Apparatus and method for measuring inclination of crane structure

Abstract

To provide an inclination measuring device of a structure of a crane and its inclination measuring method capable of further easily and accurately grasping an inclination degree of the structure of the traveling crane.SOLUTION: An inclination measurement device 1 includes a communicating tube type displacement meter 2 and a calculation device 3, the communicating tube type displacement meter 2 includes a plurality of sets of vessel 4a to 4d and liquid level gauge 5a to 5d, lower portions of adjacent vessels communicate with each other through a tube 6 filled with liquid, and the vessel 4a to 4d are fixed at substantially the same height as leg 23a to 23d of a leg structure 21. During the traveling of the crane 20, the liquid level gauges 5a to 5d simultaneously measure the height of the liquid surface over time to acquire the liquid level data D1a to D1d, and the arithmetic device 3 includes the auxiliary storage unit 9 in which the distances L and B between the containers are stored in advance, and executes data processing for quantifying the inclination between the adjacent containers as the degree of inclination of the leg structure 21 during the traveling of the crane 20 based on the distances L and B and the liquid level data D1a to D1d.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a device and method for measuring the inclination of a crane structure, and more particularly to a device and method for measuring the inclination of a crane structure that can more easily and accurately grasp the degree of inclination of a structure of a traveling crane. [Background technology]

[0002] The tracks (pair of rails) on which cranes travel are inspected periodically to repair track irregularities such as elevation, gauge, and level deviations in a static state (when the crane is not running). However, even tracks inspected in a static state can deform when the crane is running due to forces acting on the track depending on the crane's weight and running speed, and the degree of deformation varies from section to section. As the degree of deformation in different sections of the track varies, the degree of tilt of the running crane changes, distorting the crane structure and generating stress. To suppress this stress and improve the durability of the crane, it is necessary to understand and address the degree of deformation in each section of the track when the crane is running.

[0003] A rail inspection device has been proposed (see Patent Document 1) that inspects the rails on which a crane travels. However, because the rail inspection device described in Patent Document 1 is a separate device from the overhead crane, it is unable to grasp the actual deformation of the rail when the overhead crane is traveling. As it is not easy to directly grasp the deformation of parts of the track while the crane is traveling, an alternative approach has been attempted in which the distortion and tilt of the crane's structure are measured while the crane is traveling, and the deformation of the track is grasped based on the measured distortion and tilt.

[0004] The strain of a crane's structure can be measured using strain gauges, but attaching a large number of strain gauges to the crane's structure requires significant effort and requires removing the paint on the structure. The tilt of a crane's structure can also be quantified by installing multiple targets at desired locations on the structure and using an optical distance meter to measure the displacement at those locations. However, measurements using an optical distance meter require the crane to be stopped from traveling, and measurements cannot be started until the stopped crane's swaying has subsided. Therefore, to determine the degree of deformation of parts of the track based on the tilt of the crane's structure while it is traveling, the crane must be stopped repeatedly, which requires significant effort. Therefore, further development is needed to more easily and accurately determine changes in the tilt of a moving crane's structure. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 3-177298 Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a device and method for measuring the inclination of a crane structure, which can more easily and accurately grasp the degree of inclination of the structure of a traveling crane. [Means for solving the problem]

[0007] The present invention provides a crane structure inclination measurement device that achieves the above-mentioned object, which continuously measures the degree of inclination of a structure while a crane having a structure and a plurality of traveling devices attached to the lower part of the structure is traveling, and is characterized in that the device comprises a communicating pipe type displacement meter and a computing device, and the communicating pipe type displacement meter has a plurality of sets of containers containing liquid and level gauges that measure the height of the liquid level in the containers, the lower parts of adjacent containers are connected to each other by pipes filled with liquid, and each container is individually fixed at approximately the same height on the structure above its respective traveling device, and while the crane is traveling, each of the level gauges simultaneously measures the height of the liquid level in the container over time to obtain liquid level data, and the computing device has a memory unit that pre-stores the distances between a plurality of adjacent containers, and performs data processing to quantify the inclination between adjacent containers as the degree of inclination of the structure while the crane is traveling, based on each of the distances and each of the liquid level data.

[0008] The method for measuring the inclination of a crane structure of the present invention is characterized in that, using the above-mentioned crane structure inclination measurement device, the inclination between adjacent containers is continuously measured as the degree of inclination of the structure while the crane is traveling. [Effects of the Invention]

[0009] According to the present invention, the liquid levels in each container lie on the same plane parallel to the geoid surface, and if the line segment connecting the centers of adjacent containers is extended, it will intersect with said plane at a certain angle. This angle is the same as the angle between the line segment connecting the centers of the adjacent containers and the geoid surface. The angle between this line segment connecting the centers and the geoid surface is called the "inclination between containers."

[0010] When each container moves up and down vertically as the crane moves, the plane formed by the liquid surface in each container also displaces vertically, but this plane always remains parallel to the geoid plane. As mentioned above, the tilt between adjacent containers at any time during movement is an angle with respect to the geoid plane. In other words, even if the position of the crane changes as it moves, or even if the structure tilts, the tilt between each container will remain an angle with respect to the geoid plane. Therefore, by calculating the difference in the tilt between the containers at any two times, it is possible to calculate the absolute value of the change in tilt between the containers between those times.

[0011] In addition, the liquid level in each container changes linearly depending on the distortion and tilt of the crane's structure, and each level gauge can measure the liquid level as it changes over time, making it possible to obtain information about unevenness along the crane's travel path without having to stop the crane from traveling.

[0012] With a communicating pipe displacement meter, the sum of the liquid level data values ​​in each container is constant. Furthermore, depending on the distortion and tilt of the crane's structure, the liquid level in each container changes vertically in tandem so that it coincides with a plane parallel to the geoid plane. The difference in the liquid level data values ​​between containers at the same time represents the relative vertical displacement between those containers, and the distance between those containers can be considered roughly constant. Therefore, the tilt between adjacent containers can be calculated based on the distance between the containers, which is stored in advance in the memory unit, and the difference in the liquid level data values. The resulting change in tilt over time represents the relative change in the tilt of the crane's structure over time while it is moving.

