Crane tipping risk assessment device, crane equipped with this device, and crane tipping risk assessment method

Abstract

To reduce the risk of the crane tipping over during operation (while traveling). [Solution] A device (150) for determining the risk of the crane tipping over is applied to a crane (100) which includes a running body (101) including a pair of side frames (101a) that can expand and contract the track width, a slewing body (103) provided on the running body, and heavy objects (104, 111) provided on the slewing body and the running body. The device determines the risk of the crane tipping over based on first information regarding the track width and second information regarding the weight of the heavy objects. If it determines that there is a risk of the crane tipping over during crane operation, it implements at least one of the following: restricting the expansion and contraction of the track width and restricting the slewing movement of the slewing body, and / or notifies the user in a predetermined manner that there is a risk of the crane tipping over.

Description

Technical Field

[0001] The present invention relates to a tipping risk determination device for a crane, a crane equipped with this device, and a tipping risk determination method for a crane.

Background Art

[0002] Conventionally, a crawler crane has been described which includes a traveling body whose interval between left and right crawlers can be expanded and contracted, and a slewing body provided on the traveling body. For example, in the crawler crane described in Patent Document 1, when the crawlers are in a narrowed state and the slewing body slews by a predetermined angle, a slewing detector operates to issue an alarm to prevent tipping.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the center of gravity position of a crawler crane varies depending on the number of counterweights, the length and angle of the boom, etc., the technique described in Patent Document 1 cannot be said to be sufficient from the viewpoint of preventing tipping. For example, during the operation of a crawler crane (such as when traveling), the crawlers may be in a narrowed state when the crawler crane is placed on a trailer or when the crawler crane travels in a narrow place. At this time, the center of gravity position may change depending on the mounting condition of various components mounted on the slewing body and the traveling body. Regarding preventing tipping during such operation of a crawler crane, Patent Document 1 does not mention anything.

[0005] Therefore, the main object of the present invention is to reduce the tipping risk during the operation of a crane.

Means for Solving the Problems

[0006] To achieve the above objective, one aspect of the present invention relates to a device for determining the risk of the crane tipping over, which is applied to a crane comprising a running body including a pair of side frames capable of expanding and contracting the track width, a slewing body provided on the running body, and a heavy object provided on the slewing body and the running body, wherein the device determines the risk of the crane tipping over based on first information relating to the track width and second information relating to the weight of the heavy object, and when it is determined that there is a risk of the crane tipping over during operation of the crane, it performs at least one of restricting the expansion and contraction of the track width and restricting the slewing movement of the slewing body, and / or notifies the user in a predetermined manner that there is a risk of the crane tipping over.

[0007] According to the present invention, the risk of tipping over during crane operation can be reduced. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of the crane. [Figure 2] This is a schematic diagram of a crane, where (a) is a side view of the crane body, (b) is a cross-sectional view AA with the side frame extended, and (c) is a cross-sectional view AA with the side frame reduced. [Figure 3] This is a perspective view showing the entire driver's cab. [Figure 4] This is a block diagram showing the electrical configuration of a crane. [Figure 5] This is an explanatory diagram showing the criteria for determining the risk of a crane tipping over. [Figure 6] This is an explanatory diagram showing the criteria for determining the risk of a crane tipping over. [Figure 7] This is an explanatory diagram showing the criteria for determining the risk of a crane tipping over. [Figure 8] This is a flowchart showing the control process steps of the controller. [Figure 9]This figure shows specific examples of alarms displayed on a display device. [Figure 10] This figure shows specific examples of alarms displayed on a display device. [Figure 11] This flowchart shows the control process procedure for the controller related to Modification Example 1. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the crane according to the present invention will be described with reference to the drawings.

[0010] Figure 1 is a side view of a crane 100 according to an embodiment of the present invention. Figure 2 is a schematic diagram of the crane 100, where (a) is a side view of the crane body, (b) is a cross-sectional view AA of the crane 100 with the side frame 101a extended, and (c) is a cross-sectional view AA of the crane 100 with the side frame 101a reduced.

