Overload preventing device

Abstract

This overload preventing device is mounted on a mobile work machine, and is provided with: a storage unit which stores lifting performance data; and a work machine control unit which controls operation of the mobile work machine on the basis of the actual load and the lifting performance corresponding to the present operation state of the mobile work machine. A third lifting performance configured for a transition region, a first switching angle defining the boundary between the front region and the side region and the boundary between the back region and the side region when the outriggers are in different states of deployment, and a second switching region defining a transition region in the side region are configured on the basis of stability calculations and strength factors such as jack strength.

Claims

1. An overload preventing device which is mounted in a mobile work machine which includes a running body which runs freely, a revolving base disposed on the running body to revolve horizontally, a boom disposed on the revolving base to be derricked, and a plurality of outriggers capable of setting an overhanging width in plural stages, the overload preventing device comprising: a storage unit which stores lifting performance data in which a lifting performance is set for each operation state and performance region data in which a switching angle is set to define a performance region which includes a front region, a back region, and a side region; and a work machine control unit which controls an operation of the mobile work machine on the basis of the lifting performance corresponding to a present operation state of the mobile work machine and an actual load, wherein the operation state includes a work radius and an overhanging state of the outriggers, the lifting performance includes a first lifting performance which is set to the front region and the back region, a second lifting performance which is set to the side region except a transition region in a case where the outriggers are in different states, and a third lifting performance which is set to the transition region, the switching angle includes a first switching angle which defines a boundary between the front region and the side region and a boundary between the back region and the side region in a case where the outriggers are in different states, and a second switching angle which defines the transition region in the side region, the first lifting performance and the second lifting performance are set on the basis of the operation state, a stability calculation, and a strength factor of the mobile work machine, the third lifting performance is expressed by an interpolation function which is calculated on the basis of an interpolation performance which is interpolated in stages between the first lifting performance and the second lifting performance and a limit value of a revolving angle range corresponding to the interpolation performance, the storage unit stores the interpolation function for each overhanging state of the outrigger as the lifting performance data, and the first switching angle and the second switching angle are calculated on the basis of the interpolation function, the first lifting performance, and the second lifting performance.

2. The overload preventing device according to claim 1, wherein the interpolation function is a function calculated by primary straight line approximation, multi-straight line approximation, or curve approximation.

3. The overload preventing device according to claim 1, wherein the interpolation function is generated by an external computer, and stored in the storage unit as the lifting performance data.

4. The overload preventing device according to claim 1, further comprising: a display control unit which displays information related to the operation state to a display unit of the mobile work machine, wherein the display control unit three-dimensionally displays a lifting performance chart generated on the basis of the lifting performance data and the performance region data using a cylindrical coordinates system in which a work radius is a radius direction, a revolving angle is a circumferential direction, and the lifting performance is an axial direction.

5. The overload preventing device according to claim 1, wherein the interpolation function is calculated on the basis of a relation between a performance ratio, which is acquired for a combination (except the overhanging state of the outrigger) of all operation states which are acquired by the mobile work machine, and the limit value.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a diagram illustrating an example (equal overhanging state) of a lifting performance of a work machine which is set by a conventional method.

(2) FIGS. 2A and 2B are diagrams illustrating other examples (different states) of the lifting performance of the work machine which is set by the conventional method.

(3) FIG. 3 is a diagram illustrating a state when the mobile work machine according to the embodiment travels.

(4) FIG. 4 is a diagram illustrating a state when the mobile work machine works.

(5) FIG. 5 is a diagram illustrating a control system of the work machine.

(6) FIG. 6 is a diagram illustrating a display example in a display unit.

(7) FIG. 7 is a flowchart illustrating an example of an overload preventing process.

(8) FIG. 8 is a flowchart illustrating an example of a generation procedure of lifting performance data and performance region data.

(9) FIGS. 9A and 9B are diagrams illustrating examples of the lifting performance in a first quadrant in a case where outriggers are in different states.

(10) FIG. 10 is a diagram illustrating the lifting performance over all circumferential directions corresponding to FIG. 9A.

(11) FIGS. 11A and 11B are diagrams illustrating examples of a lifting performance chart in which a cylindrical coordinates system is used.

DESCRIPTION OF EMBODIMENTS

(12) Hereinafter, embodiments of the invention will be described in detail with reference to the drawings.

(13) FIG. 3 is a diagram illustrating a state when a mobile work machine 1 according to the embodiment of the invention travels. FIG. 4 is a diagram illustrating a state of the mobile work machine 1. The mobile work machine 1 illustrated in FIGS. 3 and 4 is a so-called rough terrain crane (hereinbelow, referred to work machine 1) which includes an upper slewing body 10 and a lower travelling body 20.