[0013] In this way, the present invention uses a simple method of processing each liquid level data obtained while the crane is traveling using a communicating pipe displacement sensor installed on the crane, making it possible to quantify with high accuracy the change in the inclination of a structure over time while the crane is traveling. Then, by analyzing the quantified inclination of the structure, it is possible to relatively grasp the deformation of each part of the track and the stress generated in the structure in accordance with the actual state when the crane is traveling. This allows for the reinforcement and repair of the crane structure and the repair of track deformation, greatly contributing to improving the durability of the crane. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is an explanatory diagram illustrating an embodiment of a structure inclination measurement device for a crane; [Figure 2] FIG. 10 is an explanatory diagram illustrating a communication pipe type displacement meter in a cross-sectional view at the bottom of a leg structure. [Figure 3] 10 is a graph illustrating each liquid level data. [Figure 4] FIG. 10 is an explanatory diagram illustrating a schematic example of the liquid levels of containers adjacent to each other in the traveling direction. [Figure 5] 10 is an explanatory diagram illustrating a schematic example of the liquid levels of other containers adjacent to each other in the traveling direction. FIG. [Figure 6] FIG. 10 is an explanatory diagram illustrating a schematic example of the liquid levels in adjacent containers in the lateral direction. [Figure 7] 10 is an explanatory diagram illustrating a schematic example of the liquid levels of other containers adjacent to each other in the lateral direction. FIG. [Figure 8] FIG. 1 is a flow chart illustrating the procedure of an embodiment of a method for measuring the inclination of a crane structure. [Figure 9] 10 is a graph illustrating an example of a change in the tilt of a structure while a crane is traveling. [Figure 10] FIG. 10 is an explanatory diagram illustrating an example of a location where a container of a communication pipe type displacement meter is fixed. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, the inclination measuring device for a crane structure and the inclination measuring method thereof according to the present invention will be described based on the embodiments shown in the drawings.

[0016] The embodiment of the tilt measurement device 1 shown in Fig. 1 includes a communicating pipe type displacement meter 2 and a computing device 3. The communicating pipe type displacement meter 2 shown in Fig. 2 has multiple sets of containers 4a-4d containing liquid and level gauges 5a-5d that measure the height of the liquid therein, and the lower parts of adjacent containers 4a-4d are connected to each other by a pipe 6 filled with liquid. The thick black arrows in Figs. 1 and 2 indicate the extension direction of the track (pair of rails) R, i.e., the direction in which the crane 20 travels. Fig. 2 shows a cross-sectional view of the lower part of the leg structure 21 of the crane 20 in Fig. 1.

[0017] By using this tilt measurement device 1 to implement the tilt measurement method illustrated in Fig. 8, which will be described later, the tilt between containers is continuously measured as the degree of tilt of leg structure 21 while crane 20 travels along track R. When crane 20 travels along track R, the greater the degree of deformation of track R in a portion, the greater the tilt of leg structure 21 of crane 20, and the more portions of track R deform, the more frequently leg structure 21 of crane 20 tilts. Therefore, by continuously measuring the degree of tilt of leg structure 21 while crane 20 is traveling, it is possible to relatively grasp the degree of deformation of parts of track R that correspond to the actual state of crane 20 traveling.

[0018] First, the crane 20 and the tilt measuring device 1 will be described in detail.

[0019] The crane 20 may be any of various known rail cranes that travel along the track R. The crane 20 is, for example, a gantry crane. The crane 20 is not limited to a gantry crane, and may be an overhead crane, a rail-mounted transfer crane, a bucket unloader, a jib crane, or another rail crane.

[0020] Crane 20 has a leg structure 21 and multiple traveling devices 22a-22d attached to the bottom of leg structure 21. Leg structure 21 has four legs 23a-23d, two sill beams 24A, 24B connecting the legs, tie beams 24C, 24D, portal beams 24E, 24F, and diagonal members 24G, 24H. Traveling devices 22a-22d have wheels 25 that roll on tracks R. Crane 20 also has a girder structure (boom, girder) 26 supported at its top by leg structure 21, a trolley 27 that travels across girder structure 26, and a hoisting device 29 suspended from trolley 27 via wire rope 28.

[0021] Legs 23a to 23d are arranged at the four corners of leg structure 21 in a plan view. Legs 23a to 23d are erected vertically, and their lower ends are connected to the respective traveling devices 22a to 22d. Legs 23a and 23b are connected to each other at the bottom by sill beam 24A and at the top by tie beam 24C. Similarly, legs 23c and 23d are connected to each other at the bottom by sill beam 24B and at the top by tie beam 24D. Legs 23a and 23d are connected to each other by portal beam 24E and diagonal member 24G, and legs 23b and 23c are connected to each other by portal beam 24F and diagonal member 24H.

[0022] The configuration of the crane 20 is not particularly limited and can be changed as appropriate depending on the type of crane 20. For example, an overhead crane does not have leg structures 21, and a pair of saddles (traveling devices) are directly connected to the lower ends of both ends of a girder (beam structure).

[0023] Various known communication pipe type (water-fill type, water pipe type) displacement meters (subsidence meters) can be used as the communication pipe type displacement meter 2. However, this communication pipe type displacement meter 2 has a different purpose from known communication pipe type displacement meters.

[0024] Known communicating pipe displacement meters are used on structures whose positions on a plane are fixed, such as bridges, or on the ground. This communicating pipe displacement meter has a reference container and a container to be measured, with the reference container fixed to a fixed location and the container to be measured fixed to the location to be measured. The liquid level (height from the bottom to the liquid surface) in the reference container is compared with the liquid level in the container to be measured, thereby measuring the absolute value of the vertical displacement of the location to be measured relative to the fixed location.

[0025] On the other hand, the communicating pipe type displacement meter 2 of this embodiment is used, for example, with a crane 20 moving along a track R. In the communicating pipe type displacement meter 2, all of the containers 4a to 4d are fixed to the structure of the crane 20 at the location to be measured. That is, the communicating pipe type displacement meter 2 of this embodiment differs from known communicating pipe type displacement meters in that all of the containers 4a to 4d are fixed to the location to be measured, and that there is no reference container among the containers 4a to 4d.

