WO2019073456A1

WO2019073456A1 - A predictive stability control method and system for truck-mounted cranes

Info

Publication number: WO2019073456A1
Application number: PCT/IB2018/057962
Authority: WO
Inventors: Francesco Marinelli; Alessandro Bacchi
Original assignee: Hyva Holding B.V.
Priority date: 2017-10-13
Filing date: 2018-10-15
Publication date: 2019-04-18
Also published as: WO2019073456A9; IT201700115700A1; EP3694804A1

Abstract

The invention describes a predictive stability control method for truck- mounted cranes, designed for lifting loads (P1, P2), comprising the steps of: setting a first representative value (V1) of the load to be lifted with said crane (3); setting second representative values (V2i; i=1..n) of provided extensions of stabilizing shafts (24) of outriggers (2) as a function of environmental conditions (C0, C1, C2) of work for said truck-mounted crane; calculating a safe load radius (X) of said crane (3) respect to its traverse axis (AX2) as a function of said representative values (V1, V2i), wherein said step of calculating said safe load radius (X) is performed before stabilizing said crane and/or performing operating steps. The invention describes furthermore a corresponding predictive stability control system and a graphical interface of predictive stability control.

Description

"A PREDICTIVE STABILITY CONTROL METHOD AND SYSTEM FOR TRUCK-MOUNTED CRANES"

FIELD OF APPLICATION

The present invention relates to a predictive stability control method and system for self-propelled work machines, predisposed for the lifting of loads, such as truck-mounted cranes or the like.

PRIOR ART

Cranes are known, comprising a respective articulated and/or extensible arm predisposed on a motor truck and mainly used for loading and unloading material from and onto a truck body of the truck.

To guarantee safe handling of the load, the crane and the truck must be stabilized, using appropriate devices, called "outriggers", predisposed on the support frame of the crane, and/or on the crane.

In detail, two cross-members can be provided, arranged perpendicular to the longitudinal axis of the truck and reciprocally joined by a pair of longitudinal members, to define the mentioned support frame. Two shafts are slidably inserted in each of the cross-members which bear, at the distal ends thereof, respective rest feet, which are vertically mobile.

Commonly, one of the cross-members is located immediately behind the cabin, while the other cross-member is arranged behind the rear axle. In this way, four telescopic outriggers are defined, two for each flank of the vehicle.

In practice, during the driving condition of the truck, the outriggers are in a retracted configuration, in which they have a minimum lateral dimension with respect to the advancement direction of the truck.

Before the loading and unloading steps, the outriggers must be brought into an extended configuration, in which the respective shafts are extracted from the relative cross-member so as to project at the flanks of the truck, and the feet are lowered down to the ground.

Unfortunately, the positioning of the outriggers is dependent on a multitude of variables, which do not always allow for the outriggers to be extended fully, nor be positioned substantially equal; for example, the vehicle may be constrained by its surroundings in extending the outriggers laterally with respect to the vehicle, by for example, but not limited to objects such as structures or vehicles, preventing the one- or multiple outriggers from extending fully. Oftentimes, the machines must be operated on a supportive surface featuring irregularities, unevenness, and/or a slope, requiring unequal descent of the feet.

The positioning of the outriggers is crucial because it determines the freedom of movement of the arm predisposed on the truck for a given load, and the consequent stability of the truck-mounted crane during operating steps.

Historically, the positioning of the outriggers and the allowable range of the arm are decided by the machine's operator, and they are based on the machine's designated product specifications, common sense judgments and prior experience of the operator, to avoid any risk of loss of load and/or the tipping over of the truck and related arm.

The known consequences of the loss of load and/or the tipping over of the truck and related arm are catastrophic; the risk of material damages and/or the loss of human life is high, given the significant mass of a typical truck, of a typical truck-mounted crane and of typical loads handled by the same. Out-of-level operation of a truck-mounted crane will influence the load distribution on the outriggers of the machine and introduce side load on the crane boom at certain angles of rotation. Subsequently, this will effect the allowable working radius for each angle of the crane arm's rotation; also, out of level crane operation will effectively change the tilt of the crane column and consequently the reach of its arm. It should be appreciated that mobile cranes, crawler cranes, and the like are operated substantially level, within 1 % of grade, unlike truck-mounted cranes, whose wheels are not allowed to lift off the ground during leveling. For example, it is not uncommon that earth moving equipment must level the area where a crawler crane will be operated. While safe operating conditions are likely to be ambiguous to the machine operator, especially to an operator with limited prior experience, and taking into account the catastrophic nature of a potential risk outcome, operators tend to use a substantial margin of safety to provide room for error of judgment when operating truck-mounted cranes, predisposed for the lifting of loads. In other words, it is common practice for operators to 'underload' the machine, inter alia lifting and handling loads of limited weight and/or limiting the range of the arm.