(14) The work machine 1 is a mobile crane which uses tires for travelling portions of the lower travelling body 20, and can perform a travelling operation and a crane operation from one operation room. An overload preventing device 100 (see FIG. 5) is mounted in the work machine 1 to prevent from entering an overload state.

(15) The upper slewing body 10 includes a slewing frame 11, a cabin 12 (operation room), a derricking cylinder 13, a jib 14, a hook 15, a bracket 16, a telescopic boom 17, a counter weight C/W, and a hoisting device (winch, not illustrated).

(16) The slewing frame 11 is turnably supported to the lower travelling body 20 through a slewing support body (not illustrated). The cabin 12, the derricking cylinder 13, the bracket 16, the telescopic boom 17, the counter weight C/W, and the hoisting device (not illustrated) are attached to the slewing frame 11.

(17) The cabin 12 is disposed in the front portion of the slewing frame 11. In the cabin 12, an operation unit 121, a display unit 122, and a voice output unit 123 (see FIG. 5) are disposed in addition to a seat where an operator sits, and various types of meters.

(18) The telescopic boom 17 is rotatably attached to the bracket 16 through a support shaft (foot pin, symbol omitted). The telescopic boom 17 is configured by 6 stages for example, and includes a base end frame, an intermediate frame (4 stages), and a tip frame in an order from the base end side when being stretched. At the tip of the tip frame, a boom head (symbol omitted) with the sheave (symbol omitted) is disposed. The intermediate frame and the tip frame slides and stretches in the longitudinal direction with respect to the base end frame when a telescopic cylinder (not illustrated) disposed inside stretches (so-called telescopic structure).

(19) Further, the number of intermediate frames is not particularly limited in the telescopic boom 17. In addition, an operation attachment such as a bucket may be attached to the boom head. A boom length of the telescopic boom 17 is, for example, 9.8 m (basic boom length) in a fully stored state, and 44.0 m (maximum boom length) in a fully extended state.

(20) The derricking cylinder 13 is suspended between the slewing frame 11 and the telescopic boom 17. The telescopic boom 17 is derricked by stretching the derricking cylinder 13. A derricking angle of the telescopic boom 17 is, for example, 0 to 84.

(21) In a case where the lifting height is expanded, the jib 14 is rotatably mounted at the tip (boom head) of the telescopic boom 17. The jib 14 rotates forward to overhang forward from the telescopic boom 17.

(22) The hook 15 is a lifting tool of a key shape, and includes a main hook and an auxiliary hook. The hook 15 is attached to a wire rope 19 which is rolled around the sheave of the tip of the telescopic boom 17 or the tip of the jib 14. The hook 15 rises as the wire rope 19 hoists or dispenses by the hoisting device (not illustrated).

(23) The counter weight C/W is mounted in the rear portion of the slewing frame 11. The counter weight C/W is configured by a combination of a plurality of unit weights. In other words, the counter weight C/W may be set to vary in weight according to a combination of the unit weights.

(24) The lower travelling body 20 includes a vehicle frame 21, a front wheel 22, a rear wheel 23 (hereinbelow, referred to as wheels 22 and 23), front outriggers OR1 and OR2, rear outriggers OR3 and OR4 (hereinbelow, referred to as outriggers OR1 to OR4), and an engine (not illustrated).

(25) A drive force of the engine is transferred to the wheels 22 and 23 through a transmission (not illustrated). The wheels 22 and 23 are rotated by the drive force of the engine and the work machine 1 travels. In addition, the steering angle (travelling direction) of the wheels 22 and 23 varies according to the operation of a steering wheel (not illustrated) in the cabin 12.

(26) The outriggers OR1 to OR4 are stored in the vehicle frame 21 at the time of travelling. On the other hand, the outriggers OR1 to OR4 overhang in the horizontal direction and the vertical direction at the time of operation (when the upper slewing body 10 operates), and lift up and support the entire vehicle to stabilize the posture. In principle, an operation is performed in a state where the outriggers OR1 to OR4 overhang at maximum. However, it is allowed that the overhanging widths of the outriggers OR1 to OR4 are set differently (different state) depending on an installation place of the work machine. In this embodiment, the outriggers OR1 to OR4 have four stages of the overhanging width (a maximum overhanging width, a first intermediate overhanging width, a second intermediate overhanging width, a minimum overhanging width in an order of width).

(27) FIG. 5 is a diagram illustrating a control system of the work machine 1. As illustrated in FIG. 5, the work machine 1 includes a processing unit 101, a storage unit 102, a boom length detection unit 111, a derricking angle detection unit 112, a slewing angle detection unit 113, a load detection unit 114, an outrigger overhang width detection unit 115, the operation unit 121, the display unit 122, the voice output unit 123, and a hydraulic system 124. The overload preventing device 100 is configured by the processing unit 101 and the storage unit 102.

