston rod of the electric telescopic cylinder 7 is hinged to the laser emitter 1 (preferably hinged to the middle and lower part of the laser emitter 1), and the electric telescopic cylinder 7 and the second angle sensor are electrically connected to the controller. The piston rod of the electric telescopic cylinder 7 is extended and retracted to realize the rotation of the laser emitter 1, thereby realizing the angle adjustment of the laser beam emitted by the laser emitter 1.

[0042] In one embodiment, if Figures 1 to 9 As shown, the laser receiver includes a battery, which is electrically connected to the photoelectric converter to provide stable electrical energy for the photoelectric converter.

[0043] In one embodiment, if Figures 1 to 9 As shown, the laser receiver includes a wireless data transmitter, and the photoelectric converter is electrically connected to the wireless data transmitter for remotely transmitting the electrical signal. The wireless data transmitter can be built into the photoelectric converter. A wireless data receiving device is installed on the data analysis device to receive the transmission signal of the wireless data transmitter.

[0044] In one embodiment, if Figures 1 to 9 As shown, the data analysis device is equipped with a display screen for real-time display of the received data. The data analysis device is equipped with analysis software for data analysis and calculation. The data analysis device only has a memory for real-time data storage.

[0045] In one embodiment, if Figures 1 to 9 As shown, the data analysis equipment can be a portable computer, which is convenient for on-site inspection and timely understanding of deformation conditions. Of course, it does not mean that other equipment cannot be used.

[0046] Example 2

[0047] This embodiment provides a method for detecting deformation of a gantry crane main beam. Figures 1 to 9As shown, the deformation detection system of the main beam of the gantry crane in Example 1 is adopted, including the following steps: starting the grating sensor and the wheeled traveling vehicle 4, the wheeled traveling vehicle 4 moves from one end of the main beam 6 of the gantry crane to the other end (one end with the laser emitter 1 is the starting end, or the other end is the starting end), the laser receiving target 2 receives the laser beam emitted by the laser emitter 1, the photoelectric converter converts the laser signal into an electrical signal and transmits it to the data analysis equipment in real time, the electrical signal converted by the photoelectric converter includes the vertical position value of the laser beam on the laser receiving target 2, the encoder obtains the horizontal distance between the laser receiving target 2 and the laser emitter 1, the data analysis equipment obtains the instantaneous position of the laser receiving target 2 on the main beam 6 of the gantry crane according to the horizontal distance, the data analysis equipment calculates the scale difference by subtracting the vertical position value of the instantaneous position from the initial preset vertical position value, and the scale difference is the vertical deformation degree of the main beam 6 of the gantry crane at the instantaneous position. Then, the overall deformation of the gantry crane main beam 6 can be obtained according to the instantaneous position and the vertical deformation degree. According to the deformation, the deformed gantry crane main beam 6 and the deformation diagram corresponding to each instantaneous position can also be drawn.

[0048] In one embodiment, if Figures 1 to 9 As shown, the deformation detection method can be performed once at a preset time interval. The movement of the wheeled vehicle 4 from one end to the other end of the bridge gantry crane main beam 6 is considered a complete detection, and the return of the wheeled vehicle 4 is considered another complete detection.

[0049] In one embodiment, if Figures 1 to 9 As shown, the first angle sensor transmits the tilt angle of the laser receiving target 2 to the data analysis device in real time. The data analysis device calibrates the vertical position value of the instantaneous position according to the tilt angle, and calculates the vertical deformation according to the calibrated position value of the instantaneous position:

[0050] Vertical deformation Δh = h1-h2, h1 = l*sinθ;

[0051] h2 is the vertical position value of the laser beam received on the initial laser receiving target (the vertical position value of the laser beam on the laser receiving target 2 when it is not deformed), l is the vertical position value of the laser beam received on the laser receiving target at the instantaneous position, θ is the inclination angle of the instantaneous position, and h1 is the calibration position value of the instantaneous position.

[0052] In one embodiment, if Figures 1 to 9 As shown, the laser beam emission angle of the laser emitter 1 is adjusted by the second angle sensor and the angle adjustment device so that the laser beam is always kept horizontal.