In other words, it is common practice to reduce the efficiency of the truck- crane system, in exchange for anticipated operating safety conditions. Methods and systems for predicting the stability of mobile cranes, crawler cranes, and the like are known in the art. Considering that safety standards only allow such machines to be operated when level within 1 % of grade, manufacturers do not provide load charts for out-of-level operation, nor do they predict the stability of the machine when operated under such conditions. Based on the above arguments, and as will be evident from the whole specification, such prior art is in a different technical field with respect to the invention.

The purpose of the present invention is to realize a predictive stability control method/system for truck-mounted cranes capable of overcoming the disadvantages of the prior art.

The specific aim of the present invention is to realize a predictive stability control method/system for truck-mounted cranes that allows maximizing the efficiency of the truck-crane system while maintaining operating safety conditions.

SUMMARY OF THE INVENTION

In a first aspect, the present invention describes a predictive stability control method for truck-mounted cranes, according to what is described in claim 1 .

Other advantageous aspects of the method are included in dependent claims from 2 to 14. In a second aspect, the present invention describes a predictive stability control system for truck-mounted cranes, according to what is described in claim 15.

Other advantageous aspects of the system are included in dependent claims from 16 to 22.

In third aspect, the method is a computer implemented method.

In a fourth aspect, the present invention describes a graphical interface for stability control for truck-mounted cranes, according to what is described in claim 23.

In a fifth aspect, the present invention describes a computer program configured for, when loaded in a computer, performing one or more of the steps of the third aspect.

The invention confers the main technical effect to maximize the efficiency of the truck-mounted crane while maintaining operating safety conditions. The technical effect is achieved through a predictive analysis of the tolerated working radius from the column axis of the crane defined prior to stabilizing the truck-mounted crane and/or performing operating steps. Specifically, the technical effect is achieved through a predictive analysis of the tolerated working radius from the column axis of the crane defined, prior to the actual stabilization of the truck-mounted crane and handling of the crane, as a non-limitative function of a provided load and of a provided positioning of the outriggers.

The mentioned technical effects/advantages cited, and other technical effects/advantages of the invention will emerge in further detail from the description provided herein below of an example embodiment provided by way of approximate and non-limiting examples with reference to the not limiting attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a schematic view of the truck-crane system, according to the invention; and Figure 2 shows a schematic view of the crane assembled on the truck of figure 1 ;

Figure 3 shows a block diagram of the processing unit of the invention. Figures 4A,4B,4C show three different graphical visualizations of the safety load, according to the invention, wherein the reference row from 0° to 180° coincides with the longitudinal axis of the truck-mounted cranes. Figure 5 shows a graphical interface for the predictive stability control for truck-mounted cranes, according to the invention.

Figure 6 is a schematic view of the truck-crane system, according to the invention with the crane's column axis located at the rear of the truck cabin.

DETAILED DESCRIPTION

The invention describes a predictive stability control method and system, operating prior to stabilizing the truck-mounted crane and/or performing operating steps for a calculation of the freedom of movement of the arm, admissible for safe operation, allowing the truck-mounted crane to be setup and used more efficiently, for a narrower margin of safety may be used. It should be understood and appreciated that the method/system may also be used in-between the machine's operating steps, to make predictions related to the stability of the machine, for a current or alternative provided load and/or provided positioning of the outriggers.

According to one currently preferred embodiment of the invention, and with reference to the figures 1 and 2, the truck-mounted crane predisposed for the lifting of loads comprises a truck 4, equipped with outriggers 2; the truck 4 supports a crane 3 comprising a respective arm 5.

The crane 3 handles a load P1 ,P2 at a safe working radius.

Specifically, the safe working radius is a safe load radius X respect to its traverse axis AX2 (fig.2).

