WO2023120919A1

WO2023120919A1 - Anti-overturn device for aerial work vehicles

Info

Publication number: WO2023120919A1
Application number: PCT/KR2022/015939
Authority: WO
Inventors: 박근호; 정성환; 임광진
Original assignee: 한국전자기술연구원
Priority date: 2021-12-22
Filing date: 2022-10-19
Publication date: 2023-06-29
Also published as: KR20230096194A; KR102670324B1

Abstract

Disclosed is an anti-overturn device for aerial work vehicles, the device comprising: a loading table of a vehicle body; a turntable disposed on the loading table of the vehicle body; a multistage boom hinged to an end portion of the turntable and configured to be withdrawable in multiple stages; a boarding box coupled to the multistage boom; outriggers disposed at respective corners of the loading table to prevent overturning of a vehicle; a plurality of first inertial measurement devices which collect sensing data according to a change in the lengths of the outriggers in the horizontal plane; a plurality of second inertial measurement devices which collect sensing data according to a change in the lengths of the outriggers in the vertical plane; a third inertial measurement device which collects sensing data according to the rotational angle of the turntable and the current angle of the boom; and a fourth inertial measurement device which collects sensing data related to the boarding box.

Description

Anti-overturn device for aerial work vehicles

The present invention relates to a vehicle for working at heights, and more particularly, to a rollover prevention device for supporting a vehicle for working at heights so that it does not roll over.

The aerial work vehicle is a type of mobile crane in which a rotary table is mounted on a base frame. Because the aerial work vehicle has good mobility and the rotary table can be rotated, bent, and retracted, it can be used for high-altitude work such as scaffolding inside and outside of buildings, installation and maintenance of telecommunications facilities, inspection and repair of bridges, and external painting of large ships. It is being used very usefully.

The aerial work vehicle has a structure in which a workbench is installed at the front end of a boom that extends to a rotary table so that workers or workpieces can be safely and conveniently boarded since work is performed at a high place.

The boom on which the worktable is installed can be extended and contracted, and a worker on the worktable works on the work surface by moving while the boom is raised, lowered, and rotated left and right on the rotary table to which the boom is connected. In this way, when a worker moves the workbench after getting on the workbench, the center of gravity may be changed, and thus, the aerial work vehicle may overturn and an accident may occur. In order to prevent this, a boom length detection sensor and an outrigger pull-out length sensor of a height work vehicle have been conventionally used. Since these sensors are placed outside the height work vehicle, they are easily exposed to the working environment and often cause failures and errors. There is a problem with Failure or error of the sensors is a part that is directly related to the lives of workers, and therefore, appropriate measures are required.

In order to solve the above problems, the present invention is an inertial measurement device composed of an acceleration sensor, a gyroscope, a geomagnetic sensor, etc., replacing the sensors used in the existing AML (Auto moment limiter) system. is in providing

On the other hand, the object of the present invention is not limited to the above object, and other objects not mentioned will be clearly understood from the description below.

In order to achieve the above object, the rollover prevention device of the aerial work vehicle of the present invention is hinged to the loading platform of the vehicle body, a turntable disposed on the vehicle body loading platform, and an end of the turntable and is configured to be withdrawable in multiple stages. A multi-stage boom, a boarding box coupled to the multi-stage boom, outriggers disposed at each corner of the loading platform to prevent the vehicle from overturning, and a plurality of first inertias for collecting sensing data according to a change in the horizontal surface length of the outriggers A measuring device, a plurality of second inertial measuring devices for collecting sensing data according to a change in the length of the vertical plane of the outriggers, a third inertial measuring device for measuring the rotational angle of the turntable and sensing data according to the current angle of the boom, the It is characterized in that it includes a fourth inertial measurement device for collecting sensing data related to boarding.

Here, the plurality of first inertial measuring devices and the plurality of second inertial measuring devices are inserted into insertion grooves or insertion holes provided on one side of the outriggers, and the overturn prevention device closes the opening of the insertion groove or insertion hole. It is characterized in that it further comprises a cover to obtain.