[0011] The crane 100 is a crawler crane and comprises a traveling body 101, a slewing body 103 rotatably mounted on the traveling body 101 via a slewing wheel 102, and a boom 104 rotatably pivoted on the slewing body 103. The traveling body 101 comprises a pair of side frames 101a, crawlers (tracks) 101b attached to each of the pair of side frames 101a, and lower weights (not shown).

[0012] A pair of side frames 101a are provided symmetrically on the left and right sides of the main frame 103a via beams 101c. The pair of side frames 101a can move (expand and contract) in the left-right direction between an expanded state (Figure 2(b)) and a contracted state (Figure 2(c)) by hydraulic cylinders (not shown). That is, the width of the crawler 101b (track width) is expanded or contracted by changing the distance between the side frames 101a.

[0013] A limit switch 121 is provided on the beam 101c, and the on / off state of the limit switch 121 detects whether the side frame 101a is in an extended state. More specifically, when the limit switch 121 is not activated (i.e., when the limit switch 121 is off), the safety circuit is turned on, and it is detected that the side frame 101a is in a retracted state (Figure 2(c)). Then, when the limit switch 121 is activated as the side frame 101a expands (i.e., when the limit switch 121 is turned on), the safety circuit is turned off, and it is detected that the side frame 101a is in a fully extended state (Figure 2(b)). In addition to the limit switch 121, a stroke sensor that detects the stroke of a hydraulic cylinder that expands and contracts the side frame 101a can also be used.

[0014] A counterweight 111 is mounted at the rear end of the slewing body 103 to maintain balance with the suspended load L. The counterweight 111 is constructed by stacking multiple pieces so that its total weight can be changed according to the weight of the suspended load L. In addition, to detect the number of counterweights 111, the slewing body 103 is equipped with counterweight detection sensors 120 at a height position opposite each counterweight 111 (Figure 2(a)). Therefore, the number of counterweights 111 can be detected by counting the number of counterweights 111 detected by each counterweight detection sensor 120 opposite itself.

[0015] For example, in the example shown in Figure 2(a), if all three counterweight detection sensors 120 detect the counterweight 111, it is possible to detect that there are three counterweights 111. Note that, for example, a photosensor or a magnetic sensor can be used as the counterweight detection sensor 120. Alternatively, a weight sensor or the like that detects the weight of the counterweight 111 may be used instead of the counterweight detection sensor 120.

[0016] The revolving body 103 is provided with an operator cab 109, and in addition to the engine 107 which is a prime mover, a winch drum 105 which is a winch device and a rear winch drum (hoisting drum) 106 are mounted. A hoisting rope 105a is wound around the hoisting drum 105, and by driving the hoisting drum 105, the hoisting rope 105a is wound up or paid out, and the hook 110 moves up and down. A hoisting rope 106a is wound around the rear winch drum 106, and by driving the rear winch drum 106, the hoisting rope 106a is wound up or paid out, and the boom 104 moves up and down.

[0017] The revolving body 103 is driven to revolve by a revolving hydraulic motor 102b via a revolving ring 102. The hoisting drum 105 is driven by a hoisting hydraulic motor 105b, and the rear winch drum 106 is driven by a rear winch hydraulic motor 106b.

[0018] FIG. 3 is a perspective view showing the whole of the operator cab 109. As shown in FIG. 3, the operator cab 109 is provided with a driver's seat 201 on which an operator sits, a right lever group (travel lever, winch operation lever, etc.) 210 which is operated by the operator sitting on the driver's seat 201 with the right hand, and a revolving lever 221 which is operated by the operator sitting on the driver's seat 201 with the left hand. When the revolving lever 221 is operated, the revolving body 103 revolves in a predetermined direction.

[0019] On the floor of the operator cab 109, a hoisting drum brake pedal 251 for braking the hoisting drum 105, a rear drum brake pedal 252 for braking the rear winch drum 106, an accelerator pedal 261 for increasing or decreasing the rotational speed of the engine 107, and a revolving brake pedal 262 for braking the revolving body 103 are provided.

