TW202144273A - Mobile crane with anti-overturn monitoring function, anti-overturn monitoring device thereof and mobile crane anti-overturn monitoring method - Google Patents

Abstract

A mobile crane anti-overturn monitoring device for monitoring a mobile crane includes: a plurality of first sensors, a second sensor, a controller, and a warning device. The first sensors are respectively disposed on supporting members of a mobile crane, and measure the pressure that the supporting members bear. The second sensor is disposed on a lifting member of the mobile crane to measure the weight of an object carried by the lifting member. The controller is connected to the first sensor and the second sensor and receives the measured force of each support member and the weight of the object. According to the force of the support member, the weight of the object, the weight of the mobile crane and the mobile and the size of the crane, the controller calculates the force and torque of the mobile crane to determine whether the mobile crane overturn. When it is determined that overturning will occur, the controller controls the warning device to issue a warning.

Description

Mobile crane with anti-overturn monitoring function, mobile crane anti-overturn monitoring device, and mobile crane anti-overturn monitoring method

The invention relates to the technical field of cranes, in particular to a mobile crane with an anti-overturn monitoring function, a mobile crane anti-overturn monitoring device, and a mobile crane anti-overturn monitoring method.

A crane is a machine that uses mechanical power to hoist and transport objects. In recent years, with the rapid development of Taiwan's industry, cranes are widely used in all walks of life and can meet the needs of various construction sites, so they are widely used in road areas other than factories. When the mobile crane is hoisting, the operating environment conditions are quite complex, and even people and cranes often continue to work under extremely harsh conditions. In addition to receiving professional training to obtain relevant certificates, operators must maintain a high degree of concentration throughout the operation, and must immediately check the mechanical wear status of the hoisting equipment to prevent accidents.

Occupational injuries caused by cranes mainly include: falling objects, people falling, crane overturning, being caught, hit and electric shock. Among them, the scope of harm caused by crane overturning is the largest. Especially when the crane is hoisting and adjusting the length, height and rotation direction of the boom at any time, it is a dynamic behavior. In order to maintain the state of force balance in real time and prevent the crane from overturning, there must be enough manpower to monitor, calculate and evaluate in time, and determine whether there are dangerous situations such as overweight hanging objects and subsidence of the support base. In the absence of an automatic detection and control system or related devices, it is quite necessary to rely only on a crane to drive a single person to control dangerous and complex mechanical structures and hoisting appliances, and to obey the commander's signals, and to pay attention to the operating environment and changes in wind direction and wind speed at all times. Difficult and error prone.

In view of this, the purpose of the present invention is to provide a mobile crane with an anti-overturn monitoring function, a mobile crane anti-overturn monitoring device, and a mobile crane anti-overturn monitoring method. The anti-overturning monitoring device of the present invention is to install sensors on the supporting member and the lifting member of the mobile crane to detect the pressure on each supporting member and the weight of the suspended object when the crane is hoisting an object. , Judging whether the mobile crane is overturned by the mechanical principle of force balance and moment balance.

The mobile crane anti-overturning monitoring device of the present invention is used for monitoring a mobile crane. The mobile crane includes a plurality of supporting members and a weighting member. The supporting members support the mobile crane on the ground. The lifting member Carrying an object, an embodiment of the anti-overturning monitoring device for a mobile crane of the present invention includes: a plurality of first sensors, a second sensor, a controller, and a warning device. A plurality of first sensors are respectively disposed on the supporting members of the mobile crane, and measure the pressures on the supporting members, and obtain a plurality of first force data. The second sensor is arranged on the lifting member of the mobile crane, measures the weight of the object carried by the lifting member, and obtains a second force data. The controller is connected to the first sensors and the second sensor and receives the first force data and the second force data, according to the first force data, the second force data, the movement The weight of the mobile crane and the size of the mobile crane are used to calculate the force and moment of the mobile crane, and to determine whether the force and moment of the mobile crane cause the mobile crane to overturn. The warning device is connected to the controller, and when the controller determines that the mobile crane will overturn, the controller controls the warning device to issue a warning.