[0026] The travel distance of the crane 20 ranges from tens to hundreds of meters, depending on the type of crane 20. Therefore, unlike known communicating-pipe displacement meters, it is not possible to fix a reference vessel to a fixed location other than the crane and fix other vessels to the crane at the measurement location. Therefore, to continuously measure the tilt of the traveling crane 20, it is optimal to fix all of the vessels 4a-4d at the measurement location without a reference vessel. Note that the communicating-pipe displacement meter 2 of this embodiment does not have a reference vessel fixed to a fixed location, and therefore cannot measure the absolute value of the vertical displacement of the vessels 4a-4d fixed at each measurement location. However, by calculating the change in the difference in vertical displacement between adjacent vessels at a given time relative to the difference in vertical displacement between the adjacent vessels at that time, the absolute value of the vertical displacement of the vessels 4a-4d between the given time and the measurement time can be obtained.

[0027] The following will explain in detail the communication pipe type displacement meter 2 of the present invention that utilizes this principle.

[0028] The containers 4a to 4d are cylindrical, for example, and fixed with their axis oriented vertically. The containers 4a to 4d may be any container as long as their internal shapes and volumes are roughly comparable. A pipe 6 is connected to the bottom of each container 4a to 4d, allowing liquid to flow through the pipe 6. The liquid poured into the containers 4a to 4d is preferably an incompressible fluid, such as water. This liquid can also be a known hydraulic oil (such as mineral oil or biodegradable oil) used in hydraulic devices mounted on the crane 20. Hydraulic oil has a higher viscosity than water, making it advantageous for suppressing vibration. The dimensions of the containers 4a to 4d, such as the height from the bottom to the ceiling and the diameter of the cylinder, can be freely selected. The height from the bottom to the ceiling of each container 4a to 4d is, for example, approximately 100 mm to 300 mm.

[0029] The multiple measurement locations to which the containers 4a-4d are fixed are at approximately the same height above the ground of the leg structure 21 above each traveling device 22a-22d. Because each traveling device 22a-22d is connected to the lower end of each leg 23a-23d of the leg structure 21, the multiple measurement locations are at approximately the same height above the ground of the legs 23a-23d. The level at which the measurement locations are considered to be at the same height is when the liquid level of the liquid poured into the containers 4a-4d fixed to the leg structure 21 is formed halfway between the bottom and ceiling of the containers 4a-4d. In the crane 20 of Figures 1 and 2, the traveling devices 22a-22d are located at the four corners of the leg structure 21 in a plan view, and these traveling devices 22a-22d are connected to the lower ends of the legs 23a-23d. These legs 23a to 23d are the parts of the leg structure 21 that are displaced linearly according to the degree of deformation of the track R, and therefore it is preferable that the containers 4a to 4d are individually fixed at approximately the same height from the ground as the legs 23a to 23d above the running devices 22a to 22d.

[0030] The level gauges 5a to 5d are installed in the containers 4a to 4d and measure the liquid level (the height of the liquid in the container) over time as the height from the bottom of the container to the liquid surface. The level gauges 5a to 5d can be any of various known liquid level gauges and liquid level indicators (level meters), such as float type, ultrasonic type, pressure type, and radar type. The level gauges 5a to 5d are connected to the calculation device 3 so as to be able to communicate with each other, and transmit the measured liquid level to the calculation device 3.

[0031] The level gauges 5a to 5d simultaneously measure the liquid levels in the containers 4a to 4d at the same cycle. This cycle can be selected arbitrarily within a range in which changes in the liquid surface due to changes in distortion or tilt of the leg structure 21 can be measured, and is, for example, about 100 ms. The liquid level measurements by the level gauges 5a to 5d may be synchronized by the calculation device 3, or may be synchronized using a synchronization device separate from the calculation device 3.

[0032] The pipe 6 only needs to be able to connect the lower portions of the containers 4a to 4d with each other, and may be composed of a plurality of pipes that respectively connect, for example, the containers 4a and 4b with each other, the containers 4b and 4c with each other, the containers 4c and 4d with each other, and the containers 4d and 4a with each other. Various known hoses such as rubber hoses and flexible metal hoses can be used for the pipe 6.

[0033] The dimensions of the pipe 6, such as the length between the containers and the diameter (thickness), can be selected arbitrarily. However, considering the viscosity of the liquid poured into each container 4a-4d, it is desirable to select dimensions that quickly damp any vibrations that may occur within the pipe 6. A smaller diameter of the pipe 6 allows for quick damping of liquid surface vibrations caused by the acceleration and deceleration of the crane 20, but reduces responsiveness. Furthermore, a larger diameter of the pipe 6 increases the likelihood that the pipe 6 will expand due to the weight of the liquid itself. Therefore, the diameter of the pipe 6 should be set to any value within an appropriate range that takes into account the viscosity of the liquid, vibration damping, responsiveness, and flexibility. When the liquid is water, an appropriate diameter range for the pipe 6 is, for example, approximately 5 mm to 15 mm. To quickly dampen the vibrations of the liquid, the pipe 6 may be provided with a tank filled with a liquid different from the containers 4a-4d and / or an orifice midway between adjacent containers. If the pipe 6 is made up of multiple individual pipes and one of the pipes is clogged, preventing the flow of liquid, the response will be reduced but measurement will still be possible. In this case, the cycle of the level gauges 5a to 5d can be reduced in accordance with the reduction in response caused by the clogged pipe 6.

[0034] The arithmetic device 3 is configured as a computer, into which various data are input and stored, and which performs data processing using this data. Various known computers can be used as the arithmetic device 3. The arithmetic device 3 has a processing unit (CPU) 7, a main storage unit (memory) 8, and an auxiliary storage unit (e.g., HDD) 9. The arithmetic device 3 is connected to an input unit 10 such as a keyboard and an output unit 11 such as a monitor that displays the results of data processing.

[0035] The computing device 3 may be installed on the crane 20, or may be installed in a remote location away from the crane 20. Specifically, the computing device 3 is installed in a machine room disposed on the girder structure 26 of the crane 20 or in an operator's cab disposed on the trolley 27.