(28) The overload preventing device 100 prevents the overload in consideration of the stability against the falling of the work machine 1 and the strength of the component. Specifically, in a case where information related to overload prevention (hereinbelow, referred to as overload prevention information) becomes an overload state, the overload preventing device 100 controls the hydraulic system 124 to restrict the work machine 1 not to make an operation (for example, derricking and slewing of the telescopic boom 17) toward a dangerous side, and notifies that the state is close to the overload state through the display unit 122 and/or the voice output unit 123. Examples of the overload prevention information include the boom length, a boom derricking angle, a work radius, a lifting performance (rated total load), an actual load, the outrigger overhang width, and abnormality information (sensor error). According to the overload preventing device 100, it is possible to prevent in advance an accident such as the falling or the damage of the work machine 1 due to an overload exceeding the lifting performance.

(29) The processing unit 101 includes a Central Processing Unit (CPU) as a calculation/control device, a Read Only Memory (ROM) as a main storage device, and a Random Access Memory (RAM) (not illustrated). In the ROM, a basic program called a Basic Input Output System (BIOS) and basic setting data are stored. The CPU reads a program (for example, an overload preventing program) according to a processing content from the ROM, develops the program in the RAM, and executes the developed program. With this configuration, a predetermined process (for example, an overload preventing process) is realized.

(30) In this embodiment, the processing unit 101 functions as, for example, an operation state acquisition unit 101A, a lifting performance setting unit 101B, a load state determination unit 101C, a drive control unit 101D, and a display/voice control unit 101E by executing the overload preventing program stored in the ROM (not illustrated). The detailed functions of the units will be described later. Further, the operation state acquisition unit 101A, the lifting performance setting unit 101B, the load state determination unit 101C, the drive control unit 101D, and the display/voice control unit 101E form a work machine control unit which controls the operation of the work machine 1 on the basis of the lifting performance according to the present operation state of the work machine 1 and the actual load.

(31) The storage unit 102 is an auxiliary storage device such as a Hard Disk Drive (HDD) or a Solid State Drive (SSD). The storage unit 102 may be a disk drive which reads information by driving an optical disk such as a Compact Disc (CD) and a Digital versatile Disc (DVD) or a magneto-optical disk such as a Magneto-Optical disk (MO), or may be a memory card such as a Universal Serial Bus (USB) memory and a Secure Digital (SD).

(32) The storage unit 102 stores lifting performance data 102A and performance region data 102B of the work machine 1. In the lifting performance data 102A, the lifting performance is set for each operation state. The operation state includes the boom length of the telescopic boom 17, the derricking angle of the telescopic boom 17, a slewing angle, an actual load, an overhanging state of the outrigger, the work radius, the weight of the counter weight C/W attached to a slewing base 11, and an attachment device. In the performance region data 102B, there is set a switching angle which defines a performance region which includes a front region, a back region, and a side region. The lifting performance data 102A and the performance region data 102B are referred when the processing unit 101 performs the overload preventing process.

(33) Further, the lifting performance data 102A and the performance region data 102B may be stored in the ROM (not illustrated) of the processing unit 101. The lifting performance data 102A and the performance region data 102B are provided through, for example, a computer-readable portable recording medium (including an optical disk, a magneto-optical disk, and a memory card) where the data is stored. In addition, for example, the lifting performance data 102A and the performance region data 102B may be provided by being downloaded from a server which holds the data through a network. In addition, the lifting performance data 102A and the performance region data 102B may be generated by an external computer in advance in a stage of manufacturing the work machine 1, and may be stored in the storage unit 102 or the ROM (not illustrated) of the processing unit 101, or may be updated appropriately. Further, the lifting performance data 102A and the performance region data 102B may be generated by the processing unit 101, or may be stored in the storage unit 102 or the ROM (not illustrated) of the processing unit 101. The details of the lifting performance data 102A and the performance region data 102B will be described later.

(34) The boom length detection unit 111 detects the boom length of the telescopic boom 17, and outputs the detected boom length data to the processing unit 101.

(35) The derricking angle detection unit 112 detects the derricking angle of the telescopic boom 17 with respect to the slewing surface of the upper slewing body 10, and outputs the detected derricking angle data to the processing unit 101.

(36) The slewing angle detection unit 113 detects the slewing angle of the upper slewing body 10 (the forward direction of the work machine 1 is set to a reference angle of 0), and outputs the detected slewing angle data to the processing unit 101.

(37) The load detection unit 114 detects the weight (the actual load including the weight of the hook 15) of a load hanged to the telescopic boom 17, and outputs the detected load data to the processing unit 101.

(38) The outrigger overhang width detection unit 115 detects the overhanging states of the outriggers OR1 to OR4, and outputs overhanging state data to the processing unit 101.