Alternatively, the third inertial measurement device may be inserted into an insertion groove or insertion hole provided on one side of the turntable, and the overturn prevention device may further include a cover closing an opening of the insertion groove or insertion hole.

Alternatively, the fourth inertial measurement device may be inserted into an insertion groove or insertion hole provided on one side of the boarding box, and the overturn prevention device may further include a cover closing an opening of the insertion groove or insertion hole.

Additionally, the rollover prevention device further includes a display outputting a vehicle image corresponding to the aerial work platform and a control unit controlling a screen output of the display, wherein the control unit includes the plurality of first inertial measurement devices, the Objects corresponding to the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device may be controlled to be output on the vehicle image.

In this process, the control unit detects that at least one of the plurality of first inertial measurement devices, the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device fails or an error occurs. In this case, it is possible to control to output an alarm indicating a failure or an error in the inertial measurement device on the vehicle image.

Meanwhile, the rollover prevention device further includes an adjusting device for adjusting states of the outriggers, the turntable, the boom, and the boarding box, and a control unit controlling the adjusting device, and the control unit controls the control unit based on the sensing data. Determining the possibility of overturning of the aerial work vehicle, and controlling the control device according to the possibility of overturning, the horizontal and vertical length changes of the outriggers, the turning angle change of the turntable, the length change of the boom, and the rotation state of the boarding box It is characterized in that at least one change of the change is limited.

In the above-described rollover prevention device, the plurality of first inertial measurement devices, the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device are one type of device, and at least a length sensor It is characterized in that it is configured to support functions of an angle sensor and an inertial sensor.

According to the present invention, the sensor exposed to the outside among the sensors applied to the existing aerial work vehicle has a risk of corrosion due to the nature of the aerial work vehicle, which is outdoor work. It can provide a risk-reducing effect.

In addition, the present invention integrates existing sensors having respective functions, such as a length sensor, an angle sensor, and an inertial sensor, into an inertial measurement device to have uniformity of parts, thereby reducing manufacturing cost and maintenance cost through mass production and maintenance It can provide the effect of cost reduction.

In addition, the present invention can secure flexibility in interworking with other systems through the simplification of the sensor system.

In addition, various effects other than the above effects may be disclosed directly or implicitly in detailed descriptions according to embodiments of the present invention to be described later.

1 is a view showing an example of an aerial work vehicle to which an overturn prevention device according to an embodiment of the present invention is applied.

2 is a view showing an example of an aerial work vehicle in which inertial measuring devices for rollover prevention are disposed according to an embodiment of the present invention.

3 is a diagram showing an example of a device for preventing an overturning of a vehicle for aerial work in accordance with an embodiment of the present invention.

In order to clarify the characteristics and advantages of the problem solving means of the present invention, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the accompanying drawings.

However, detailed descriptions of well-known functions or configurations that may obscure the gist of the present invention will be omitted in the following description and accompanying drawings. In addition, it should be noted that the same components are indicated by the same reference numerals throughout the drawings as much as possible.

The terms or words used in the following description and drawings should not be construed as being limited to a common or dictionary meaning, and the inventor may appropriately define the concept of terms for explaining his/her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that there is. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical ideas of the present invention. It should be understood that there may be equivalents and variations.

In addition, terms including ordinal numbers, such as first and second, are used to describe various components, and are used only for the purpose of distinguishing one component from other components, and to limit the components. Not used. For example, a second element may be termed a first element, and similarly, a first element may be termed a second element, without departing from the scope of the present invention.

In addition, terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "include" or "having" described in this specification are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or the other It should be understood that the above does not preclude the possibility of the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

In addition, terms such as “unit”, “unit”, and “module” described in the specification refer to a unit that processes at least one function or operation, and may be implemented as hardware or software or a combination of hardware and software. Also, "a or an", "one", "the" and similar related words in the context of describing the invention (particularly in the context of the claims below) Unless indicated or otherwise clearly contradicted by context, both the singular and the plural can be used.

In addition to the above-mentioned terms, specific terms used in the following description are provided to aid understanding of the present invention, and the use of these specific terms may be changed in other forms without departing from the technical spirit of the present invention.