[0036] The auxiliary memory unit 9 corresponds to the memory unit of the present invention. The distances between multiple adjacent containers are stored in advance in this auxiliary memory unit 9. The distance between containers is the length (extension) of a line segment connecting parts of each container that are considered to be the same location, for example, the length of a line segment connecting the centers of each container. The length of the line segment connecting the centers of the containers can also be measured and used as the distance between containers. When containers 4a to 4d are fixed to legs 23a to 23d, the distance between adjacent containers in the traveling direction of the crane 20 can be considered to be the distance between legs 23a and 23b, or between legs 23c and 23d, i.e., the extension length of sill beams 24A and 24B and tie beams 24C and 24D. Similarly, the distance between adjacent containers in the lateral direction can be considered to be the distance between legs 23a and 23d and between legs 23b and 23c, i.e., the extension length of portal beams 24E and 24F. In this embodiment, as illustrated in Fig. 2, the distance L between containers 4a and 4b and between containers 4c and 4d, and the distance B between adjacent containers 4a and 4d and between containers 4b and 4c are stored.

[0037] Furthermore, the auxiliary storage unit 9 stores liquid level data D1a to D1d, which are liquid levels transmitted from the liquid level gauges 5a to 5d for each of the containers 4a to 4d and accumulated by time. The liquid level data D1a to D1d indicate changes over time in the liquid level for each of the containers 4a to 4d.

[0038] The liquid level data D1a to D1d shown in Fig. 3 are examples obtained when the crane 20 was traveling along the track R, and are stored in the auxiliary memory unit 9. In Fig. 3, the thin solid curve represents the liquid level data D1a (changes over time in the liquid level in container 4a measured by level gauge 5a), the thin dashed curve represents the liquid level data D1b (changes over time in the liquid level in container 4b measured by level gauge 5b), the thick dashed curve represents the liquid level data D1c (changes over time in the liquid level in container 4c measured by level gauge 5c), and the thick solid curve represents the liquid level data D1d (changes over time in the liquid level in container 4d measured by level gauge 5d). In the liquid level data D1b indicated by the thin dashed curve, there are four locations where the liquid level indicates negative values ​​less than zero, which means that the level gauge 5b was unable to measure the liquid level at these locations.

[0039] Time t0 indicates the time when the crane 20 starts traveling, and time t3 indicates the time when the crane 20 stops traveling. The state of the crane 20 at times t0 and t3 is a state in which it is stopped traveling. Between times t0 and t1, the liquid level data D1a to D1d fluctuate significantly. During this period, the crane 20 accelerates from a stopped state, and the liquid levels in the containers 4a and 4d located at the front in the traveling direction of the crane 20 temporarily drop due to the action of inertia, while the liquid levels in the containers 4b and 4c located at the rear temporarily rise. Similarly, between times t2 and t3, the liquid level data D1a to D1d also fluctuate significantly. During this period, the crane 20 decelerates from a traveling state, and the liquid levels in the containers 4a and 4d located at the front in the traveling direction of the crane 20 temporarily rise due to the action of inertia, while the liquid levels in the containers 4b and 4c located at the rear temporarily drop. Furthermore, the sum of the liquid levels at the same time during these periods (t0 to t1, t2 to t3) is smaller than the sum of the liquid levels at the same time outside these periods. This is because the acceleration and deceleration of crane 20 causes pipe 6 to expand and stretch, increasing the total amount of liquid inside pipe 6 and decreasing the total amount of liquid inside containers 4a to 4d.

[0040] Figures 4 to 7 schematically show the liquid surfaces Pa to Pd and the liquid levels Ha to Hd in the containers 4a to 4d at time t4 in Figure 3. The dashed-dotted line in Figures 4 to 7 represents the geoid surface GS, and the dashed-two-dotted line represents the plane PS parallel to the geoid surface GS. Black dots a to d represent the centers of the containers 4a to 4d.

[0041] Liquid levels Pa-Pd exist on a plane PS parallel to the geoid surface GS, and this plane PS displaces linearly in the vertical direction depending on the inclination of the leg structure 21 of the crane 20. The sum of the liquid levels Ha-Hd remains constant unless there is liquid leakage or evaporation, so liquid levels Pa-Pd move in conjunction with one another to coincide with the plane PS parallel to the geoid surface GS. For example, if only container 4a displaces upward while the other containers 4b-4d do not, the height of the plane PS parallel to the geoid surface GS rises, liquid level Ha decreases, and liquid levels Hb, Hc, and Hd increase. At time t4, liquid level Hb is greatest, followed by liquid levels Hb, Hd, Ha, and Hc in that order. In other words, if containers 4a-4d are fixed at approximately the same height, the center c of container 4c is at the highest position, and the heights of the centers of containers 4c, 4a, 4d, and 4b decrease in that order.

[0042] The difference in liquid level between the containers over time represents the relative vertical displacement of the centers of the containers over time. Furthermore, the distances L and B between the containers can be assumed to be sufficiently large and generally unchanged, even if the centers of the containers are displaced vertically relative to each other. Therefore, based on the distances L and B between the containers and the relative vertical displacement over time, the inclination (angle) of the line segment connecting the centers of the containers with respect to the geoid surface GS can be calculated, i.e., the inclination between the containers.

[0043] For example, as shown in FIG. 4, when container 4a is used as the reference, the difference ΔHab (liquid level Ha - liquid level Hb) is a negative value, which indicates that the center b of container 4b is located lower than the center a of container 4a. Furthermore, since the distance L between containers 4a and 4b can be considered constant, the angle θab (inclination of containers 4a and 4b) of the line segment connecting the centers of containers 4a and 4b with respect to the geoid surface GS can be calculated as {sinθab = (difference ΔHab / distance L)}. Similarly, as shown in FIG. 5, when container 4d is used as the reference, the difference ΔHdc (liquid level Hd - liquid level Hc) is a positive value, which indicates that the center c of container 4c is located higher than the center d of container 4d. Furthermore, the angle θdc of the line segment connecting the centers of containers 4c and 4d with respect to the geoid surface GS can be calculated as {sinθdc = (difference ΔHdc / distance L)}. Similarly, as illustrated in Figure 6, the angle θdc of the line segment connecting the centers of containers 4c and 4d with respect to the geoid surface GS can be calculated by {sin θdc = (difference ΔHdc / distance L)}. Similarly, as illustrated in Figure 7, the angle θad of the line segment connecting containers 4a and 4d with respect to the geoid surface GS can be calculated by {sin θad = (difference ΔHad / distance B)}, and the angle θbc of the line segment connecting containers 4b and 4c with respect to the geoid surface GS can be calculated by {sin θbc = (difference ΔHbc / distance B)}.