[0020] Also, a display device 231 (see FIG. 3) is provided in the left front of the driver's seat 201, and various information such as the operating state and warnings of the crane 100 is displayed (details will be described later).

[0021] Next, an overview of the electrical configuration of the crane 100 will be described. Figure 4 is a block diagram showing the electrical configuration of the crane 100. As shown in Figure 4, the crane 100 is equipped with a controller 150. Although not shown in detail, the controller 150 is composed of a processing unit including a CPU, memory devices such as ROM and RAM, and other peripheral circuits. The controller 150 functions as a tipping risk determination device according to the present invention.

[0022] The input side of the controller 150 is electrically connected to a slewing angle sensor 108, a counterweight detection sensor 120, a limit switch 121, a slewing lever 221, a lower weight detection sensor 122, a load cell 123, a boom detection sensor 124, and the like. The output side of the controller 150 is electrically connected to a display device 231 and a hydraulic circuit (directional control valve) that controls the slewing hydraulic motor 102b.

[0023] The slewing angle sensor 108 is located near the slewing wheel 102 (see Figure 1) and detects the slewing angle and direction of the slewing body 103. The counterweight detection sensor 120 detects whether or not a counterweight 111 is present at an opposing position. The limit switch 121 detects whether the side frame 101a is expanded or contracted. The lower weight detection sensor 122 detects whether or not a lower weight is present in front of or behind the frame of the traveling body 101. The load cell 123 detects the load (rope tension) acting on the hoisting rope 105a. The boom detection sensor 124 detects the presence or number of booms 104. The controller 150 then determines the risk of the crane 100 tipping over based on the various information input from these sensors 120, 122, 123, 124 and switch 121.

[0024] The controller 150 includes a weight information acquisition unit 151, a side frame information acquisition unit 152, a rope load information acquisition unit 153, a boom information acquisition unit 154, a tipping risk determination unit 155, a slewing limiting unit 156, an alarm issuing unit 157, and a model data table 158.

[0025] The weight information acquisition unit 151 acquires information regarding the quantity (number) of counterweights 111 based on the detection signal from the counterweight detection sensor 120. The weight information acquisition unit 151 also acquires information regarding the quantity (number) of lower weights based on the detection signal from the lower weight detection sensor 122. In other words, the weight information acquisition unit 151 acquires information regarding the weights of the counterweights 111 and lower weights.

[0026] The side frame information acquisition unit 152 acquires information on whether or not the pair of side frames 101a are in an extended state, based on the detection signal from the limit switch 121.

[0027] The rope load information acquisition unit 153 acquires information on the rope load (tension) acting on the hoisting rope 105a based on the detection signal from the load cell 123. In other words, the rope load information acquisition unit 153 acquires the weight information of the suspended load L from the rope load.

[0028] The boom information acquisition unit 154 acquires information about the presence or quantity of booms 104 based on the detection signal from the boom detection sensor 124. Alternatively, the boom information acquisition unit 154 may acquire information about the presence or quantity of booms 104 through manual input by an operator. In this case, the boom detection sensor 124 can be omitted.

[0029] The overturning risk determination unit 155 determines the overturning risk of the crane 100 based on various information acquired by the weight information acquisition unit 151, the side frame information acquisition unit 152, the rope load information acquisition unit 153, and the boom information acquisition unit 154, as well as the model data stored in the model data table 158. In this embodiment, the overturning risk of the crane 100 is determined based on the weight information of the counterweight 111, the lower weight, the suspended load L, and the boom 104, but the overturning risk determination may also be performed based on at least one of these weight information.

[0030] The rotation limiting unit 156 controls the rotation of the rotating body 103 to stop and / or reduce its rotation speed if it determines that there is a risk of tipping over.

[0031] The alarm generation unit 157 outputs the fall risk determination result (alarm information) from the fall risk determination unit 155 to the display device 231.