In addition, embodiments within the scope of the present invention include computer-readable media having or conveying computer-executable instructions or data structures stored thereon. Such computer readable media can be any available media that can be accessed by a general purpose or special purpose computer system. By way of example, such computer readable media may be in the form of RAM, ROM, EPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage, or computer executable instructions, computer readable instructions or data structures. physical storage media such as, but not limited to, any other medium that can be used to store or convey any program code means in a computer system and which can be accessed by a general purpose or special purpose computer system. .

Hereinafter, the rollover prevention device for an aerial work vehicle according to an embodiment of the present invention includes at least one of a boom length sensor, an outrigger withdrawal length sensor, a boom angle sensor, a turntable turning angle measurement sensor, and a boarding (or load cell) tilt measurement sensor. By replacing the data collected by the sensor with the data collected by the acceleration sensor of the inertial measurement device, rollover prevention of the aerial work vehicle can be addressed.

In addition, the rollover prevention device for the aerial work vehicle of the present invention replaces the data to be obtained through the leveler with the data collected by the gyroscope and earth magnetic sensor of the inertial measurement device to prevent the aerial work vehicle from overturning. .

Hereinafter, the system, apparatus and method constituting the present invention will be described in more detail through each drawing.

Referring to FIG. 1 , in a height work vehicle 100 according to an embodiment, a turntable T is provided on a loading table 101 of a vehicle body, and an end of the turntable T is multi-stage configured to be drawn out in multiple stages. The boom (B) is hinged, the boarding 102 (or load cell) is coupled to the multi-stage boom (T), and outriggers ( 103) is provided, and refers to a vehicle that allows various tasks to be performed while moving the boarding box 102 to an appropriate spatial position by raising the boom (B) in a state in which an operator is riding on the boarding box 102.

The aerial work vehicle 100 includes an extension frame 105 of a predetermined length interpolated to an end of the turntable T and interpolated to be withdrawable from the turntable T. The extension frame 105 extends the length of the turntable T while being pulled out from the inside of the turntable T to increase the maximum height of the multi-stage boom B. It is formed to a predetermined length . For example, as shown in a) to b) of FIG. 1, in a 1 ton truck, a turntable T is installed on a loading platform 101, but installed behind a driver's seat 109, and at the end of the turntable T. A multi-stage boom (B) that can be drawn out in multiple stages is hinged. The extension frame 105 may be formed in a multi-stage structure capable of being drawn out in multiple stages so as to further increase the length (height) of the boom (B). The material of the extension frame 105 is not limited to the scope of the present invention, but is preferably formed of a material capable of securing strength and reducing the weight of the vehicle. In particular, the extension frame 105 is formed in a multi-stage structure. If possible, it is preferable to be formed of a material having excellent strength so that work at height can be performed while enduring the weight of the multi-stage boom (B), the boarding box (2), and the occupant.

The above-described aerial work vehicle 100 includes a first hydraulic structure (not shown) for controlling the insertion or extraction of the extension frame 105, and a second hydraulic structure (not shown) for adjusting the length of the multi-stage boom (B). ) may be further included. In addition, the aerial work vehicle 100 may further include a leveling device for leveling the boarding box 102 . At least a part of the leveling device may be composed of a gear structure or a hydraulic structure.

Referring to FIG. 2 , the aerial work vehicle 100 according to an embodiment of the present invention includes at least one first inertial measurement device 210 arranged to measure the length of the outrigger 103 on the horizontal plane, and the outrigger 103 on the vertical plane. At least one second inertial measuring device 220 disposed for measuring the length, a third inertial measuring device 230 for measuring the turning angle of the turntable (T) and measuring the current angle of the boom (B), measuring the length of the boom (B), and A fourth inertial measurement device 240 for boarding sensing may be included.