[0044] When the heights of the centers a to d of the containers 4a to 4d from the geoid surface GS are all equal when the leg structure 21 of the crane 20 is not tilted, the angle θab at time t4 directly indicates the angle at which the sill beam 24A is tilted relative to the geoid surface GS. The angle θdc directly indicates the angle at which the sill beam 24B is tilted relative to the geoid surface GS. The angle θad directly indicates the angle at which the portal beam 24E is tilted relative to the geoid surface GS. The angle θbc directly indicates the angle at which the portal beam 24F is tilted relative to the geoid surface GS. Thus, when the heights of the centers a to d of the containers 4a to 4d from the geoid surface GS are all equal when the leg structure 21 of the crane 20 is not tilted, that is, when Ha = Hb = Hc = Hd holds when the leg structure 21 is not tilted, the angle of the line segment connecting the centers of adjacent containers relative to the geoid surface GS directly indicates the distortion or tilt of the leg structure 21.

[0045] On the other hand, if it is not possible to determine a state in which the leg structure 21 of the crane 20 is not tilted, and / or if it is not possible to fix the containers 4a to 4d to the leg structure 21 so that the heights of the centers a to d are equal, then the angle of the line segment connecting adjacent containers with the geoid surface GS does not directly represent the distortion or tilt of the leg structure 21, but can be said to be an apparent tilt. However, because the geoid surface GS is constant, by taking the difference between the angle (apparent tilt) of the line segment between adjacent containers with the geoid surface GS at any two times, it is possible to calculate the absolute value of the change in the angle of the line segment between the containers with the geoid surface GS that occurred between those times.

[0046] For example, let Ha and Hb be the liquid levels in containers 4a and 4b at time t4, and θab be the apparent tilt between the containers. Let Ha' and Hb' be the liquid levels in containers 4a and 4b at time (t4 + Δt), and let θab' be the apparent tilt between the containers. The apparent tilt θab between the containers at time t4 can be calculated from the arcsine of a fraction with the distance L between the containers as the denominator and the difference in liquid levels between the containers (Ha - Hb) as the numerator. Similarly, the apparent tilt θab' between the containers at time (t4 + Δt) can be calculated from the arcsine of a fraction with the distance L between the containers as the denominator and the difference in liquid levels between the containers (Ha' - Hb'). Both the apparent tilts θab and θab' are angles relative to the geoid surface GS, so the difference in these angles (θab - θab') represents the absolute value of the change in tilt between the containers that occurred between time t4 and (t4 + Δt).

[0047] Although the above explanation uses time t4 as the reference, the reference can be set to any time. For example, by setting time t0 in Figure 3 as the reference and calculating the difference (θt - θt0) between the apparent tilt θt between the containers at any time t and the apparent tilt θt0 between the containers at time t0, the absolute value of the change in tilt between adjacent containers that occurred between time t0 and t can be obtained.

[0048] Next, a method for measuring the inclination of the leg structure 21 of the crane 20 using this inclination measurement device 1 will be described.

[0049] In the procedure of the measurement method illustrated in FIG. 8, an installation step S110, an acquisition step S120, and a calculation step S130 are performed in this order. In the installation step S110, the communicating pipe type displacement meter 2 is installed on the crane 20. In the acquisition step S120, liquid level data D1a-D1d are acquired using the communicating pipe type displacement meter 2. In the calculation step S130, the distances L and B previously stored in the auxiliary storage unit 9 and the acquired liquid level data D1a-D1d are processed by the arithmetic unit 3, thereby continuously measuring the change over time in the inclination between the containers as the degree of inclination of the leg structure 21 while the crane 20 is traveling. Specifically, first, initial setting is performed based on the liquid level data D1a-D1d (S131). Next, the degree of inclination of the leg structure 21 while the crane 20 is traveling is quantified based on the distances L and B and the liquid level data D1a-D1d (S132). Finally, the degree of deformation of each portion of the trajectory R is identified based on the quantified degree of tilt of the leg structure 21 (S133). The details of each step (S131 to S133) of the setting step S110, the obtaining step S120, and the calculation step S130 will be described below.

[0050] In the installation step S110, the communicating pipe type displacement meter 2 is installed on the crane 20 as illustrated in the above-mentioned Figures 1 and 2. This communicating pipe type displacement meter 2 is configured to be detachable from the crane 20, and it is sufficient that it is installed on the crane 20 when measuring the degree of inclination of the leg structure 21 while the crane 20 is traveling. This communicating pipe type displacement meter 2 may be permanently installed on the crane 20, in which case the installation step S110 can be omitted.

[0051] The liquid levels (height from the bottom to the liquid surface) in the installed containers 4a-4d may not be the same and may be different. However, it is desirable that the liquid levels in the containers 4a-4d remain within a predetermined range that the liquid level gauges 5a-5d can measure, even if the liquid level changes significantly while the crane 20 is traveling. This predetermined range is set based on the maximum vertical displacement of the legs 23a-23d while the crane 20 is traveling, or the maximum displacement of the liquid surface in the containers 4a-4d while the crane 20 is accelerating or decelerating, with the midpoint from the bottom to the ceiling of the container 4a-4d as the median. For example, if the height from the bottom to the ceiling of the container 4a is 250 mm and the maximum displacement of the liquid surface during acceleration or deceleration of the crane 20 is approximately ±50 mm, the predetermined range is, for example, between 75 mm and 175 mm.