(39) The processing unit 101 acquires the present operation state of the work machine 1 on the basis of the detection data acquired from the boom length detection unit 111, the derricking angle detection unit 112, the slewing angle detection unit 113, the load detection unit 114, and the outrigger overhang state detection unit 115. In addition, the processing unit 101 reads the lifting performance corresponding to the present operation state from the lifting performance data and the performance region data, and monitors a load state (load rate), and notifies the load state on the basis of the read lifting performance and the actual load. Further, the processing unit 101 issues a warning through the display unit 122 and/or the voice output unit 123 in a case where the work machine 1 is in an attentional state or a dangerous state, and controls a derricking operation and a slewing operation of the work machine 1.

(40) The operation unit 121 includes an operation lever, a steering wheel, a pedal, and switches to perform the travelling operation (for example, steering of the front wheel 22 and the rear wheel 23) and the crane operation (for example, derricking and stretching of the telescopic boom 17). For example, the operation unit 121 is used when an operator inputs the operation state of the work machine 1 and changes the setting of the overload preventing device 100. In addition, if the crane operation is performed by the operator through the operation unit 121, the processing unit 101 (the drive control unit 101D) outputs a control signal corresponding to the operator's operation to the hydraulic system 124.

(41) The display unit 122 is configured by, for example, a flat panel display such as a liquid crystal display and an organic EL display. The display unit 122 displays information indicating the operation state of the work machine 1 according to the control signal from the processing unit 101 (the display/voice control unit 101E) (see FIG. 6). As illustrated in FIG. 6, the information indicating the operation state includes lengths 31 of the telescopic boom 17 and the jib 14, a derricking angle 32 of the telescopic boom 17, a slewing angle 33 of the upper slewing body 10, an overhanging state 34 of the outriggers OR1 to OR4, an actual load 35, the present lifting performance 36, the present load rate 37, the lifting performance corresponding to the operation state, and a lifting performance chart 38 indicating the performance region. The operator mainly refers the information displayed in the display unit 122 when operating the crane.

(42) Further, the operation unit 121 and the display unit 122 may be integrally configured by a flat panel display equipped with a touch panel. In addition, the display unit 122 includes a Light Emitting Diode (LED), and may notify the load state of the work machine 1 by turning on or blinking the LED.

(43) The voice output unit 123 is configured by, for example, a speaker. The voice output unit 123 outputs a voice (for example, a warning buzzer) indicating the load state of the work machine 1 according to the control signal from the processing unit 101 (the display/voice control unit 101E).

(44) The hydraulic system 124 operates various drive units (hydraulic cylinder etc.) of the work machine 1 according to the control signal from a processing unit 131 (the drive control unit 101D).

(45) FIG. 7 is a flowchart illustrating an example of the overload preventing process by the processing unit 101. This process is realized by, for example, executing the overload preventing program which is stored in the ROM (not illustrated) by the CPU (not illustrated) as the engine of the work machine 1 is activated.

(46) In Step S101, the processing unit 101 acquires the operation state of the work machine 1 from the detection units 111 to 115 (the process as the operation state acquisition unit 101A). In addition, the processing unit 101 calculates the present work radius on the basis of the boom length of the telescopic boom 17 and the derricking angle. The processing unit 101 displays the acquired or calculated information to the display unit 122 (the process as the display/voice control unit 101E, see FIG. 6).

(47) In Step S102, the processing unit 101 reads the lifting performance corresponding to the present operation state (for example, the boom length of the telescopic boom 17, the work radius, and the overhanging state of the outrigger) from the lifting performance data and the performance region data, and performs setting (the process as the lifting performance setting unit 101B). In addition, the processing unit 101 displays the lifting performance chart 38 indicating the lifting performance in all circumferential directions (see FIG. 6) and the lifting performance 36 corresponding to the present operation state (including the slewing angle) (see FIG. 6) to the display unit 122 (the process as the display/voice control unit 101E).

(48) Specifically, in a case where all the outriggers OR1 to OR4 are in a maximum overhanging state, a maximum overhanging performance can be set for the front region, the back region, and the side region, that is, all circumferential directions. The lifting performance chart 38 is displayed as illustrated in FIG. 1 for example.

(49) Further, the front region and the back region may include a reference performance region where stability is equal to or more than a predetermined value and a specific performance region which is larger than the reference performance region according to a gravity center position of the work machine 1. The reference performance region and the specific performance region are set on the basis of the jack reaction of the outriggers OR1 to OR4. A maximum overhanging width performance corresponding to the reference performance region is referred to as standard performance, and a maximum overhanging width performance corresponding to the specific performance region is referred to as special performance. The switching angle of the performance region data includes the switching angle within a region where the reference performance region and the specific performance region are defined. The reference performance region and the specific performance region are defined on the basis of the performance region data (the switching angle within the region) corresponding to the operation state.