The first inertial measuring device 210 and the second inertial measuring device 220 may be disposed on each of the outriggers 103 . Accordingly, the first inertial measuring device 210 and the second inertial measuring device 220 may be disposed corresponding to the number of outriggers 103 . For example, when the aerial work vehicle 100 includes four outriggers 103, the first inertial measurement device 210 and the second inertial measurement device 220 are each of the outriggers 103 As it is arranged in a field, the aerial work vehicle 100 may include four first inertial measurement devices 210 and four second inertial measurement devices 220 . Meanwhile, the first inertial measuring device 210 and the second inertial measuring device 220 may be disposed inside each of the outriggers 103 so as not to be exposed to a working environment. In this regard, the outrigger 103 may be provided with an insertion groove or an insertion hole into which the first inertial measuring device 210 and the second inertial measuring device 220 can be inserted, respectively, on one side, and the insertion groove Alternatively, after the first inertial measuring device 210 and the second inertial measuring device 220 are inserted into the insertion hole, a cover closing the insertion hole and the insertion hole may be disposed. The cover may be made of a transparent material so that the inertial measurement devices can be observed from the outside.

The third inertial measuring device 230 may be interpolated to one side of the turntable (T). In this regard, the turntable T includes an insertion groove or an insertion hole into which the third inertial measuring device 230 can be inserted, and the insertion groove or insertion hole may be closed with a transparent cover.

The fourth inertial measurement device 240 may be interpolated to one side of the boarding box 102 . In this regard, the boarding box 102 includes an insertion groove or insertion hole into which the fourth inertial measurement device 240 can be inserted, and the insertion groove or insertion hole may be closed with a transparent cover.

Contamination and consequent corrosion of the first to fourth

inertial measurement devices

210, 220, 230, and 240 may be prevented through the above insertion structure. In addition, even if sensing data is collected from various locations of various aerial work vehicles 100 in relation to preventing the aerial work vehicle 100 from overturning, the sensing data provided by the same sensors is classified and processed by location, thereby processing the sensing data. can be done evenly. In addition, even when replacement is required due to a failure or error of the inertial measurement device, it is easy to study and familiarize with the replacement method as the replacement method to be familiar with is unified, and the replacement can be easily applied accordingly.

2 and 3, the rollover prevention device 200 according to an embodiment of the present invention includes a plurality of first inertial measurement devices 210, a plurality of first inertial measurement devices 210, and a third inertial measurement device. 230, a fourth inertial measurement device 240, a display 260, an adjusting device 270, and a control unit 250 may be included.

As described above with reference to FIG. 2, the plurality of first inertial measuring devices 210 are disposed on the plurality of outriggers 103 to measure the length of the horizontal plane of the outrigger 103, and information on the measured length of the horizontal plane. may be delivered to the control unit 250. In this process, the plurality of first inertial measurement devices 210 may transmit their identification information together with sensing data to the control unit 250 so as to distinguish which location the inertial measurement device is located.

As described above with reference to FIG. 2, the plurality of second inertial measuring devices 220 are disposed on the plurality of outriggers 103 to measure the length of the vertical plane of the outrigger 103, and information on the measured length of the vertical plane. may be delivered to the control unit 250. In this process, the plurality of second inertial measurement devices 220 may transmit their identification information along with sensing data to the control unit 250 so as to distinguish which location the inertial measurement device is located.

The third inertial measuring device 230 may be disposed on one side of the turntable T in a form interpolated, and may transmit sensing data about a turning angle of the turntable and a current boom angle to the control unit 250 . The third inertial measurement device 230 may transmit its identification information to the control unit 250 together in a sensing data transmission process.

The fourth inertial measurement device 240 may measure the boom length and collect boarding-related sensing data, and transmit the sensing data together with its own identification information to the control unit 250 .

The plurality of first inertial measuring devices 210 and the plurality of second inertial measuring devices 220 may be electrically connected to the control unit 250 through wire cables or wires. The third inertial measuring device 230 and the fourth inertial measuring device 240 may be connected to the control unit 250 through wired cables, but may be connected to the control unit 250 wirelessly in consideration of length change. In this regard, the aerial work vehicle 100 is connected to the third inertial measurement device 230 and transmits sensing data collected by the third inertial measurement device 230 to the control unit 250 through first wireless communication. A second wireless communication module that is connected to the module and the fourth inertial measurement device 240 and transmits the sensing data collected by the fourth inertial measurement device 240 to the controller 250 may be further included. Meanwhile, the plurality of first inertial measurement devices 210 and the plurality of second inertial measurement devices 220 may also transmit sensing data with the control unit 250 through a wireless communication channel, and for this purpose, the aerial work vehicle ( 100) may further include a wireless communication module for transmitting sensing data of the plurality of first inertial measurement devices 210 and the plurality of second inertial measurement devices 220.