[0052] In the acquisition step S120, the level gauges 5a to 5d acquire liquid level data D1a to D1d while the crane 20 is traveling. The liquid level data D1a to D1d acquired in this acquisition step S120 should preferably include data from when the crane 20 is stopped before it starts traveling, as well as data from when the crane 20 is traveling. Specifically, the level gauges 5a to 5d simultaneously measure the height of the liquid surface inside the containers 4a to 4d, and acquire the liquid level data D1a to D1d over time, from a state where the crane 20 is stopped before it starts traveling along the track R, through a state where the crane 20 is traveling along the track R, until it stops traveling again. The liquid level data D1a to D1d acquired in this acquisition step S120 is stored in the auxiliary storage unit 9 of the calculation device 3.

[0053] The fluctuation of the liquid level in the containers 4a to 4d while the crane 20 is traveling is suppressed by the piping resistance of the liquid in the pipe 6. Therefore, the effect of the fluctuation of the liquid level on the liquid level measurement by the level gauges 5a to 5d can be largely ignored. Furthermore, although the time delay in the liquid level measurement by the level gauges 5a to 5d depends on the dimensions of the pipe 6, it is negligible if the deformation of the track R is about ±10 mm.

[0054] In step S131, the calculation device 3 performs initial setting based on the liquid level data D1a to D1d. In this initial setting, a reference for the degree of tilt of the leg structure 21 of the crane 20 (reference for the tilt between the containers) and the sum of the liquid levels of the containers 4a to 4d in this reference state (reference value) are set. This initial setting is desirably set in a state in which the crane 20 is stopped from traveling until the crane 20 starts traveling, and in which the leg structure 21 is not tilted. A state in which the leg structure 21 is not tilted means a state in which the wheels 25 of each of the traveling devices 22a to 22d are placed on the same plane parallel to the geoid surface GS (a state in which the track R is not deformed).

[0055] For example, in the liquid level data D1a to D1d in FIG. 3 described above, because time t0 is when the crane 20 stops traveling and the leg structure 21 is not tilted, initial settings are made based on the respective liquid levels at time t0. At time t0, the liquid level in container 4a is 85 mm, the liquid level in container 4b is 160 mm, the liquid level in container 4c is 100 mm, and the liquid level in container 4d is 100 mm. Therefore, the reference degree of tilt of leg structure 21 of crane 20 (reference tilt between containers) is set to θab = arcsin(−75 / L), θdc = 0, θad = arcsin(−15 / B), and θbc = arcsin(60 / B). Furthermore, the reference value, which is the sum of the liquid levels in containers 4a to 4d, is 445 mm, and remains constant while the crane 20 is traveling at a constant speed unless liquid leakage or evaporation occurs.

[0056] This step S131 is performed each time the tilt measurement method is performed. However, when the same crane 20 is run multiple times along the same trajectory R, ​​and the total amount of liquid poured into the containers 4a-4d does not change due to evaporation, liquid leakage, or the like, the standard and reference value for the degree of tilt can be used multiple times, and this step S131 can be omitted. Also, when the crane 20 is not tilted and all of the liquid levels in the containers 4a-4d are the same, there is no need to set a standard for the degree of tilt, and the angle of the line segment connecting the centers of adjacent containers on the leg structure 21 of the crane 20 with the geoid plane GS directly represents the distortion or tilt of the leg structure 21.

[0057] In step S132, the calculation device 3 executes data processing to quantify the degree of inclination of the leg structure 21 while the crane 20 is traveling, based on the distances L, B, and liquid level data D1a to D1d. Specifically, the calculation device 3 calculates the angles θab, θdc, θad, and θbc for each time, and quantifies the degree of inclination of the leg structure 21 using the difference between each of the calculated angles and the standard degree of inclination set in the initial setting.

[0058] In step S132, the angles of inclination of the sill beams 24A, 24B and tie beams 24C, 24D in the traveling direction, the angles of inclination of the portal beams 24E, 24F in the traverse direction, etc. are quantified. The average value of the angles of inclination of the pair of sill beams 24A, 24B can be regarded as the angle of inclination of the leg structure 21 in the traveling direction. Also, the average value of the angles of inclination of the pair of portal beams 24E, 24F can be regarded as the angle of inclination of the leg structure 21 in the traverse direction.

[0059] The graph illustrated in FIG. 9 shows the change over time in the degree of inclination of the leg structure 21 for each travel distance. In FIG. 9, the horizontal axis represents the travel distance [m] and the vertical axis represents the angle [deg]. Curves D2 to D4 in FIG. 9 show the change over time in the different degrees of inclination. Specifically, curve D2 shows the change over time in the angle of inclination of the leg structure 21 in the travel direction, curve D3 shows the change over time in the angle of inclination of the leg structure 21 in the lateral direction, and curve D4 shows the change over time in the angle of inclination of the sill beam 24A in the travel direction. The travel distance can be calculated from the time measured by the level gauges 5a to 5d and the travel speed of the crane 20.

[0060] It can be seen from curve D2 that leg structure 21 tilts by approximately ±0.002 degrees in the traveling direction several times while crane 20 is traveling. Also, it can be seen from curve D3 that leg structure 21 tilts by approximately ±0.001 degrees in the lateral direction several times while crane 20 is traveling. In addition, it can be seen from curve D4 that sill beam 24A tilts overall by approximately +0.002 degrees while crane 20 is traveling.

[0061] There may be cases where inappropriate data exists among the liquid level data D1a to D1d. Therefore, in step S132, it is preferable that the arithmetic device 3 distinguishes inappropriate data from among the liquid level data D1a to D1d and excludes the distinguished inappropriate data from data processing.

[0062] Inappropriate data refers to liquid levels in the vessels 4a to 4d that have changed due to factors other than the relative displacement between the vessels in the vertical direction. Specifically, examples of inappropriate data include liquid levels due to improper measurement by the level gauges 5a to 5d and liquid levels during acceleration and deceleration of the crane 20. In the above-mentioned Figure 3, liquid levels that are negative values ​​less than zero and liquid levels measured between times t0 and t1 and between t2 and t3 correspond to inappropriate data.