(50) On the other hand, in a case where the outriggers OR1 to OR4 are in different states, the front region, the back region, and the side region (including the transition region) are defined on the basis of the performance region data (a first switching angle 1, a second switching angle 2) corresponding to the operation state. The lifting performance (a first lifting performance; herein, the maximum overhanging width performance) in the front region and the back region, the lifting performance (a second lifting performance; herein, an intermediate overhanging width performance or a minimum overhanging width performance) in the side region (except the transition region), and the lifting performance (third lifting performance) in the transition region are set. The lifting performance in the transition region is calculated on the basis of interpolation data which is included in the lifting performance data. The first switching angle 1 included in the performance region data is a slewing angle at which the front region and the side region (transition region) are switched. The second switching angle 2 is a slewing angle at which the transition region in the side region and a fixed region are switched.

(51) In Step S103, the processing unit 101 calculates the present load rate (load rate) on the basis of the present lifting performance and the actual load, and displays the present load rate 37 (see FIG. 6) in the display unit 122 (processes of the load state determination unit 101C and the display/voice control unit 101E). Further, the load state may be calculated using the present lifting performance (rated total load) and the actual load, or may be calculated using a rated moment and an operation moment corresponding thereto.

(52) In Step S104, the processing unit 101 determines whether the operation state of the work machine 1 is safe on the basis of the present load state. In a case where the present load state is equal to or less than a predetermined acceptable value, the processing unit 101 determines that the state is safe. In a case where the operation state of the work machine 1 is safe (YES in Step S104), the procedure proceeds to the process of Step S101. Then, the load state is monitored according to a change in the operation state. On the other hand, in a case where the operation state of the work machine 1 is not safe (NO in Step S104), the procedure proceeds to the process of Step S105.

(53) In Step S105, the processing unit 101 performs a process according to the load state of the work machine 1. Specifically, in a case where the present load state is the attentional state, the processing unit 101 displays the fact to the display unit 122, and outputs a warning buzzer through the voice output unit 123 (the process as the display/voice control unit 101E). In addition, in a case where the present load state is the dangerous state, the processing unit 101 displays the fact to the display unit 122, outputs a warning buzzer through the voice output unit 123 (the process as the display/voice control unit 101E). Further, the processing unit 101 outputs the control signal to the hydraulic system 124 to slowly stop the operation of the work machine 1 (for example, the derricking operation or the slewing operation of the telescopic boom 17) (the process as the drive control unit 101D). Further, the display content of the display unit 122 and the voice content of the voice output unit 123 in the attentional state are different from the display content and the voice content in the dangerous state. In addition, a determination value (first load rate) for determining the attentional state is smaller than a determination value (second load rate) for determining the dangerous state.

(54) The safety of the work machine 1 is secured by the above overload preventing process. The overload preventing process described above ends as the engine of the work machine 1 stops.

(55) In this embodiment, in a case where the outriggers OR1 to OR4 are in different states, the lifting performance data and the performance region data referred by the overload preventing process are generated by the order illustrated in FIG. 8. Specifically, the first switching angle 1 which defines the lifting performance, the front region, the back region, and the side region in the transition region, and the second switching angle 2 which defines the transition region are generated on the basis of a stability calculation and a strength factor (jack strength factor etc.) of each slewing angle in the following order.

(56) FIG. 8 is a flowchart illustrating an example of a generation procedure of the lifting performance data and the performance region data. This process is realized by executing a predetermined program in an external general purpose computer for example.

(57) Before the process, information (operation condition) for determining the operation state of the work machine 1 is input. The operation condition includes the overhanging states (the maximum overhanging state, a first intermediate overhanging state, a second intermediate overhanging state, and the minimum overhanging state) of the outriggers OR1 to OR4, the boom length of the telescopic boom 17, and the work radius. In addition, the computer is used to have a maximum overhanging width performance, a first intermediate overhanging width performance, a second intermediate overhanging width performance, and a minimum overhanging width performance corresponding to the overhanging states of the outriggers OR1 to OR4.

(58) The maximum overhanging width performance is a load at which the hanging in a minimum stability direction is possible in a case where the outriggers OR1 to OR4 are in the maximum overhanging state. In a case where the outriggers OR1 to OR4 are in different states, the first intermediate overhanging width performance, the second intermediate overhanging width performance, and the minimum overhanging width performance are loads at which the hanging is possible in the minimum stability direction where the state becomes the first intermediate overhanging state, the second intermediate overhanging state, or the minimum overhanging state (the right side region or the left side region). In other words, the maximum overhanging width performance, the first intermediate overhanging width performance, the second intermediate overhanging width performance, and the minimum overhanging width performance are the lifting performance data which is provided as a conventional rated total load table, and set on the basis of the strength factor such as the stability calculation and the jack strength.