The display 260 may output a screen according to the operation of the rollover prevention device 200 of the present invention. The display 260 may be disposed on at least one side of the driver's seat of the aerial work vehicle 100 or the turntable T or chassis (car body loading platform). Alternatively, the display 260 may be provided as a separate detachable tablet type and then connected to the controller 250 as needed. The display 260 may include, for example, a touch screen having an input function. The display 260 corresponds to the control of the control unit 250 by the plurality of first inertial measuring devices 210, the plurality of second inertial measuring devices 220, the third inertial measuring device 230, and the fourth inertial measuring device 210 described above. A screen related to the operation of the measuring device 240 and a screen related to a length change or limitation of each component of the aerial work vehicle 100 may be output.

The adjusting device 270 may adjust at least some of various components of the vehicle for working at heights 100 in response to control of the control unit 250 so as to prevent the vehicle for working at heights 100 from overturning. For example, the adjusting device 270 is an outrigger adjusting device capable of adjusting the horizontal length and vertical length of the outriggers 103, a turntable adjusting device capable of adjusting the rotation angle of the turntable T, and the length of the boom B. At least one of an adjustable boom control device and a boarding box control device capable of adjusting the rotation state of the boarding box 102 may be included.

The controller 250 activates various inertial measuring devices related to the use of the boom B of the aerial work vehicle 100, collects sensing data of the inertial measuring devices, weighs the boarding box 102, and controls the height of the aerial work vehicle 100. Calculation of the possibility of rollover and control of the adjusting device 270 according to the possibility of rollover may be performed. For example, when a manipulation signal for the outrigger 103 is generated while the aerial work vehicle 100 is stopped, the controller 250 may use inertial measurement devices (eg, a plurality of first inertial measurement devices 210, a plurality of The second inertial measurement device 220, the third inertial measurement device 230, and the fourth inertial measurement device 240) of the controller may be activated, and sensing data collection accordingly may be controlled. When the sensing data is collected, the control unit 250 may limit the rotation angle of the turntable T and the length of the boom B in consideration of the collected sensing data and the load and center of gravity of the boarding box 102 . The controller 250 may output the restriction information to the display 260 .

Meanwhile, in the process of activating the inertial measurement devices and collecting sensing data, the control unit 250 maps each inertial measurement device to each part corresponding to the aerial work platform 100 and outputs it to the display 260, If there is an inertial measurement device in which an error has occurred, an alarm for this may be output through the display 260 . In this regard, the control unit 250 provides a setting screen for confirming which inertial measurement devices are disposed at any position of the aerial work vehicle 100 based on the identification information provided by the inertial measurement devices, and designates an operator. Alternatively, depending on the settings, positioning for the inertial measurement device may be determined.

As described above, the device for preventing rollover of a vehicle for working at heights according to an embodiment of the present invention includes a plurality of inertial measuring devices disposed in various positions of the vehicle for working at heights 100, and the inertial measuring devices include a length sensor, an angle It may be provided as a structure in which existing sensors having respective functions, such as a sensor and an inertial sensor, are integrated. Accordingly, the present invention can reduce manufacturing cost and maintenance cost by enlarging the mass of the inertial measuring device, and can reduce maintenance cost. In addition, the present invention can ensure flexibility in interworking with other systems through the simplification of the sensor system by operating one type of inertial measurement device compared to the prior art in which various types of sensors were used.

As set forth above, this specification contains many specific implementation details, but these should not be construed as limiting on the scope of any invention or claimables, but rather may be specific to a particular embodiment of a particular invention. It should be understood as a description of the features in

Further, while operations are depicted in the drawings in a specific order, it should not be understood that all illustrated operations must be performed or that those operations must be performed in the specific order shown or in sequential order to obtain desired results. In certain cases, multitasking and parallel processing can be advantageous. Further, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and the described program components and systems are generally integrated together into a single software product or packaged into multiple software products. You have to understand that it can be.