[0032] The model data table 158 stores various information about the crane 100. This information is necessary to calculate the center of gravity G of the crane 100. For example, the weight of each counterweight 111, the weight of each lower weight, the weight of the suspended load L corresponding to the detected value of the load cell, and the length and weight of the boom 104 are stored in the model data table 158. In addition, information on the stable slewing area 170 (described later), which is used for determining the risk of tipping over, is also stored in the model data table 158, corresponding to the expansion and contraction state of the side frame 101a. Furthermore, the model data table 158 may also store information specific to each model of the crane 100 (for example, size, specifications, parts information, etc.) as appropriate.

[0033] Next, we will explain the method for determining the overturning risk of crane 100. Figures 5 to 7 are explanatory diagrams showing the criteria for determining the overturning risk of crane 100.

[0034] The stable turning region 170 of the rotating body 103 shown in these figures is predetermined according to the expanded / contracted state (track width) of the side frame 101a. This stable turning region 170 is defined, for example, as a rectangle. Hereafter, the stable turning region 170 will be referred to as the stable rectangle 170.

[0035] Furthermore, the center of gravity G is calculated based on the configuration of the slewing body 103 (number of counterweights 111, presence or absence of boom 104, etc.), the configuration of the traveling body 101 (number of lower weights), and the presence or absence of suspended load L. Therefore, the slewing trajectory 180 traced by the center of gravity G is determined according to the weights mounted on the slewing body 103 and the traveling body 101. A predetermined safety factor may also be considered for the slewing trajectory 180. When the safety factor is considered, the slewing trajectory 180 becomes larger than when it is not considered.

[0036] The stable slewing region 170 is the region in which the crane 100 does not lose balance and tip over even when the slewing body 103 is slewing. Therefore, if the position of the center of gravity G of the crane 100 (slewing trajectory) is within the range of the stable slewing region 170, the crane 100 can maintain balance, and the risk of tipping over is low. On the other hand, if the center of gravity G deviates from the range of the stable slewing region 170, the crane 100 will lose balance, and the risk of tipping over will increase.

[0037] In the example shown in Figure 5, three counterweights 111 are mounted, and the side frame 101a is reduced in size. As a result, the center of gravity G is located at a radius R1 from the center C. Comparing the rotational trajectory 180 traced by the center of gravity G with the stabilizing rectangle 170, the position of the center of gravity G deviates from the stabilizing rectangle 170 within range 181. In other words, if the rotating body 103 rotates to range 181, there is a high risk that the crane 100 will tip over.

[0038] Therefore, the controller 150 monitors the rotation angle detected by the rotation angle sensor 108, and when the rotation angle of the rotation body 103 reaches range 182, which is just before range 181, it decelerates the rotation speed of the rotation body 103, and when the rotation angle of the rotation body 103 reaches range 181, it stops the rotation movement of the rotation body 103. In other words, range 182 is the range in which the rotation speed is decelerated, and range 181 is the range in which the rotation movement itself is stopped. As a means of decelerating the rotation speed, for example, the flow rate of pressurized oil supplied to the rotation hydraulic motor 102b can be reduced, or the operation command for the amount of operation of the rotation lever 221 can be adjusted.

[0039] On the other hand, in the example of FIG. 6, two counterweights 111 are mounted and the side frame 101a is in a reduced state. Therefore, the center of gravity G is at a position with a radius R2 (R2 < R1) from the center C. In this case, the turning locus 180 drawn by the center of gravity G is within the range of the stable quadrilateral 170. However, in the range 182, the turning locus 180 approaches the stable quadrilateral 170. Therefore, the controller 150 monitors the turning angle detected by the turning angle sensor 108 and decelerates the turning speed of the turning body 103 when the turning angle of the turning body 103 reaches the range 182. However, in the example of FIG. 6, since the turning locus 180 is within the range of the stable quadrilateral 170, the turning operation of the turning body 103 is not stopped.