In another embodiment, the direction of the first force data is opposite to the direction of the second force data, and the direction of the first force data is opposite to the direction of gravity.

In another embodiment, when one of the first sensors detects that the first force data is 0, when the controller calculates that, relative to an axis, any one of the first force data and the first force data is 0. The first force data detected by the first sensors adjacent to the first sensor of 0 is equal to the other first sensors except the first sensors on the axis When the sum of the detected first force data, the second force data and the moment of the weight of the mobile crane relative to the axis is divided by a threshold value obtained by dividing the vertical distance between any first sensor and the axis , the controller determines that the mobile crane overturns with the axis as the center of rotation.

In another embodiment, the anti-overturning monitoring device for a mobile crane of the present invention further includes a range finder, which measures the coordinates of the object and transmits the coordinates to the controller.

In another embodiment, the first sensor is an oil pressure sensor, and the second sensor is a wire rope load sensor.

The present invention further provides a mobile crane, which includes a crane body, a plurality of supporting members, a weighting member, and the aforementioned anti-overturning monitoring device of the present invention. The crane body has tires or crawlers. The supporting members are telescopically arranged on the crane body, and the supporting members support the crane body on the ground. The lifting member is rotatably arranged on the crane body and carries an object.

In another embodiment, the hoisting member includes a winch, a wire rope and a bearing member, the bearing member carries the object and is connected to the wire rope, the wire rope is wound on the winch, and the second sensor is arranged on the winch and detects the movement of the wire rope. Force.

In another embodiment, each support member includes a hydraulic cylinder, and the first sensor measures the pressure of the hydraulic cylinder.

The present invention provides an anti-overturning monitoring method for a mobile crane, which monitors a mobile crane. The mobile crane includes a plurality of supporting members and a heavy member, the supporting members support the mobile crane on the ground, and the lifting member carry an object. An anti-overturn monitoring method for a mobile crane includes: measuring the force of the supporting members to obtain a plurality of first force data; measuring the force of the lifting member to obtain a second force data; measuring the force distance of the object; and calculate the force and moment of the mobile crane according to the first force data, the second force data, the weight of the mobile crane and the size of the mobile crane, and determine the movement Whether the force and the moment of the mobile crane cause the overturning of the mobile crane.

In another embodiment, when one of the first force data of one of the supporting members is 0, with respect to an axis, any one of the supporting members whose first force data is 0 is 0 The first force data of the adjacent support members is equal to the first force data, the second force data and the weight of the mobile crane except for the support members on the axis When the sum of the moments relative to the axis is divided by a critical value obtained by dividing the vertical distance between the any support member and the axis, it is determined that the mobile crane overturns with the axis as the rotation center.

The mobile crane anti-overturning monitoring device of the present invention measures the force of each support member by the first sensor and the second sensor measures the weight of the object carried by the lifting member, and balances the force by means of the second sensor. And the mechanical principle of torque balance is used as the basis for judging whether the mobile starter is overturned. When the force of one of the supporting members is 0, it means that one supporting member of the mobile crane cannot bear the load in contact with the ground, and the mobile crane has begun to shake. As long as the force of the other supporting member cannot meet the condition of moment balance, The mobile crane will overturn, so this can be used as the judgment rule for the overturning of the mobile crane.

With the above judgment method, a warning can be issued to the operator and the surrounding construction personnel when the overturn is about to occur, so that the operator of the mobile crane can adjust the position of the suspended object in time to avoid the mobile crane from overturning.