The handling of the crane 3 during loading activity must be performed such, that the stability of the truck-mounted crane and its structural integrity are guaranteed. In an embodiment in which the crane's column axis AX1 (fig.2) is located at the rear of the truck cabin 4, as shown in figure 1 and 6, the crane 3 will be able to handle a given load across a larger load radius X over the rear quadrant, than it is able to do so over the front of the vehicle, because in the first situation the tipping axis (for example, but not limited to a front outrigger (fig.6)) is more distant from the crane's centre of gravity, resulting in a greater (crane) leverage when compared to the load's leverage.

The invention provides a predictive stability method on the described truck-mounted cranes, predisposed for the lifting of loads P such as to safeguard all the provided safety conditions.

In particular, the method is a computer implemented method.

The invention provides also a predictive stability control system for the described truck-mounted cranes comprising a processing unit 100 configured to calculate a safe load radius X for a crane 3 that allows safeguarding all the provided safety conditions.

Generally speaking, this loading radius may be a function of arm length(s) and arm angle(s).

Specifically, the load radius/working radius is computed as a function of at least one between a. boom length and a boom angle(s).

If the vehicle is inclined and cannot be levelled without lifting the wheels of the ground, the remaining tilt may also be a component of the load radius (vehicle tilt).

It should be appreciated that this is not the case for mobile cranes, crawler cranes, or the like, which operate substantially level, particularly within 1 % of grade. In general, it should be noted that in the present context and in the subsequent claims, the processing unit 100 is presented as being split into distinct functional modules (storage modules or operative modules) for the sole purpose of describing its functionalities clearly and completely. In actual fact, this processing unit 3 can comprise a single electronic device, appropriately programmed to perform the functionalities described, and the different modules can correspond to hardware entities and/or routine software that are part of the programmed device. Alternatively, or in addition, such functions may be performed by a plurality of electronic devices over which the aforesaid functional modules can be distributed. The processing unit can moreover rely on one or more processors to execute the instructions contained in the memory modules. The invention provides to set a first representative value V1 of the load to be lifted with the crane 3.

With particular reference to figure 3, the processing unit 100 comprises a first setting module 101 configured to set the first representative value V1 of the load P1 ,P2 to be lifted with the crane 3.

In a preferred embodiment of the invention, the first representative value V1 is the weight of the load (P) to be lifted.

The invention provides, furthermore, to set second representative values V2i (i=1 ..n) of provided extensions of stabilizing shafts 24 (fig.1 ) of the outriggers 2 as a function of at least environmental conditions C0,C1 ,C2. With particular reference to figure 3, the processing unit 100 comprises a second setting module 102 configured to set the aforesaid second representative values V2i (i=1 ..n).

In a preferred embodiment of the invention, the second representative values V2i comprise lengths of the stabilizing shafts 24 extended.

In a preferred embodiment of the invention, the environmental conditions comprise one or more from:

- space limits CO for the extension of the stabilizing shafts 24;

- slope of the bottom C1 underneath the truck 4;

- unevenness of the bottom C2.

The invention provides to calculate a safe load radius X of the crane 3 respect to its traverse axis AX2 as a function of the representative values V1 , V2i.

In a preferred embodiment this step is performed prior to stabilizing the truck-mounted crane and/or performing the operating steps.

In a particular embodiment this step is performed prior to stabilizing the truck-mounted crane and before handling the crane 3.

The processing unit 100 comprises a first processing module 103 configured to calculate the aforesaid safe load radius X.

According to the invention, furthermore, it is provided to set third representative values V3a of a correction of the safe load radius X.

The processing unit 100 comprises a third setting module 104 configured to set the aforesaid third representative values V3a.

The third representative values V3a correspond to predefined rotation angles a of the crane 3 around one of its column axis AX1 (fig.2).

According to the invention, in a preferred embodiment, the safe load radius X is defined also as a function of the third representative value V3a.

The processing unit 100 comprises a second processing module 105 configured to calculate the safe load radius X also as a function of the third representative values V3a.

In other words, the third representative values V3a are representative of a correction of the safe load radius X corresponding to predefined rotation angles a of the crane 3 around its column axis AX1 defined as a function of a structural configuration of said truck 4 supporting the crane 3.