The present description presents the best mode of the invention and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The specification thus prepared does not limit the invention to the specific terms presented. Therefore, although the present invention has been described in detail with reference to the above-described examples, a person skilled in the art may make alterations, changes, and modifications to the present examples without departing from the scope of the present invention.

Therefore, the scope of the present invention should not be determined by the described embodiments, but by the claims.

[Description of code]

B: Boom

T: turntable

100: aerial work vehicle

101: loading table

102: boarded

103: outrigger

105: extension frame

109: driver's seat

210, 220, 230, 240: inertial measuring device

250: control unit

260: display

270: adjuster

According to the present invention, the rollover prevention device for the aerial work vehicle of the present invention can be more easily manufactured, maintained, and applied by unifying the sensors used for the rollover prevention of the aerial work vehicle into one type of inertial measurement device. , various economic effects as well as support for easier application in the field.

Claims

loading platform of the vehicle body;

a turntable disposed on the loading platform of the vehicle body;

a multi-stage boom hinged to an end of the turntable and configured to be drawn out in multiple stages;

Boarding box coupled to the multi-stage boom;

Outriggers disposed at each corner of the loading platform to prevent the vehicle from overturning;

a plurality of first inertial measurement devices for collecting sensing data according to a change in horizontal plane lengths of the outriggers;

a plurality of second inertial measurement devices for collecting sensing data according to a change in lengths of vertical planes of the outriggers;

a third inertial measurement device for measuring the rotational angle of the turntable and collecting sensing data according to the current angle of the boom;

A rollover prevention device for an aerial work vehicle comprising a; fourth inertial measurement device for collecting sensing data related to the boarding.
According to claim 1,

The plurality of first inertial measurement devices and the plurality of second inertial measurement devices

It is inserted into the insertion groove or insertion hole provided on one side of the outriggers,

The rollover prevention device

The overturn prevention device of the aerial work vehicle, characterized in that it further comprises; a cover for closing the insertion groove or the opening of the insertion hole.
According to claim 1,

The third inertial measurement device

It is inserted into an insertion groove or an insertion hole provided on one side of the turntable,

The rollover prevention device

The overturn prevention device of the aerial work vehicle, characterized in that it further comprises; a cover for closing the insertion groove or the opening of the insertion hole.
According to claim 1,

The fourth inertial measuring device

It is inserted into an insertion groove or an insertion hole provided on one side of the boarding box,

The rollover prevention device

The overturn prevention device of the aerial work vehicle, characterized in that it further comprises; a cover for closing the insertion groove or the opening of the insertion hole.
According to claim 1,

a display outputting a vehicle image corresponding to the aerial work vehicle;

Further comprising a control unit for controlling screen output of the display;

The control unit

Characterized in that the control outputs objects corresponding to the plurality of first inertial measurement devices, the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device on the vehicle image. rollover prevention device for aerial work vehicles.
According to claim 5,

The control unit

When at least one of the plurality of first inertial measurement devices, the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device fails or an error occurs, on the vehicle image An overturn prevention device for an aerial work vehicle, characterized in that it is controlled to output an alarm indicating an inertial measurement device in which a failure or error has occurred.
According to claim 1,

an adjusting device for adjusting states of the outriggers, the turntable, the boom, and the boarding box;

Further comprising a control unit for controlling the control device;

The control unit

Based on the sensing data, the possibility of overturning the aerial work vehicle is determined, and the adjustment device is controlled according to the possibility of overturning to change the horizontal length and vertical length of the outriggers, change the turning angle of the turntable, and length of the boom A rollover prevention device for a height work vehicle, characterized in that for limiting a change in at least one of a change and a change in the rotational state of the boarding box.
According to claim 1,

The plurality of first inertial measurement devices, the plurality of second inertial measurement devices, the third inertial measurement device, and the fourth inertial measurement device are one type of device, and have functions of at least a length sensor, an angle sensor, and an inertial sensor. Rollover prevention device of the aerial work vehicle, characterized in that configured to support.