Please refer to FIG. 1 to FIG. 5, which illustrate the mobile crane with anti-overturn monitoring function and the anti-overturn monitoring device of the present invention. As shown in FIG. 1, it is an embodiment of the mobile crane (commonly called a crane) of the present invention. The mobile crane 100 of the present invention includes a crane body 10 , a plurality of supporting members 21 , 22 , 23 , 24 , a weighting member 30 and an anti-overturning monitoring device 40 . In this embodiment, the crane body 10 has tires 11 and can move, and the crane body 10 also has a cockpit 12 . The operator can drive the mobile crane 100 in the cockpit 12 , and the mobile crane 100 can be moved to the predetermined location. The supporting members 21 , 22 , 23 and 24 are telescopically disposed on the crane body 10 . In this embodiment, the supporting members 21 , 22 , 23 and 24 are disposed at four corners of the crane body 10 . After the mobile crane 100 moves to a predetermined position, the operator operates the supporting members 21 , 22 , 23 , and 24 to support the crane body 10 on the ground, respectively.

As shown in FIG. 2 , each support member 21 , 22 , 23 , 24 includes a telescopic rod 25 and a lift rod 26 , the lift rod 26 is connected to the telescopic rod 25 , and the telescopic rod 25 is arranged on the crane body 10 . The telescopic rod 25 is extended or retracted toward the side of the crane body 10 , and the lift rod 26 can be extended to contact the ground for supporting the crane body 10 .

The lifting member 30 is rotatably disposed on the crane body 10 and carries an object. In this embodiment, the lifting member 30 includes a boom 31 , a winch 32 , a steel cable 33 and a bearing member 34 . The boom 31 is rotatably disposed on the crane body 10 , the carrier 34 carries the object and is connected to the wire rope 33 , and the carrier 34 may be a hook. The wire rope 33 is wound on the winch 32 and extends along the boom 31 , and the winch 32 is driven to rotate by a hydraulic motor.

As shown in FIG. 3 , when the lifting member 30 carries an object, its mechanical state is as shown in FIG. 1 . Among them, F1, F2, F3 and F4 are the normal forces of the ground on the supporting members 21, 22, 23 and 24, respectively, W1 is the weight of the mobile crane 100, and W2 is the weight of the object carried by the lifting member 30. . Taking the support member 21 as the origin of the coordinates, the direction of the support member 22 is located on the x-axis of the coordinate system, the support member 23 is located on the y-axis of the most coordinate system, and the coordinates of the center of gravity of the crane body 10 are (x1, y1, z1) , the coordinates of the object are (x2, y2, z2). a is the distance between the support members 21 and 22, and b is the distance between the support members 21 and 24, so the coordinates of the support member 22 are (a, 0, 0), and the coordinates of the support member 23 are (a, b, 0) , the coordinates of the support member 24 are (0, b, 0).

When the mobile crane 100 remains stationary, the mobile crane 100 reaches force balance and moment balance, ie the mobile crane 100 does not move nor rotate. However, since the horizontal force of the mobile crane 100 is ignored compared with the vertical force, only the acting force along the z-axis direction is considered, that is, the weight W1 of the mobile crane 100, the weight W2 of the object and the four supporting members 21, 22, 23 , 24 is subjected to the vertical normal force of the ground. However, when the mobile crane 100 is stationary and does not move, only the force balance in the z-axis direction is considered, and the z-axis force balance equation is as follows: F1+F2+F3+F4-(W1+W2)=0. (Formula 1)

In addition, since the horizontal force is not considered, the moment relative to the z-axis is not considered. In the case where the mobile crane 100 is not overturned, the moments relative to the x-axis and the moment relative to the y-axis are also balanced. The equation for the moment relative to the x-axis is as follows: b(F3+F4)+y1W1+y2W2=0 (Equation 2), and the equation for the moment relative to the y-axis is as follows: a(F2+F3)+x1W1+x2W2=0( formula 3).