As a not limiting example, the correction of the safe load radius X will substantially reduce the load radius X in correspondence to the rotation angles Δα1 of the crane 3 (for example in fig. 4A between 270° and 90° passing from a= 0°) which are related to the

movement of the crane toward the truck cabin, and will be almost nil for complementary angular variations at the rotation

angles Δα1 (for example in fig. 4A between 90° and 270° passing from a=180°).

In a preferred embodiment of the invention, the combination of the third representative values V3a and second representative values V2i (i=1 ..n) is represented by a load pressure ps liftable calculated on the main cylinder 6 (fig. 2).

In other words, the load pressure ps takes into account of the correction of the crane capacity at the variation of the extension of the shafts 24 and of the angular position a of the crane. Therefore, the load pressure ps is defined as a function of two variables, that is the extension of the shafts 24 and the rotation angle a of the crane 3.

For example, it is assumed that for shafts 24 fully extended it would be possible to lift the nominal weight, therefore ps= pnom, that is the load pressure corresponds to the nominal pressure.

In the case the stabilizing shafts are in positions different from those of being fully extended, it is so that ps<pnom, that is the load pressure is less than the nominal pressure.

According to the invention, furthermore, it is provide to set a fourth representative value ν4β representing the inclination of the vehicle after stabilizing steps.

The fourth representative value ν4β represents an angle β between the column axis AX1 and a horizontal plane. It has to be understood that If β≠ 0°, the vehicle is inclined.

It should be appreciated that representative value ν4β does not have any technical sense for mobile cranes, crawler cranes, or the like, which operate substantially level, particularly within 1 % of grade, wherein β is substantially < 0,57°.

According to the invention, in a preferred embodiment, the load radius X is defined also as a function of the fourth representative value ν4β.

In other words, the fourth representative value ν4β is representative of the correction of the load radius X corresponding to inclination angle β of the crane 3 with regard to the horizontal plane.

The processing unit 100 comprises a fourth setting module 106 configured to set fourth representative values ν4β of a correction of said safe load radius X corresponding to a predicted inclination of the truck-mounted crane.

The processing unit 100 comprises a fourth processing module 107 configured to calculate the safe load radius X also as a function of the fourth representative value ν4β.

According to an embodiment of the invention, if the fourth representative value ν4β is substantially equal to 0°, it will have little to no effect on safe load radius X.

In one embodiment of the invention, all truck wheels will be required to touch the ground during operating steps.

In other words, the truck 3 comprises wheels required to touch the ground during operating steps

When the support surface is substantially uneven and/or sloped, the vehicle might not be levelled to a degree in which the vehicle is substantially horizontal, while at the same time all wheels are in contact with the support surface, forcing the vehicle to be operated at the angle β defined as the angle of the crane 3 with regard to the horizontal plane. It should be appreciated that this is not the case for mobile cranes, crawler cranes, or the like, which operate substantially level, particularly within 1 % of grade.

Processing also the fourth representative value ν4β make it possible to further increase the efficiency of the truck-mounted crane while maintaining operating safety conditions.

The invention provides, furthermore, to set values of more conditions processable for a correction of the safe load radius by the predictive stability control method and system of the invention.

As a few examples the following conditions can be used:

Wind speed- and direction of the same (load swing/side load).

· Crane-arm rotation speed/acceleration (load swing/side load) possibly in combination with the presence of a (horizontal) load stability system.

In one embodiment, the truck is provided with a wind sensor 25 configured to sense the wind speed WS.

Preferably, the wind sensor 25 is mounted on the top of the crane column.

In an alternative embodiment, the wind speed WS could be measured using a portable anemometer or another (at ground level) located wind sensor, and corrected to represent the actual wind speed at the top of the crane column.

In yet another embodiment, such a corrected wind speed could be received from a remote (sensing) data source

The processing unit 100 comprises a sensing module 108 (fig. 3) configured to receive a representative value for the wind speed WS and/or direction thereof and to set a fifth representative values V5 of a correction of the safe load radius (X).

Preferably, the wind speed WS and/or direction thereof is sensed by the wind sensor 25.

In one embodiment, the invention provides to represent graphically the safe load radius X as a function of at least the representative values V1 ,V2i,V3a in a diagram distance X - rotation angle a, for a given load P1 .P2.