[0040] Also, in the example of FIG. 7, the counterweight 111 is not mounted and the side frame 101a is in a reduced state. Therefore, the center of gravity G is at a position with a radius R3 (R3 < R2) from the center C. In this case, the turning locus 180 drawn by the center of gravity G is within the stable quadrilateral 170 and does not approach the stable quadrilateral 170. Therefore, the controller 150 does not limit the turning operation and turning speed of the turning body 103.

[0041] In this way, the controller 150 overlays the turning locus 180 drawn by the center of gravity G on the stable quadrilateral 170 and determines the level of the tipping risk of the crane 100 based on whether the center of gravity G deviates from the stable quadrilateral 170 or approaches the stable quadrilateral 170.

[0042] Next, the details of the control process of the controller 150 will be described. FIG. 8 is a flowchart showing the procedure of the control process of the controller 150. When the engine 107 is started, the power of the crane body is turned on, and the controller 150 starts the process of FIG. 8. Then, the controller 150 repeatedly executes the processes of S101 to S111 in FIG. 8 at a predetermined cycle.

[0043] First, the controller 150 acquires various information related to weight (S101). Specifically, the weight information acquisition unit 151 acquires information regarding the quantity of counterweights 111 (second information) and information regarding the quantity of lower weights (second information), the rope load information acquisition unit 153 acquires information regarding the rope load (suspended load) (second information), and the boom information acquisition unit 154 acquires information regarding the quantity (weight) of booms 104 (second information) (S101). In addition, the side frame information acquisition unit 152 acquires information regarding the expansion and contraction state of the side frame 101a (track width information / first information) (S102). Note that S101 and S102 may be reversed.

[0044] Next, the tipping risk determination unit 155 refers to the model data table 158 to determine the position of the center of gravity G according to the weight of the heavy object (weight of the counterweight 111, weight of the lower weight, weight of the suspended load L, and weight of the boom 104), and reads out the stabilizing rectangle 170 corresponding to the expanded and contracted state of the side frame 101a (S103).

[0045] Next, the tipping risk determination unit 155 determines whether the turning trajectory 180 traced by the center of gravity G deviates from the stable rectangle 170 (S104). If it deviates (S105 / YES), the turning limiting unit 156 limits the turning range of the turning body 103 and limits the turning speed of the turning body 103 (S106). Specifically, as shown in Figure 5, when the turning body 103 turns to range 182, the turning speed is reduced, and when it turns to range 181, the turning operation is stopped. At this time, the alarm generation unit 157 outputs a signal to the display device 231 indicating a high risk of tipping (S107).

[0046] On the other hand, if the turning trajectory 180 does not deviate from the stable rectangle 170 (S105 / NO), the tipping risk determination unit 155 determines whether the turning trajectory 180 approaches the stable rectangle 170 (S108). If it does approach (S108 / YES), the turning limiting unit 156 limits the turning speed of the turning body 103 (S109). Specifically, as shown in Figure 6, the turning speed is reduced when the turning body 103 turns to range 182. At this time, the alarm issuing unit 157 outputs a signal to the display device 231 indicating that the tipping risk is moderate (S110).

[0047] Furthermore, if the rotation trajectory 180 does not approach the stable rectangle 170 (S108 / NO), the rotation limiting unit 156 does not restrict the rotational movement of the rotating body 103 (S111). Specifically, in the state shown in Figure 7, NO will be determined in S108.

[0048] Next, we will explain specific examples of alarms displayed on the display device 231. Figure 9 shows a specific example of an alarm in the case of a high risk of tipping over (i.e., S105 / YES). As shown in Figure 9, when the risk of tipping over is high, the display device 231 displays image D11 on its screen, which shows at a glance which areas of the slewing range are dangerous and which areas require attention. Furthermore, it displays that the risk of tipping over is high, and that the factors contributing to this are a large number of counterweights 111 and a narrow track width (image D21). Therefore, the operator can see at a glance from the display device 231 screen that there is a high risk of tipping over when the slewing body 103 is swung widely to the left or right, and that when the slewing body 103 is swung to nearly 90 degrees, the slewing speed of the slewing body 103 will decelerate and then stop.