When F3=0, it means that the support member 23 has left the ground, so the ground will not exert any positive force on the support member 23, and the crane body 10 is already in a shaking state at this time, but the overturn has not yet occurred. Under the condition of , F4≠(y1W1+y2W2)/-b(Equation 4) can be obtained from Equation 2, that is, when F4 satisfies Equation 4, the crane body 10 will not overturn. Furthermore, when F4>(y1W1+y2W2) /-b, the crane body 10 will not overturn with the x-axis as the axis. Moreover, F2≠(x1W1+x2W2)/-a (Formula 5) can be obtained from Equation 3. When F2 satisfies Equation 5, the crane body 10 will not overturn. Furthermore, when F2>(x1W1+x2W2)/-a , the crane body 10 will not overturn with the y-axis as the axis. Similarly, when F4=0, it means that the support member 24 has left the ground, and F3≠(y1W1+y2W2)/-b (Equation 6) can be obtained from Equation 2, that is, when F3 satisfies Equation 6, the crane body 10 will not overturn , and further, when F3>(y1W1+y2W2)/-b, the crane body 10 will not overturn with the x-axis as the axis to cause overturning. When F2=0, it means that the support member 22 has left the ground, and F3≠(x1W1+x2W2)/-a (Equation 7) can be obtained from Equation 3, that is, when F3 satisfies Equation 7, the crane body 10 will not overturn. Furthermore, when F3>(x1W1+x2W2)/-a, the crane body 10 will not overturn with the y-axis as the axis to cause overturning.

Based on the calculation of the above mechanical principles, the judgment formula when the crane body 10 is overturned can be obtained. Since the weight W1 of the mobile crane 100, the center of gravity coordinates (x1, y1, z1) of the mobile crane 100, the distance a between the supporting members 21 and 21, and the distance b between the supporting members 21 and 24 are predetermined and can be stored in advance, Therefore, as long as the normal forces F1, F2, F3, and F4 at the support members 21, 22, 23, and 24 are measured, and the weight W2 of the object and the coordinates (x2, y2, z2) of the object are measured, the above can be applied. Equations 1 to 7 determine whether the crane body 10 will overturn.

Please refer to FIG. 4 and FIG. 5, which show the anti-overturning monitoring device of the mobile crane of the present invention. The mobile crane anti-overturning monitoring device 40 of the present invention includes a plurality of first sensors 41 , a second sensor 42 , a controller 43 and a warning device 44 . A plurality of first sensors 41 are respectively disposed on the supporting members 21, 22, 23, and 24 of the mobile crane 100, and measure the pressures on the supporting members 21, 22, 23, and 24, and obtain a plurality of first receiving Force data F1, F2, F3 and F4. The second sensor 42 is disposed on the hoisting member 30 of the mobile crane 100, measures the weight of the object carried by the hoisting member 30, and obtains a second force data. The controller 43 is connected to the first sensors 41 and the second sensors 42 and receives the first force data F1 , F2 , F3 and F4 and the second force data. According to the first force data F1, F2, F3 and F4, the second force data, the weight W1 of the mobile crane and the dimensions a and b of the mobile crane, the force and moment of the mobile crane are calculated, and according to The aforementioned Equations 1 to 7 determine whether the force and moment of the mobile crane cause the overturning of the mobile crane. The warning device 44 is connected to the controller 43 . When the controller 43 determines that the mobile crane 100 will overturn, the controller 43 controls the warning device 44 to issue a warning. In this embodiment, the warning device 44 may be a display or a speaker. The display can display the force values of the supporting members 21 , 22 , 23 , 24 and the lifting member 30 , and when it is about to be overturned, the display can display where the overturning will happen. In this embodiment, the first sensor 41 is an oil pressure sensor, and the second sensor 42 is a wire rope load sensor. The first sensor 41 detects the pressure of the hydraulic cylinder of the lift rod 26 , and the second sensor 42 detects the pulling force of the wire rope 33 of the lifting member 30 . The force is balanced, the tension of the wire rope 33 will be equal to the weight W2 of the object, so the weight W2 of the object can be obtained by measuring the tension force of the wire rope 33 .

In addition, the mobile crane anti-overturning monitoring device 40 of the present invention further includes a range finder 45 . The range finder 45 measures the coordinates (x2, y2, z2) of the object and transmits the coordinates to the controller 43 .