An example is shown in figure 4A wherein it is simulated a first load P1 = 900Kg and it is represented a first area A1 in grey corresponding to the safe load radius for the truck-mounted crane wherein the reference row corresponding to the angles a =0° and a =180° coincides with the longitudinal axis of the truck-mounted crane with front end facing toward the angle a =0°.

It is understood that the safe load radius X is substantially constant in the interval 140°<a<230° that is in correspondence of the support frame of the truck 4 at the opposite end respect to the cabin, it decreases marginally in the intervals from 140° to 90° and from 230° to 270° that is in correspondence of the sides of the vehicle, it decreases substantially in the intervals from 90° to 60° and from 270° to 300° that is in proximity of the area immediately rear to the cabin, and it is essentially nil between 300° and 60° passing from a=0° (fig.6).

From the graph in figure 4A, the operator understands how much he may allow "ranging" the crane 3 at ad any angle a of its possible rotation as a function of the first provided load P1 .

Whenever a greater load is provided, for example a second load P2 = 2000 Kg, the shape of the corresponding second area A2 (fig. 4B) is shaped substantially equal to that of the first area A1 , but in a smaller scale; in other words, the correction of the safe load radius X will follow the angular variations already described for the figure 4A, but the absolute value of the safe load radius X will be lower based on the provided load P2>P1 .

Also from the graph in figure 4B, the operator understands, therefore, how much he may allow "ranging" the crane 3 at any angle a of its possible rotation as a function of the second provided load P2>P1 .

A third example is shown in figure 4C wherein it is simulated a first load P1 = 900Kg, but with a different provided stabilization of the truck-mounted crane.

In other words, the third representative values V3a of the figure 4C are different from those of the previous figures 4A and 4B; in particular, the third representative values V3a take into account an environmental condition CO, that is limits of space to the extension of the stabilizing shafts 24, more particularly the shafts located on the left with respect to the forward direction of the truck-mounted crane.

Therefore, it is represented a third area A3 in grey corresponding to the operating safety area for the truck-mounted crane, which has a shape different from the first area A1 , while simulating the same load P1 .

The area A3, in fact, is corrected in with regard to the left side of the truck- mounted crane where the outriggers have been extended only partially. From the graph in figure 4C, the operator understands, therefore, that he can allow "ranging" the crane 3 at determined angles a of its possible rotation which are reduced respect to the cases shown in figures 4A and 4B.

According to the invention, the diagram in figures 4A,4B and 4C is defined on the basis of reference intervals ΔΧ and angular ones Δα (fig. 4A). The reference intervals ΔΧ are variable as a function of the structural characteristics of the crane 3, for example the length.

The corresponding concentric rings in the figures are therefore sized so as to obtain a graphic as much as possible readable.

In particular, said intervals are proportioned to the maximum reachable theoretical distance

For example, if the crane 3 can reach a distance X equal to approximately 15m-20m, the reference intervals ΔΧ will be normally proportioned to said distances for example approximately 2m .

For example, if the crane 3 can reach a distance X equal to approximately 7m-10m, more accurate reference intervals ΔΧ, will be necessary, therefore smaller, for example approximately 1 m .

Preferably, the angular intervals Δα are constant independently on the length of the crane 3; typically, Δα = 10°; in the figure, 36 jagged lines will be provided that join 36 points to the centre of the graphic.

In a further embodiment The invention provides to represent graphically the safe load radius X as a function of at least the representative values V1 ,V2i,V3a in a diagram distance X - rotation angle a, for a given load P1 .P2.

In another embodiment, the invention provides to represent graphically the safe load radius X also as a function of the fourth representative value ν4β.

In another embodiment, the invention provides to represent graphically the safe load radius X also as a function of the wind speed value WS.

Otherwise stated, in this embodiment the invention provides to represent graphically the safe load radius X also as a function of a fifth representative values V5.

According to the invention, it is provided a graphical interface 300 for the described predictive stability control.

With reference to figure 5, the graphical interface 300 comprises:

a first selectable area F1 ,F2,F3,F6,F7,F8 configured to set a first representative value V1 of the load to be lifted by the crane 3.

The interface 300 comprises furthermore a second selectable area F4,F5,F9,F10 configured for setting second representative values V2i (i=1 ..n) of extension of the stabilizing shafts 24 of the outriggers 2 as a function of the environmental working conditions C0,C1 ,C2 for the truck- mounted crane.