(59) Herein, the description will be given about the generation procedure of the lifting performance data and the performance region data using an example in a case where the outriggers OR1 and OR2 of the front side are in the first intermediate overhanging state and the outriggers OR3 and OR4 of the rear side are in the maximum overhanging state. While the lifting performance data and the performance region data are generated in all circumferential directions, the description will be specifically given about the generation of data in a first quadrant of 0 to 90 in a clockwise direction with the front direction of the work machine 1 as a reference (the slewing angle 0).

(60) Further, the lifting performance data and the performance region data in the second quadrant to the fourth quadrant can be generated similarly to the generation procedure in the first quadrant. In addition, the following description will be given about a case where the work radius is large, and the lifting performance is determined on the basis of the stability. However, even in a case where the work radius is small, and the lifting performance is determined on the basis of the strength factor such as the jack strength, the generation can be similarly performed by switching the stability and the strength of the component.

(61) In Step S201, the computer acquires one of the combinations of the overhanging states of the outriggers OR1 to OR4 as the operation condition. Herein, the description will be given about a case where the outriggers OR1 and OR2 of the front side are in the first intermediate overhanging state, and the outriggers OR3 and OR4 of the rear side are in the maximum overhanging state.

(62) In Step S202, the computer acquires one of the combinations (except the overhanging state of the outriggers OR1 to OR4) of n operation states which the work machine 1 can acquire as the operation condition. In the following description, the operation state of m-th (m=1, 2, . . . , n) will be denoted as the operation state [m].

(63) In Step S203, the computer acquires the maximum overhanging width performance Rmax[m] and the first intermediate overhanging width performance Rmid[m] corresponding to the operation state [m] acquired in Steps S201 and S202.

(64) In Step S204, the computer calculates a relation between the limit value X[m] of a slewing angle range corresponding to each lifting performance RX[m] (hereinbelow, referred to as interpolation performance RX[m]) and a performance ratio X on the basis of the stability calculation when changing the lifting performance in stages from the maximum overhanging width performance Rmax[m] to the first intermediate overhanging width performance Rmid[m] in the operation state [m] acquired in Steps S201 and S202. Specifically, the stability when the interpolation performance RX[m] is a load is obtained. The range where the stability satisfies a predetermined value becomes the slewing angle range corresponding to the interpolation performance RX[m]. In addition, the upper limit value of the slewing angle range in the first quadrant becomes the limit value X[m].

(65) The interpolation performance RX[m] between the maximum overhanging width performance Rmax[m] and the first intermediate overhanging width performance Rmid[m] is assigned by the following Equation (1) using the performance ratio X (X=0 to 100). The performance ratio X corresponding to the maximum overhanging width performance Rmax[m] is 0, and the performance ratio X corresponding to the first intermediate overhanging width performance Rmid[m] is 100.
RX[m]=(Rmid[m]Rmax[m])/100X+Rmax[m](1)

(66) For example, in a case where the maximum overhanging width performance Rmax[m] and the first intermediate overhanging width performance Rmid[m] are equally divided by 10 therebetween, the performance ratio X becomes 0, 10, 20, . . . , 100. In this case, the limit value X[m] (X=0, 10, . . . , 100) of the slewing angle range corresponding to the interpolation performance RX[m] (X=0, 10, . . . , 100) is calculated.

(67) A relation between the performance ratio X, the interpolation performance RX[m], and the limit value X[m] is illustrated in Table 1. The slewing angle range is gradually widened as the lifting performance is reduced from the maximum overhanging width performance Rmax[m] (=R0[m]) toward the first intermediate overhanging width performance Rmid[m] (=R100[m]) (that is, the performance ratio X increases from 0 toward 100). Further, all the first quadrant (0 to 90) becomes the slewing angle range, and the limit value 100[m] becomes 90 with respect to the first intermediate overhanging width performance Rmid[m].

(68) TABLE-US-00001 TABLE 1 Performance Ratio X 0 10 . . . 90 100 Interpolation R0[m] = R10[m] . . . R90[m] R100[m] = Performance Rmax[m] Rmid[m] RX[m] Limit Value 0[m] 10[m] . . . 90[m] 100[m] = X[m] 90

(69) In Step S205, the computer performs determination on the combinations (herein, n combinations) of all the operation states which the work machine 1 can acquire whether the relation between the performance ratio X and the limit value X[m] is calculated, that is, whether there is an operation condition where the relation between the performance ratio X and the limit value X[m] is not acquired. In a case where there is another operation condition (YES in Step S205), the procedure proceeds to the process of Step S202 to acquire the relation between the performance ratio X and the limit value X[m] with respect to all the operation conditions (except the overhanging states of the outriggers OR1 to OR4). On the other hand, in a case where there is no other operation condition (NO in Step S205), the procedure proceeds to the process of Step S206.

(70) Next, in Step S206, the computer determines the limit value X which is absolute to the performance ratio X on the basis of the relation between the performance ratio X and the limit value X[m] acquired in Step S205. Specifically, as illustrated in Table 2, a minimum value or a maximum value (a minimum value in the case of the first quadrant) in the limit value X[m] with respect to the performance ratio X obtained for each operation state [m] is determined as the limit value X.