When one of the first sensors 41 detects that the first force data is 0, for example, when the first sensor 41 installed on the support member 23 detects F3=0, it means that the support member 23 is already off the ground, so the ground will not exert any positive force on the support member 23. Moreover, when the controller 43 calculates according to the first force data, the second force data, the coordinates of the object and the size of the crane body 10, relative to an axis (for example, relative to the x-axis), any relationship with the first force Detected by the first sensor 41 (for example, the first sensor 41 of the supporting member 24 ) adjacent to the first sensor 41 (the first sensor 41 of the supporting member 23 ) whose force data is 0 The first force data is equal to the first force data detected by the other first sensors 41 except the first sensor 41 on the axis (x-axis), and the first force data measured by the second sensor 42 The sum of the second force data and the moment of the weight of the mobile crane 100 relative to the axis (x-axis) divided by the vertical distance between any of the first sensors 41 and the axis (distance b from the support member 24 to the support member 21 ) When a critical value is obtained, the controller 43 determines that the mobile crane 100 overturns with the axis as the rotation center, that is, when. That is, the aforementioned Equation 4 is used to determine whether the crane body 10 is overturned by taking the x-axis as the axis to overturn. Similarly, when F3=0, the controller 43 will also simultaneously determine whether the crane body 10 is overturned with the y-axis as the axis according to the aforementioned formula 5 to cause overturning. In practical applications, the controller 43 may issue a warning before calculating that the force of the supporting members 21-24 reaches the critical value. For example, the controller 43 calculates that the first force data is higher than 10% of the critical value and the first When the value of the force data continues to decrease, the controller 43 controls the warning device 44 to issue a warning, so that the operator has enough time to correct the hanging distance or adjust the extension length of each support member to avoid overturning accidents.

When it is detected that the first force data is close to the critical value, the operator can operate the control switches 211, 221, 231 and 241 corresponding to the supporting members 21, 22, 23 and 24 to control the supporting members 21, 22, 23, The position of the telescopic rod 25 and the lift rod 26 of 24, that is, the value of the distance a or b is changed to reduce the value of the critical value, so as to avoid the overturning accident caused by the force of each support member being lower than the critical value. Alternatively, the operator can operate the control switch 321 corresponding to the winch 32 to retract the object, or adjust the inclination or extension distance of the boom 31 to change the coordinate value of the object, thereby preventing the force of each support member from being lower than the critical value. .

Please refer to FIG. 6 , which shows an embodiment of the anti-overturn monitoring method for a mobile crane of the present invention.

In step S1, the force of the plurality of supporting members 21, 22, 23, 24 is measured to obtain a plurality of first force data F1, F2, F3, F4, and the first sensor 41 is used to measure the supporting members 21, 22, 23, and 24 are subjected to forces to obtain a plurality of first force data F1, F2, F3, and F4.

Next, step S2 is entered. In step S2, the force of the weighting member 30 is measured to obtain a second force data, and the second sensor 42 is used to measure the tensile force of the wire rope 33, and thereby the force of the object is measured. Weight W2.

Next, step S3 is entered. In step S3, the distance of the carried object is measured by the range finder 45 and converted into coordinate values (x2, y2, z2).

Then enter step S4, in step S4, according to the first force data F1, F2, F3, F4, the second force data, the weight W1 of the mobile crane, the dimensions a, b of the mobile crane and the coordinate values (x2, y2, z2) of the object, calculate the force and moment of the mobile crane 100, and determine whether the force and the moment of the mobile crane cause the mobile crane 100 to overturn. That is, it is determined whether the mobile crane 100 overturns according to the aforementioned formulas 1 to 7, as described in detail below.