In one embodiment, the selectable areas comprise a touch screen display. In a further embodiment, the selectable areas could be obtained as augmented reality images.

Specifically, said second representative values V2i make it possible to set a value of extension of the stabilizing shafts 24 indicated as a percentage (for example 25%,50%,75%,100%) of the maximum extension structurally allowed.

Furthermore, the interface 300 comprises a visualization area AV configured to visualize a calculated safe load radius X of the crane 3 respect to one of its traverse axis AX2, as a function of the representative values V1 , V2i and one among the third representative values V3a, the fourth representative value ν4β and the fifth representative value V5, wherein the step of calculating the safe load radius X is performed before stabilizing the truck-mounted crane and/or performing the operating steps In one embodiment, the visualization area AV comprises a touch screen display.

In a further embodiment, the visualization area AV could be obtained as augmented reality image.

In detail, the interface 300 show in figure 5, provides to display the load diagram before extending the outriggers with stabilizing shafts not yet on the ground (predictive mode).

Once the truck has reached the intervention location and it is positioned on the desired position, it is possible to enter the indicative distance of the outriggers to obtain a hypothetical load diagram.

By selecting the keys F1 -F2-F3-F6-F7-F8 it is possible to change the value of the load to be lifted; in particular, with the keys + and - it is possible to change the load, for example in 50kg increments.

By selecting the keys F4-F5-F9-F10 it is possible to change the extensions of the stabilizing shafts for variations, for example, of 20-25%

Each time a datum is changed, whether it is load value or the length of an outrigger, the calculation of the load diagram is initiated, according to the invention.

In conclusion, the invention confers the main technical effect to maximize the efficiency of the truck-mounted crane while maintaining operating safety conditions.

The technical effect is achieved through a predictive analysis of the tolerated load radii from the axis of the column of the crane defined, in- between operating steps or prior to the actual stabilization of the truck- mounted crane and handling of the crane as a function of a provided load and of a provided positioning of the outriggers.

Claims

1 . A predictive stability control method for truck-mounted cranes, designed for lifting loads (P1 , P2), comprising the steps of:

- setting a first representative value (V1 ) of the load (P1 ,P2) to be lifted with a crane (3);

- setting second representative values V2i (i=1 ..n) of provided extensions of stabilizing shafts (24) of said outriggers (2) as a function of at least environmental conditions (C0,C1 ,C2);

- calculating a safe load radius (X) of said crane (3) with respect to its traverse axis (AX2) as a function of said representative values (V1 , V2i), wherein said step of calculating said load radius (X) is performed prior to stabilizing the truck-mounted crane and/or performing operating steps.

2. The method according to claim 1 , further comprising the steps of:

setting third representative values (V3a) of a correction of said safe load radius (X) corresponding to predefined rotation angles (a) of said crane (3) around one of its column axis (AX1 ).

3. The method according to claim 2, further comprising the step of:

calculating the safe load radius (X) also as a function of said third representative value (V3a).

4. The method according to claim 2 OR 3, further comprising the step of: setting fourth representative values (Ν 4β) of a correction of said safe load radius (X) corresponding to a predicted inclination of the truck-mounted crane.

5. The method according to claim 4, further comprising the step of:

calculating the safe load radius (X) also as a function of said fourth value (V4P) representing a predicted inclination of the truck-mounted crane.

6. The method according to any of the preceding claims further comprising the step of:

- setting additional representative values of a correction of said safe load radius (X) corresponding to additional working conditions of the truck- mounted crane;

- calculating the safe load radius (X) also as a function of said additional representative values.

7. The method according to anyone of the preceding claims further comprising the step of:

providing a truck (4), equipped with outriggers (2), and which supports a crane (3) comprising a respective articulated and/or extensible arm (5);

8. The method according to claim 6, wherein said truck (3) comprises wheels required to touch the ground during operating steps

9. The method according to anyone of the preceding claims comprising the step of graphically representing said safe load radius (X) as a function of one or more among at least said representative values (V1 ,V2i,V3a,V4 β) in a diagram of distance (X) - rotation angle (a).

10. The method according to claim 9 wherein said diagram is defined on the basis of reference intervals (ΔΧ) and angular ones (Δα) wherein said reference intervals (ΔΧ) are variable as a function of the structural characteristics of said crane (3).