[0053] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A deformation detection system for a gantry crane main beam, characterized in that: It includes a laser position sensor, a data analysis device and a wheeled traveling vehicle capable of moving linearly along the beam length direction of the main beam of a gantry crane. The laser position sensor includes a laser transmitter and a laser receiver. The laser transmitter is installed at one end of the main beam of the gantry crane. The laser receiver includes a laser receiving target and a photoelectric converter. The laser receiving target is upright connected to the wheeled traveling vehicle. The laser receiving target is kept in a vertical state by a counterweight. The photoelectric converter is used to convert the laser signal received on the laser receiving target into an electrical signal. The electrical signal includes the vertical position value of the laser on the laser receiving target. An encoder is installed on the wheeled traveling vehicle. The horizontal distance to the laser transmitter is obtained through the encoder. The data analysis device and the encoder are both communicatively connected to the photoelectric converter.

2. The deformation detection system for the main beam of a gantry crane according to claim 1, characterized in that: The laser receiving target includes a plurality of laser receiving modules, and the plurality of laser receiving modules are distributed along the vertical direction of the laser receiving target.

3. The deformation detection system for the main beam of a gantry crane according to claim 1 or 2, characterized in that: The laser receiving target is provided with a first angle sensor, and the first angle sensor is communicatively connected with the data analysis device.

4. The deformation detection system for the main beam of a gantry crane according to claim 1, characterized in that: The laser emitter is provided with a second angle sensor, and the laser emitter is installed on the main beam of the gantry crane through an angle adjustment device, and the second angle sensor is electrically connected to the angle adjustment device.

5. The deformation detection system for the main beam of a gantry crane according to claim 4, characterized in that: The angle adjustment device includes a hinge support, an electric telescopic cylinder and a controller. The hinge support is provided with a first hinge point and a second hinge point, the second hinge point is lower than the first hinge point, the laser emitter is hinged on the first hinge point, the cylinder body of the electric telescopic cylinder is hinged on the second hinge point, the piston rod of the electric telescopic cylinder is hinged to the laser emitter, and the electric telescopic cylinder and the second angle sensor are both electrically connected to the controller.

6. The deformation detection system for the main beam of a gantry crane according to claim 1, characterized in that: The laser receiver comprises a wireless data transmitting device, the photoelectric converter is electrically connected to the wireless data transmitting device, and the data analysis device is equipped with a wireless data receiving device.

7. The deformation detection system for the main beam of a gantry crane according to claim 1, characterized in that: A display screen is installed on the data analysis device.

8. A method for detecting deformation of a main beam of a gantry crane, characterized in that: A deformation detection system for a gantry crane main beam as described in any one of claims 1 to 7 is adopted, comprising the following steps: starting a laser position sensor and a wheeled traveling vehicle, the wheeled traveling vehicle moving from one end of the gantry crane main beam to the other end, a laser receiving target receiving a laser beam emitted by a laser transmitter, a photoelectric converter converting the laser signal into an electrical signal and transmitting it to a data analysis device in real time, the electrical signal including a vertical position value of a horizontal laser beam on the laser receiving target, an encoder obtaining a horizontal distance between the laser receiving target and the laser transmitter, the data analysis device obtaining the instantaneous position of the laser receiving target on the gantry crane main beam according to the horizontal distance, the data analysis device calculating a difference by subtracting an initially preset vertical position value of the laser receiving module from the vertical position value of the laser receiving module at the instantaneous position, the difference being the vertical deformation degree of the gantry crane main beam at the instantaneous position.

9. The deformation detection method of the main beam of a gantry crane according to claim 8, characterized in that: The first angle sensor transmits the tilt angle of the laser receiving target to the data analysis device in real time. The data analysis device calibrates the value of the vertical position of the instantaneous laser receiving target receiving the laser beam according to the tilt angle, and calculates the vertical deformation according to the calibrated value of the instantaneous position: Vertical deformation Δh = h1-h2, h1 = l*sinθ; h2 is the value of the initial horizontal laser beam at the laser receiving target, l is the value of the horizontal laser beam at the laser receiving target at the instantaneous position, θ is the inclination angle at the instantaneous position, and h1 is the position value of the laser receiving module of the laser receiving target receiving the laser beam at the instantaneous position.

10. The deformation detection method of the main beam of a gantry crane according to claim 9, characterized in that: The laser beam emission angle of the laser transmitter is adjusted by the second angle sensor and the angle adjustment device so that the laser beam remains horizontal.

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