When one of the first sensors 41 detects that the first force data is 0, for example, when the first sensor 41 installed on the support member 23 detects F3=0, it means that the support member 23 is already off the ground, so the ground will not exert any positive force on the support member 23. And when the controller 30 calculates according to the first force data, the second force data, the coordinates of the object and the size of the crane body 10, relative to an axis (for example, relative to the x-axis), any relationship with the first force Detected by the first sensor 41 (for example, the first sensor 41 of the supporting member 24 ) adjacent to the first sensor 41 (the first sensor 41 of the supporting member 23 ) whose force data is 0 The first force data is equal to the first force data detected by the other first sensors 41 except the first sensor 41 on the axis (x-axis), and the first force data measured by the second sensor 42 The sum of the second force data and the moment of the weight of the mobile crane 100 relative to the axis (x-axis) divided by the vertical distance between any of the first sensors 41 and the axis (distance b from the support member 24 to the support member 21 ) When a critical value is obtained, the controller 43 determines that the mobile crane 100 overturns with the axis as the rotation center, that is, when. That is, the aforementioned Equation 4 is used to determine whether the crane body 10 is overturned by taking the x-axis as the axis to overturn. Similarly, when F3=0, the controller 43 will also simultaneously judge whether the crane body 10 is overturned with the y-axis as the axis according to the aforementioned formula 5 to cause overturning. In practical applications, the controller 43 can issue a warning before calculating that the force of the supporting members 21-24 reaches the critical value. For example, the controller 43 calculates that the first force data is higher than 10% of the critical value and the first When the value of the force data continues to decrease, the controller 43 controls the warning device 44 to issue a warning, so that the operator has enough time to correct the hanging distance or adjust the extension length of each support member to avoid overturning accidents.

The mobile crane anti-overturning monitoring device of the present invention measures the force of each support member by the first sensor and the second sensor measures the weight of the object carried by the lifting member, and balances the force by means of the second sensor. And the mechanical principle of torque balance is used as the basis for judging whether the mobile starter is overturned. When the force of one of the supporting members is 0, it means that one supporting member of the mobile crane cannot bear the load in contact with the ground, and the mobile crane has begun to shake. As long as the force of the other supporting member cannot meet the condition of moment balance, The mobile crane will overturn, so this can be used as the judgment rule for the overturning of the mobile crane.

With the above judgment method, a warning can be issued to the operator and the surrounding construction personnel when the overturn is about to occur, so that the operator of the mobile crane can adjust the position of the suspended object in time to avoid the mobile crane from overturning.

However, the above are only preferred embodiments of the present invention, and should not limit the scope of the present invention, that is, any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the description of the invention, All still fall within the scope of the patent of the present invention. In addition, any embodiment of the present invention or the scope of the claims is not required to achieve all of the objects or advantages or features disclosed herein. In addition, the abstract section and the title are only used to aid the search of patent documents and are not intended to limit the scope of the present invention. In addition, terms such as "first" and "second" mentioned in this specification or the scope of the patent application are only used to name the elements or to distinguish different embodiments or scopes, and are not used to limit the number of elements. upper or lower limit.

10: Crane body 11: Tires 12: Cockpit 21, 22, 23, 24: Supporting Components 25: Telescopic rod 26: Lifting Rod 30: Lifting components 31: Boom 32: Winch 33: Wire rope 34: Carrier 40: Anti-overturning monitoring device 41: The first sensor 42: Second sensor 43: Controller 44: Alerter 45: Rangefinder 100: Mobile Cranes 211, 221, 231, 241: Control switch 321: Control switch a, b: the distance between the supporting components F1, F2, F3, F4: first force data W1: Weight of mobile crane W2: the weight of the object (x1, y1, z1): coordinate values of the center of gravity of the mobile crane (x2, y2, z2): the coordinate value of the object

FIG. 1 is a schematic diagram of an embodiment of the mobile crane of the present invention. FIG. 2 is a schematic view of a support member of the mobile crane of FIG. 1 . FIG. 3 is a schematic diagram of the mechanics of the mobile crane of FIG. 1 . FIG. 4 is a system block diagram of the mobile crane of FIG. 1 . FIG. 5 is a system block diagram of an embodiment of the mobile crane anti-overturn monitoring device of the present invention. FIG. 6 is a flow chart of an embodiment of the method for monitoring overturn prevention of a mobile crane according to the present invention.