[0063] To individually determine whether data is inappropriate for each liquid level in the liquid level data D1a to D1d, the measurable range of the liquid level gauges 5a to 5d can be used. The containers 4a to 4d have a bottom and a ceiling, and the range of liquid levels that the liquid level gauges 5a to 5d can measure is the range from the bottom (0 mm) to the ceiling. In other words, a liquid level less than 0 mm is inappropriate data, and similarly, a liquid level greater than the height from the bottom to the ceiling is also inappropriate data.

[0064] To determine whether the liquid levels measured at the same time are inappropriate, the sum of the liquid levels measured at the same time is compared with a reference value. If the sum of the liquid levels measured at the same time differs significantly from the reference value, this indicates that the liquid level has changed due to expansion or swelling of the pipe 6, or that a leak in either the pipe 6 or the containers 4a-4d has caused the change. Specifically, the difference between the sum of the liquid levels measured at the same time and the reference value exceeds a predetermined value. This predetermined value can be selected arbitrarily within a range that allows for the determination of changes in the liquid level due to expansion or swelling of the pipe 6. The degree of change in the liquid level due to expansion or swelling of the pipe 6 varies depending on the specifications of the pipe 6, but is, for example, approximately ±10 mm to ±30 mm. In the example shown in FIG. 3 above, the sum of the liquid levels measured between times t0 and t1 and between t2 and t3 is significantly smaller than the sum measured at time t0 due to the expansion or swelling of the pipe 6 caused by the acceleration or deceleration of the crane 20. Therefore, this sum is treated as inappropriate data.

[0065] Furthermore, to determine whether or not each liquid level at the same time is inappropriate data, the traveling state of the crane 20 can be used. For example, if the crane 20 is accelerating or decelerating while traveling, each liquid level measured during the accelerating or decelerating travel can be considered to be inappropriate data.

[0066] Furthermore, in step S132, if one level gauge is unable to measure, the liquid level measured by the incapable level gauge may be complemented using the liquid levels measured by the other level gauges. Specifically, the calculation device 3 may consider the value obtained by subtracting the sum of the liquid level data measured at the time when one level gauge was unable to measure the liquid level data from the reference value as the unmeasurable liquid level data. For example, if level gauge 5b is unable to measure, the value obtained by subtracting the sum of the liquid levels measured simultaneously by level gauges 5a, 5c, and 5d from the reference value can be considered as the liquid level measured by level gauge 5b. As a result, in FIG. 3 described above, the complemented data can be used instead of a negative value less than zero in liquid level data D1b.

[0067] In step S133, the calculation device 3 executes data processing to identify the degree of deformation of portions of the track R while the crane 20 is traveling, based on the degree of inclination of the leg structure 21 for each time (each travel distance). Specifically, the inclination between the containers in the leg structure 21 for each time (each travel distance) is used as the degree of inclination of the leg structure 21, and the degree of deformation of portions of the track R while the crane 20 is traveling is identified. When the crane 20 travels along the track R, the greater the degree of deformation of the portion of the track R, the greater the inclination of the leg structure 21 of the crane 20, and the more portions of the track R deform, the more frequently the leg structure 21 of the crane 20 tilts. Therefore, the degree of deformation of portions of the track R can be identified from the degree of inclination of the leg structure 21 for each travel distance. For example, the inclination of ±0.002 [deg] of the leg structure 21 in the traveling direction shown by the curve D2 in FIG. 9 above indicates the degree of deformation at the joints of the track R. Additionally, the slope of +0.002 degrees of the sill beam 24A in the traveling direction, as indicated by curve D4, indicates the overall deformation of the track R on which the traveling units 22a and 22b are placed. Overall, it can be seen that the track R on which the traveling units 22a and 22b are placed is at a level that requires repair.

[0068] As described above, according to this embodiment, the liquid levels in each of the containers 4a-4d exist on the same plane PS, which is parallel to the geoid surface GS. When each of the containers 4a-4d moves vertically as the crane 20 travels, the plane PS formed by the liquid levels in each of the containers 4a-4d also displaces vertically. However, this plane PS remains parallel to the geoid surface GS. The tilt between adjacent containers at any time during the travel of the crane 20 is the same as the angle between the line segment connecting the centers of the adjacent containers and the geoid surface GS. In other words, even if the position of the crane 20 changes as the crane 20 travels or the leg structure 21 tilts, the tilt between each container remains the same angle relative to the geoid surface GS. Therefore, by calculating the difference between the tilts between the containers at any two times, the absolute value of the change in tilt between the containers between those times can be calculated.

[0069] Furthermore, the liquid level in each of the containers 4a to 4d changes linearly depending on the distortion and tilt of the leg structure 21 of the crane 20, and each of the liquid level gauges 5a to 5d can measure the liquid level that changes over time, so information about unevenness along the travel path can be obtained without stopping the travel of the crane 20.

[0070] In the communicating-pipe displacement meter 2, the sum of the liquid level data D1a-D1d for each of the containers 4a-4d is constant. Furthermore, the liquid levels in each of the containers 4a-4d change vertically in unison to coincide with the plane PS, depending on the distortion and tilt of the leg structure 21 of the crane 20. The difference in the liquid level data between the containers at the same time represents the relative vertical displacement between those containers, and the distance between those containers can be considered to be roughly constant. Therefore, the inclination between adjacent containers (angles θab, θdc, θad, θbc) can be calculated based on the distances L and B between the containers, which are pre-stored in the memory unit, and the difference in the liquid level data D1a-D1d. The resulting change in inclination over time faithfully represents the change in the tilt of the leg structure 21 of the crane 20 over time while it is traveling.

[0071] In this way, this embodiment uses a simple method of processing the liquid level data D1a to D1d obtained while the crane 20 is traveling using a communicating pipe type displacement meter 2 installed on the crane 20, making it possible to quantify with high accuracy the change over time in the degree of inclination of the leg structure 21 while the crane 20 is traveling.