(71) It is desirable that the limit value X has a constant margin (for example, 5 for safety) from the viewpoint of safety. For example, in a case where an ideally calculated limit value is 80, an actual limit value X corresponding to the performance ratio X is corrected to 75. Further, in a method of setting a predetermined value for determining stability, the ideal limit value may be used.

(72) TABLE-US-00002 TABLE 2 Performance Ratio X Limit Value X 0 0 = Min (0[1], 0[2], . . . 0[n]) 10 10 = Min (10[1], 10[2], . . . 10[n]) 20 20 = Min (20[1], 20[2], . . . 20[n]) . . . . . . 100 100 = Min (100[1], 100[2], . . . 100[n])

(73) In Step S207, the computer calculates a relational equation X=f() between the performance ratio X and any slewing angle on the basis of a plurality of coordinates (X, X) indicating a relation between the performance ratio X and the limit value X. At this time, the relational equation X=f() is calculated by, for example, primary straight line approximation, multi-straight line approximation, or curve approximation. Herein, the relational equation X=f() is approximated such that an interpolation function R=g() generated in Step S208 is converged toward safety over the entire slewing region.

(74) In Step S208, the computer generates the lifting performance data indicating the lifting performance in the transition region, and the performance region data defining the performance region (including the transition region). Specifically, the relational equation X=f() between the performance ratio X and the slewing angle calculated in Step S207 and the interpolation function R=g() indicating a lifting performance R with respect to any slewing angle are calculated by Equation (1).

(75) $R=\left(R\mathrm{mid}-R\max \right)\text{/}100X+R\max =\left(R\mathrm{mid}-R\max \right)\text{/}100f\left(\right)+R\max =g\left(\right)$

(76) In addition, the first switching angle 1 and the second switching angle 2 are calculated on the basis of the interpolation function R=g(), the maximum lifting performance Rmax, and the first intermediate overhanging width performance Rmid.

(77) In other words, the lifting performance (third lifting performance) of the transition region is expressed by the interpolation function R=g() which is calculated on the basis of the interpolation performance RX interpolated in stages between the maximum lifting performance Rmax (first lifting performance) and the first intermediate overhanging width performance Rmid (second lifting performance) and the limit value X of the slewing angle range corresponding to the interpolation performance RX.

(78) The interpolation function R=g() is set as the lifting performance data when the state is the overhanging state of the outriggers OR1 to OR4 acquired in Step S201, and the first switching angle 1 and the second switching angle 2 are set as the performance region data. Similarly, the interpolation function R=g(), the first switching angle 1, and the second switching angle 2 are set for all the combinations of the overhanging states of the outriggers OR1 to OR4. In other words, the lifting performance, the first switching angle 1, and the second switching angle 2 of the transition region are set for each of the overhanging states of the outriggers.

(79) Further, the storage unit 102 may store a general equation of the interpolation function R=g() and the coefficient of the interpolation function R=g(x) set for each overhanging state of the outrigger as the lifting performance data indicating the lifting performance in the transition region.

(80) FIGS. 9A and 9B are diagrams illustrating examples of the lifting performance in the first quadrant in a case where the outriggers OR1 to OR4 are in different states. In addition, FIG. 10 illustrates the lifting performance over all circumferential directions corresponding to FIG. 9A. FIGS. 9A, 9B, and 10 illustrate a case where the outriggers OR1 and OR2 of the front side are in the first intermediate overhanging state, and the outriggers OR3 and OR4 of the rear side are in the maximum overhanging state. In addition, in FIGS. 9A and 9B, the lifting performance set by the conventional method (see FIG. 2B) is illustrated with a chain line.

(81) FIG. 9A illustrates a case where the interpolation function R=g() of the lifting performance is generated on the basis of the relational equation X=f() calculated by the primary straight line approximation. FIG. 9B illustrates a case where the interpolation function R=g() of the lifting performance is generated on the basis of the relational equation X=f() calculated by the curve approximation.

(82) As illustrated in FIGS. 9A, 9B, and 10, in this embodiment, the transition region is expanded compared to the conventional method (see FIGS. 2A and 2B). Therefore, it is possible to effectively use the lifting performance of the work machine 1. In addition, the lifting performance of the transition region is calculated using the interpolation function which is stored in the storage unit 102 as the lifting performance data. Therefore, the calculation can be made at a high speed compared to the method disclosed in Patent Literature 1. Further, the accuracy of the detection units 111 to 115 are not influenced from disturbance, so that it is possible to secure stability with accuracy.