[0049] Figure 10 shows a specific example of an alarm in the case of a moderate risk of tipping over (i.e., S108 / YES). As shown in Figure 10, when the risk of tipping over is moderate, an image D12 is displayed on the screen of the display device 231 that clearly shows which area of ​​the slewing range requires attention. Furthermore, it is displayed that the risk of tipping over is moderate, and that the factors contributing to this are that the number of counterweights 111 is normal and the track width is narrow (image D22). Therefore, the operator can see at a glance on the screen of the display device 231 that there is a moderate risk of tipping over when the slewing body 103 is swung, and that the slewing speed of the slewing body 103 will decrease when it is swung nearly 90 degrees.

[0050] Next, the effects and advantages of this embodiment will be explained in relation to the assembly process of the crane 100. The assembly process for crane 100 is generally as follows: Step (1): Jack up the vehicle body 101 and attach a pair of side frames 101a and a pair of crawlers 101b to the vehicle body 101. Also, attach lower weights to the vehicle body 101. Step (2): Heavy objects such as the counterweight 111 and boom 104 are attached to the slewing body 103.

[0051] When the engine 107 is started during the assembly process, power is supplied to the crane 100 and the controller 150 becomes active, so the slewing body 103 can be rotated by operating the slewing lever 221. In particular, in processes (1) and (2), the position of the center of gravity G changes depending on the heavy objects (counterweight 111, lower weight, boom 104, etc.) attached to the slewing body 103 and the traveling body 101, so the risk of the crane 100 tipping over varies depending on the heavy objects.

[0052] In this embodiment, as described above, the controller 150 determines the risk of tipping over based on the expansion and contraction state of the side frame 101a and information on the weights (quantity of counterweights 111, quantity of lower weights, suspended load L, quantity of boom 104). Therefore, the risk of tipping over can be appropriately determined according to the progress of the crane 100 assembly work. Furthermore, the rotational movement of the slewing body 103 can be restricted according to the progress of the assembly work. Thus, the risk of tipping over during assembly work can be reduced (avoided), and the efficiency of the assembly work can be increased. Of course, it goes without saying that the risk of tipping over can also be reduced and tipping over can be prevented even when the crane 100 is in operation (traveling) after assembly is complete.

[0053] Furthermore, since the warning is displayed on the display device 231, the operator can check the warning display to understand the risk of tipping over and carry out various tasks (such as driving) more efficiently. In particular, the warning display also shows the degree of the risk of tipping over and its causes, which is helpful for the operator.

[0054] (Variation 1) Figure 11 is a flowchart showing the control processing procedure of the controller 150 according to Modification 1. For example, consider the case where the pair of side frames 101a are in an extended state and the stabilizing rectangle 170 is larger than the slewing trajectory 180. In this state, the risk of the crane 100 tipping over is low, but if the pair of side frames 101a are reduced in this state, the stabilizing rectangle 170 becomes smaller, and the slewing trajectory 180 may deviate from the stabilizing rectangle 170.

[0055] In such cases, in Modification 1, the risk of the crane 100 tipping over is avoided by restricting the expansion and contraction movement (specifically, contraction movement) of the pair of side frames 101a.

[0056] Referring to Figure 11, the rollover risk determination unit 155 determines whether the turning trajectory 180 deviates from the stable rectangle 170 when the pair of side frames 101a are reduced (the track width is narrowed) in S105-1. If the deviation occurs (S105-1 / YES), the controller 150 prohibits the reduction operation of the pair of side frames 101a. That is, it prohibits the operation of the hydraulic cylinders that expand and contract the pair of side frames 101a.

[0057] On the other hand, if there is no deviation (S105-1 / NO), the controller 150 does not restrict the contraction operation of the pair of side frames 101a.

[0058] This modified version 1 can also achieve the same effects as the embodiment described above. In other words, it can reduce the risk of tipping over during various operations of the crane 100 (such as assembly and travel).