1 1 . The method according to any one of the preceding claims wherein said first representative value (V1 ) comprises the weight of the load (P1 ,P2,P3) to be lifted.

12. The method according to any one of the preceding claims wherein said second representative values (V2i; i=1 n) comprise extended lengths of said stabilizing shafts (24).

13. The method according to any one of the preceding claims wherein said third representative values (V3a) comprise liftable load pressure defined as a function of said rotation angle (a) of said crane (3) around its column axis (AX1 ).

14. The method according to any one of the preceding claims, wherein said environmental conditions (C0,C1 ,C2) comprise one or more from:

- space limits (CO) for the extension of said stabilizing shafts (24);

- slope of the bottom (C1 ) underneath said truck (4);

- unevenness of said bottom (C2).

15. A predictive stability control system for truck-mounted cranes designed for the lifting of loads (P1 , P2), comprising:

- a processing unit (100), configured to calculate a safe load radius (X) for a crane (3), and comprising:

a first setting module (101 ) configured to set a first representative value (V1 ) of the load (P1 ,P2) to be lifted with said crane (3);

a second setting module (102) configured to set second representative values (V2i i=1 ..n) of provided extensions of stabilizing shafts (24) of said outriggers (2) as a function of environmental conditions (C0,C1 ,C2);

a first processing module (103) configured to calculate a safe load radius (X) of said crane (3) respect to its traverse axis (AX2) as a function of said representative values (V1 , V2i), wherein said step to calculating said safe load radius (X) is performed before stabilizing said truck- mounted crane and/or performing operating steps.

16. The system according to claim 15 wherein said processing unit (100) also comprises:

a third setting module (104) configured to set third representative values (V3a) of a correction of said safe load radius (X) corresponding to predefined rotation angles (a) of said crane (3) around one of its column axis (AX1 ).

17. The system according to claim 16 wherein said processing unit (100) also comprises:

a second processing module (105) configured to calculate said safe load radius (X) also as a function of said third representative values (V3a).

18. The system according to anyone of claims 15 to 17 wherein said processing unit (100) also comprises:

a fourth setting module (106) configured to set fourth representative values (\ 4β) of a correction of said safe load radius (X) corresponding to a predicted inclination of the truck-mounted crane.

19. The system according to claim 18 wherein the processing unit (100) further comprises a fourth processing module (107) configured to calculate the safe load radius (X) also as a function of a fourth representative value (V4P).

20. The system according to anyone of claims 15 to 19 wherein the processing unit (100) further comprises a sensing module 108 configured to receive a representative value for a wind speed (WS) and/or a direction thereof to set a fifth representative values (V5) of a correction of the safe load radius (X).

21 . The system according to anyone of claims 15 to 19 wherein the truck- mounted crane comprises a truck (4), equipped with outriggers (2), and which supports a crane (3) comprising a respective articulated and/or extensible arm (5).

22. The system according to claim 21 wherein said truck (3) comprises wheels required to touch the ground during operating steps.

23. A graphical interface (300) of predictive stability control for truck- mounted cranes designed to lift loads (P1 ,P2,P3), wherein said machine comprises a truck (4), equipped with outriggers (2), that supports a crane (3) comprising a respective articulated arm (5),

wherein said graphical interface (300) comprises:

a first selectable area (F1 ,F2,F3,F6,F7,F8) configured to set a first representative value (V1 ) of the load (P1 ,P2) to be lifted with the crane (3); a second selectable area (F4,F5,F9,F10) configured to set second representative values (V2i; i=1 m) of extension of stabilizing shafts (24) of said outriggers (2) as a function of environmental conditions (C0,C1 ,C2); a visualization area (AV) configured to visualize a calculated safe load radius (X) of said crane (3) respect to one of its traverse axis (AX2), as a function of said representative values (V1 , V2i), and one or more among:

- a third representative values (V3a) of a correction of said safe load radius (X) corresponding to predefined rotation angles (a) of said crane (3) around one of its column axis (AX1 );

- a fourth representative value (Ν 4β) of a correction of said safe load radius (X) corresponding to a predicted inclination of the work machine;

- a fifth representative value (V5) of correction of said safe load radius (X);

wherein said step of calculating said safe load radius (X) is performed before stabilizing said truck-mounted craneand/or performing operating steps.