(83) As illustrated in FIGS. 9A and 9B, the method of calculating the interpolation function R=g() of the lifting performance on the basis of the relational equation X=f() calculated by the curve approximation (see FIG. 9B) can make the front region together with the transition region wide compared to a case where the interpolation function R=g() of the lifting performance is calculated on the basis of the relational equation X=f() calculated by the primary straight line approximation (see FIG. 9A). Therefore, the lifting performance of the work machine 1 can be used with efficiency. Specifically, in FIG. 9A, the range of 0 to 55 in the first quadrant is the front region, the range of 55 to 75 is the transition region. In FIG. 9B, the range of 0 to 58 in the first quadrant is the front region, and the range of 58 to 85 is the transition region. However, if a processing load when the lifting performance corresponding to the operation state is calculated on the basis of the interpolation function R=g() is taken into consideration, the calculation of the interpolation function R=g() of the lifting performance on the basis of the relational equation X=f() calculated by the primary straight line approximation is practical.

(84) By the way, in the related art, a two-dimensional coordinate system in which the slewing angle is a circumferential direction and the lifting performance is a radius direction is used in the lifting performance chart indicating the lifting performance corresponding to the operation state as illustrated in FIGS. 1, 2A, 2B, and 10. However, in the lifting performance chart using the two-dimensional coordinates system, the change in work radius and the change in lifting performance is inversed (for example, if the work radius increases, the lifting performance is reduced). Therefore, it is hard to grasp the change in lifting performance according to the change in work radius.

(85) Then, in this embodiment, there is used a cylindrical coordinates system in which the slewing angle is a circumferential direction, the work radius is a radius direction, and the lifting performance is the axial direction. FIGS. 11A and 11B are diagrams illustrating examples of the lifting performance chart in which the cylindrical coordinates system is used. In FIG. 11B, a part in FIG. 11A is removed. As illustrated in FIGS. 11A and 11B, according to the lifting performance chart using the cylindrical coordinates system, the change in lifting performance according to the change in work radius and/or slewing angle can be visually grasped, so that the working efficiency and the safety are improved. In particular, it is effective in a case where the lifting performance changes according to the slewing angle.

(86) In this way, the overload preventing device 100 according to this embodiment is mounted in the work machine 1 (mobile work machine) which includes the freely-operating lower travelling body 20, the slewing base 11 disposed on the lower travelling body 20 to slewing horizontally, the telescopic boom 17 disposed on the slewing base 11 to be derricked, and the plurality of outriggers OR1 to OR4 capable of setting the overhanging width in plural stages.

(87) The overload preventing device 100 includes the storage unit 102 which stores the lifting performance data with the lifting performance set for each operation state, the performance region data with the switching angle set to define the performance region which includes the front region, the back region, and the side region, and a work machine control unit which controls the operation of the work machine 1 on the basis of the lifting performance corresponding to the present operation state of the work machine 1 and the actual load.

(88) The lifting performance includes the maximum overhanging width performance (first lifting performance) which is set to the front region and the back region, the intermediate overhanging width performance or the minimum overhanging width performance (second lifting performance) which is set to the side region except the transition region in a case where the outriggers OR1 to OR4 are in different states, and a third lifting performance which is set to the transition region.

(89) The switching angle includes the first switching angle 1 which defines a boundary between the front region and the side region and a boundary between the back region and the side region in a case where the outriggers OR1 to OR4 are in different states, and the second switching angle 2 which defines the transition region in the side region.

(90) The third lifting performance, the first switching angle 1, and the second switching angle 2 are set on the basis of the stability calculation and the strength factor such as the jack strength.

(91) According to the overload preventing device 100, it is possible to allow maximum utilization of the performance of the work machine 1 in different states of the outriggers while ensuring stability.

(92) Hitherto, the embodiments of the invention implemented by the inventor have been described specifically. However, the invention is not limited to the embodiments, and may be changed within a scope not departing from the spirit thereof.

(93) For example, the invention may be applied to an overload preventing device which is mounted in a mobile work vehicle which is supported by the outriggers such as an all-terrain crane, a truck crane, or a high-place work vehicle.

(94) In the embodiments, the processing unit 101 (computer) functions as the operation state acquisition unit 101A, the lifting performance setting unit 101B, the load state determination unit 101C, the drive control unit 101D, and the display/voice control unit 101E, so that the overload preventing device 100 according to the invention is realized. However, some of all of these functions may be configured by electronic circuits such as a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), and a Programmable Logic Device (PLD).

(95) The embodiments of this disclosure should be considered to be illustrative in all respects and not restrictive. The scope of the invention is not described above but indicated by claims, and is intended to include the meanings equivalent to claims and all changes within the scope.

REFERENCE SIGNS LIST

(96) 1 mobile work machine 10 upper slewing body 20 lower travelling body 100 overload preventing device 101 processing unit 101A operation state acquisition unit 101B lifting performance setting unit 101C load state determination unit 101D drive control unit 101E display/voice control unit 102 storage unit