[0072] Furthermore, according to this embodiment, the change over time in the degree of inclination of the leg structure 21 according to the travel distance indicates the deformed locations on the rail R and the magnitude of the degree of deformation. Therefore, by quantifying the degree of inclination of the leg structure 21 for each travel distance, the degree of deformation of each portion of the rail R can be identified. The degree of deformation of each portion of the rail R indicates the dynamic state of the rail R while the crane 20 is traveling, and cannot be grasped from the appearance of the rail R in a static state. This makes it possible to relatively grasp the degree of deformation in accordance with the actual state of the rail R while the crane 20 is traveling, and allows appropriate repairs to be made to the track R. As a result, this greatly contributes to improving the durability of the crane 20.

[0073] Instead of the above-described step S133, the calculation device 3 may execute data processing to estimate the stress generated in the leg structure 21 based on the difference between the inclination between the containers at each time (each traveled distance) and a reference. Specifically, by determining the difference between the inclination between the containers at any two times, the absolute value of the change in the inclination between the containers between those times is calculated, and the absolute value of the vertical displacement of the legs 23a to 23d is calculated based on the calculated absolute value of the inclination and the distance between the containers. That is, the stress generated in the leg structure 21 is estimated based on the absolute value of the vertical displacement of the legs 23a to 23d. A known structural analysis method such as the finite element method (FEM) can be used for data processing to estimate the stress. For example, when the finite element method is used, the absolute value of the vertical displacement of the legs 23a to 23d at each time (each traveled distance) is input as the forced displacement, thereby back-calculating the stress generated in the leg structure 21. This makes it possible to predict the period (remaining life) until the leg structure 21 will be broken by fatigue, and to carry out appropriate repairs according to the fatigue accumulated in the leg structure 21.

[0074] The container 4a shown in FIG. 10 is fixed to a turnbuckle 30 that secures the leg structure 21 to the ground during a disaster such as a typhoon. Although not shown, other containers 4b to 4d are also secured to other turnbuckles. One end of the turnbuckle 30 is secured to the leg 23a. The other end of the turnbuckle 30 is secured to the ground during a disaster and is released from the ground during loading and unloading or traveling. Thus, the containers 4a to 4d do not need to be secured directly to the leg structure 21 (the legs 23a to 23d) but may be secured indirectly to the leg structure 21 via a device secured to the leg structure 21, providing a high degree of freedom in installation. Furthermore, securing the containers 4a to 4d to a device, such as the turnbuckle 30, that is positioned below the leg structure 21 allows the installation of the containers 4a to 4d to be performed at a lower position, which is advantageous for ensuring safety.

[0075] The crane 20 to which this embodiment can be applied is not limited to a rail crane, but may be a tire-type transfer crane, etc. If the crane 20 is a tire-type transfer crane, it can grasp unevenness and the like in accordance with the condition of the route (road surface) on which it has traveled.

[0076] Although the embodiments of the present invention have been described above, the crane structure inclination measurement device and inclination measurement method of the present invention are not limited to the specific embodiments, and various modifications and variations are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0077] 1. Tilt measurement device 2. Connecting pipe type displacement meter 3 Computing device 4a~4d container 5a~5d Liquid level gauge 6 tubes 7 Processing unit 8 Main memory 9 Auxiliary storage 10 Input section 11 Output section 20 Crane 21 Leg structure 22a~22d Running gear 23a~23d Legs 24A, 24B Silver Beam 24C, 24D tie beam 24E, 24F Portal Beam 24G, 24H diagonal members 25 wheels 26-girder structure 27 Trolley 28 Wire Rope 29 Hanging equipment 30 turnbuckle D1a~D1d Liquid level data R Track (pair of rails)

Claims

1. A crane structure inclination measurement device that continuously measures the inclination of a structure while the structure and a crane having a plurality of traveling devices under the structure are traveling, A communication pipe type displacement meter and a computing device are provided, The communicating pipe type displacement meter has a plurality of sets of containers containing liquid and liquid level gauges that measure the height of the liquid surface in the containers, the lower parts of adjacent containers are connected to each other by pipes filled with liquid, and each container is individually fixed at approximately the same height on the structure above each traveling device, and while the crane is traveling, each liquid level gauge simultaneously measures the height of the liquid surface in the container over time to obtain liquid level data, The computing device has a memory unit that pre-stores the distances between multiple adjacent containers, and performs data processing to quantify the inclination between adjacent containers as the degree of inclination of the structure while the crane is traveling, based on each of the distances and each of the liquid level data.

2. A crane structure inclination measurement device as described in claim 1, wherein the data processing quantifies the difference between the inclination when the crane is stopped and before the crane starts traveling as a reference and the inclination while the crane is traveling relative to the reference as the degree of inclination of the structure.

3. 2. The device for measuring the inclination of a crane structure according to claim 1, wherein the crane is a rail crane in which the wheels of the traveling device roll on a track.

4. The crane structure inclination measurement device described in claim 3, wherein the structure is a leg structure that supports at the top a girder structure along which a trolley travels, and each of the containers is individually fixed at approximately the same height to multiple legs of the leg structure.

5. The sum of the numerical values ​​of the liquid level data at the same time when the crane is stopped before the crane starts traveling is set as a reference value, 3. The crane structure inclination measurement device according to claim 2, wherein the calculation device excludes numerical values ​​from the data processing when the sum of the numerical values ​​of each of the liquid level data at the same time has a difference that exceeds a predetermined value from the reference value.

6. The sum of the numerical values ​​of the liquid level data at the same time when the crane is stopped before the crane starts traveling is set as a reference value, 3. The crane structure inclination measurement device according to claim 2, wherein the calculation device performs the data processing by regarding a value obtained by subtracting from the reference value the sum of the liquid level data measured at a time when one of the liquid level gauges was unable to measure the liquid level data as the liquid level data that was unable to be measured.

7. The crane structure inclination measurement device according to claim 3, wherein the calculation device performs data processing to identify the degree of deformation of parts of the track caused by the travel of the crane based on the inclination of the crane while it is traveling.

8. 3. A crane structure inclination measurement device according to claim 2, wherein the calculation device performs data processing to estimate stress generated in the structure as the crane travels, based on a difference between the inclination of the crane while it is traveling and the reference inclination.

9. A method for measuring the inclination of a crane structure, using the crane structure inclination measurement device according to any one of claims 1 to 8, to continuously measure the inclination between adjacent containers as the degree of inclination of the structure while the crane is traveling.

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