21, 22, 23, 24: Supporting Components

32: Winch

41: The first sensor

42: Second sensor

211, 221, 231 and 241: Control switches

321: Control switch

Claims (10)

An anti-overturning monitoring device for a mobile crane monitors a mobile crane, the mobile crane includes a plurality of supporting members and a heavy member, the supporting members support the mobile crane on the ground, and the lifting member carries an object , the mobile crane anti-overturning monitoring device includes: A plurality of first sensors are respectively disposed on the support members of the mobile crane, and measure the pressures on the support members, and obtain a plurality of first force data; A second sensor, disposed on the lifting member of the mobile crane, measures the first force data weight detected by the object carried by the lifting member, and obtains a second force data; a controller, connected to the first sensors and the second sensor and receiving the first force data and the second force data, according to the first force data, the second force data Force data, the weight of the mobile crane and the size of the mobile crane calculate the force and moment of the mobile crane, and determine whether the force and the moment of the mobile crane cause the mobile crane to overturn; as well as A warning device is connected to the controller. When the controller determines that the mobile crane will overturn, the controller controls the warning device to issue a warning. The anti-overturn monitoring device for a mobile crane as claimed in claim 1, wherein the direction of the first force data is opposite to the direction of the second force data, and the direction of the first force data is the direction of the action of gravity on the contrary. The anti-overturning monitoring device for a mobile crane as claimed in claim 2, wherein when one of the first sensors detects that the first force data is 0, when the controller calculates that relative to An axis, the first force data detected by any of the first sensors adjacent to the first sensor whose first force data is 0 is equal to dividing the first force data on the axis The sum of the first force data, the second force data and the moment of the weight of the mobile crane relative to the axis detected by the first sensors other than the first sensor is divided by When a critical value is obtained from the vertical distance between any of the first sensors and the axis, the controller determines that the mobile crane overturns with the axis as the rotation center. The anti-overturning monitoring device for a mobile crane as claimed in claim 3, further comprising a range finder, the range finder measures the coordinates of the object and transmits the coordinates to the controller. The anti-overturning monitoring device for a mobile crane as claimed in claim 1, wherein the first sensor is an oil pressure sensor, and the second sensor is a wire rope load sensor. A mobile crane with anti-overturning monitoring function, comprising: a crane body with tires or crawlers; A plurality of supporting members are telescopically arranged on the crane body, and the supporting members support the crane body on the ground; A heavy member is rotatably arranged on the crane body and carries an object; and The anti-overturning monitoring device for a mobile crane as described in any one of claims 1 to 5. The mobile crane with anti-overturning monitoring function according to claim 6, wherein the hoisting member comprises a boom, a winch, a steel cable and a bearing member, and the boom is rotatably arranged on the crane body, The carrier carries the object and is connected to the wire rope. The wire rope is wound on the winch and extends along the boom. The second sensor is disposed on the winch and detects the force of the wire rope. The mobile crane with anti-overturning monitoring function as claimed in claim 6, wherein each of the supporting members includes an oil hydraulic cylinder, and the first sensor measures the pressure of the hydraulic cylinder. A mobile crane anti-overturning monitoring method, monitoring a mobile crane, the mobile crane includes a plurality of supporting members and a heavy member, the supporting members support the mobile crane on the ground, and the lifting member carries an object , the mobile crane anti-overturning monitoring method includes: Measure the force of the support members to obtain a plurality of first force data; Measure the force of the lifting member to obtain a second force data; measure the distance of the object; Calculate the force and moment of the mobile crane according to the first force data, the second force data, the weight of the mobile crane, the distance of the object and the size of the mobile crane; and It is judged whether the force and the moment of the mobile crane cause the overturning of the mobile crane. The anti-overturning monitoring method for a mobile crane as claimed in claim 9, wherein when one of the first force data of one of the supporting members is 0, with respect to an axis, any one of the The first force data of the supporting members adjacent to the supporting member whose force data is 0 is equal to the first force data of the other supporting members except the supporting members on the axis, the When the sum of the second force data and the moment of the weight of the mobile crane relative to the axis is divided by a critical value obtained by dividing the vertical distance between the any support member and the axis, it is determined that the mobile crane takes the axis as Rotate the center and overturn.

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