[0059] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are subject to the present invention. The embodiments described above are preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed herein, and these are included in the technical scope described in the appended claims.

[0060] For example, the controller 150 may be installed in a remote control terminal that issues commands for the remote operation of the crane 100. Alternatively, the functions of the controller 150 may be installed in a server in the control room that performs the remote operation. In these cases, the crane is even easier to use at the assembly site. [Explanation of symbols]

[0061] 100 Cranes 101 Running body 101a Side Frame 101b Crawler (track) 101c beam 102 Swivel Wheel 103 Rotating body 103a Mainframe 104 Boom 107 Engine 108 Swivel Angle Sensor 109 Driver's cab 111 Counterweight 120 Counterweight detection sensor 121 Limit Switch 122 Lower weight detection sensor 123 Load Cell 124 Boom detection sensor 150 Controller (Fall Risk Assessment Device) 151 Weight Information Acquisition Unit 152 Side frame information acquisition unit 153 Rope load information acquisition unit 154 Boom Information Acquisition Unit 155 Fall risk assessment unit 156 Swing limiting section 157 Alarm Dispense Department 158 Model Data Table 231 Display device

Claims

1. A device for determining the risk of the crane tipping over, applied to a crane comprising a running body including a pair of side frames that can expand and contract the track width, a slewing body provided on the running body, and a heavy object provided on the slewing body and the running body, The aforementioned device is Based on the first information regarding the track width and the second information regarding the weight of the heavy object, the risk of the crane tipping over is determined. If, during operation of the crane, it is determined that there is a risk of the crane tipping over, at least one of the following will be implemented: a restriction on the expansion and contraction of the track width and a restriction on the rotation of the slewing body, and / or notification of the risk of the crane tipping over will be given in a predetermined manner. A crane overturning risk determination device characterized by the following features.

2. The crane tipping risk determination device according to claim 1, characterized in that the aforementioned heavy object includes at least one of a counterweight, a lower weight, a suspended load, and a boom.

3. The crane overturning risk determination device according to claim 1, characterized in that, if the slewing trajectory traced by the center of gravity of the crane, calculated based on the second information, deviates from the stable slewing region of the slewing body associated with the first information, it is determined that there is a risk of the crane overturning, and that the risk of overturning is high, and that as a restriction on the slewing movement of the slewing body, a restriction on the slewing range of the slewing body and a restriction on the slewing speed of the slewing body are implemented.

4. The crane overturning risk determination device according to claim 1, characterized in that when the slewing trajectory traced by the center of gravity of the crane, calculated based on the second information, approaches the stable slewing region of the slewing body associated with the first information, it is determined that there is a risk of the crane overturning, and that the risk of overturning is moderate, and a restriction on the slewing speed of the slewing body is implemented as a restriction on the slewing movement of the slewing body.

5. The crane's operation is as follows: The first step involves jacking up the vehicle from the ground and attaching the pair of side frames and tracks, The second step includes attaching the heavy object to the rotating body and the traveling body, The crane overturning risk determination device according to claim 1, characterized in that it determines the overturning risk of the crane in at least the second step.

6. The crane overturning risk determination device according to claim 1, characterized in that the predetermined embodiment includes the degree of the overturning risk of the crane and the factors contributing to the overturning risk.

7. A crane equipped with the device described in any one of claims 1 to 6.

8. A method for determining the risk of a crane tipping over, comprising a running body including a pair of side frames that can expand or contract the track width, a slewing body provided on the running body, and a heavy object provided on the slewing body and the running body, The steps include obtaining first information regarding the track width, The steps include obtaining second information regarding the weight of the aforementioned heavy object, A step of determining the risk of the crane tipping over based on the first information and the second information, A method for determining the risk of a crane tipping over, characterized by including the steps of: when it is determined that there is a risk of the crane tipping over during operation of the crane, performing at least one of the following: restricting the expansion and contraction of the track width and restricting the rotation of the slewing body; and / or notifying in a predetermined manner that there is a risk of the crane tipping over.

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