EP3470362A1 - Method and device for monitoring the stability of a loading crane mounted on a vehicle - Google Patents

Abstract

Method for monitoring at least one stability parameter of a loading crane (2) mounted on a vehicle (1), wherein the vehicle (1) in crane operation via wheels (3a, 3b) and on the supporting elements (4) on the wheels (3a, 3b) Subsurface is supported, wherein both contributions of the wheels (3a, 3b) and contributions of the supporting elements (4) are detected to a size of the stability parameter and this size is compared with at least one predetermined limit.

Description

The invention relates to a method and a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, wherein the vehicle is supported or can be supported on the ground in cranes via wheels and support elements separate from the wheels.

Usually, the support elements are extendable in the vertical direction support legs, which are mounted on a laterally extendable in the horizontal direction Abstützverbreiterung. The property of the extensibility of the support legs and the Abstützverbreiterung is made possible by a telescopic construction. The relevant in the context of the invention vehicles usually have either one or two such Abstützverbreiterungen with two support legs.

According to EN 12999 an overload protection is required for loader cranes with capacities over 1000 kg. According to this standard, the corresponding stability test is carried out with a test load equivalent to 125% of the stated load capacity. It is important that at least one wheel braked by a (usually manually operated) parking brake must remain on the ground. In this case, the loading crane is in a so-called partially raised state. The at least one braked by means of a parking brake wheel, which must remain on the ground, acts as an additional friction point and serves to absorb horizontal forces.

It is known that the load moment limitation for the overload protection according to EN 12999 is solved by adjusting the lifting capacity in the crane hydraulics. For crane work with laterally not fully extended support elements and / or boom positions above the cab additional Hubkraftbegrenzungen be made. Map-based lifting capacity adjustments are state of the art.

In such system solutions, however, the high adjustment and testing costs are assessed as disadvantageous. The risk of incorrect settings exists. In addition, will be no payloads considered. In order to avoid these disadvantages, preferably effects of the crane work on the entire machine are to be sensed.

For truck-mounted concrete pumps, there are approaches that aim in this direction. Exemplary in this context is the patent DE 103 49 234 A1 called. Here, the support forces in the support legs are determined to monitor the stability and charged to a stability number. However, truck-mounted concrete pumps are in a fully raised state during their operation, ie none of the wheels touches the ground. The solutions used for truck-mounted concrete pumps are thus not suitable for the relevant in the context of the present invention loading cranes, which must comply with EN 12999.

Other solutions for monitoring the stability of a vehicle-mounted crane are from the EP 2 298 689 A2 , the EP 1 757 739 A2 and the EP 0 864 473 A2 known. None of these approaches can satisfy EN 12999.

Therefore, the object of the invention is to avoid the disadvantages described above and to provide a comparison with the prior art improved solution for stability monitoring of a mounted on a vehicle loading crane.

This object is achieved by the features of the two independent claims 1 and 18.

One of the basic ideas of the invention is thus that not only the contributions of the supporting elements, but also the contributions of the wheels to the size of at least one stability parameter are detected and this quantity is compared with at least one predetermined limit value.

Depending on whether the at least one predetermined limit value is an upper or a lower critical limit, at least one warning signal (to the operating personnel of the crane) is output and / or at least when the limit value is exceeded or undershot a measure to Retention of the limit carried out. These include in particular correction movements of the boom system.

Since the achievable by the commonly used support elements stability is not the same size in each subarea of the theoretically conceivable working space of the boom system and the support under certain working conditions, eg on cramped sites, can not be fully extended, it is also advantageous if a rotation angle α of Loading crane is detected about a vertical axis and / or an extended state of the support elements. In this case, it is possible to monitor the at least one stability parameter as a function of the rotation angle α and / or the extension state of the support elements. By detecting the extended state of the support elements, the relative position of the support elements with respect to the vehicle is known. When the support elements are - as described above - vertically extendable support legs, which are mounted on a laterally extendable Ausstützverbreiterung in the horizontal direction acts, to the detection of the extended state of the support elements both the detection of the distance by which the Abstützverbreiterung is extended, as well as the detection of the distances by which the support legs are extended.

wobei a_ges die Gesamtanzahl der Räder und Abstützelemente, a_min eine vorbestimmte Mindestanzahl an Rädern und Abstützelementen, über welche das Fahrzeug wenigstens am Untergrund abgestützt sein muss, und F_i,max die (a_min -1) größten Abstützkräfte angeben. Bei S_F handelt es sich um eine dimensionslose Größe, die folgenden Effekt hat: Angenommen, das Fahrzeug sei über zwei Vorder- und zwei Hinterräder sowie eine seitlich ausgefahrene Abstützverbreiterung mit zwei Abstützelementen am Untergrund abstützbar, d.h. es würde a_ges=6 gelten. Sei weiterhin angenommen, dass ein labiler Zustand, in dem das Fahrzeug umzukippen droht, dann vorliegt, wenn das Fahrzeug nur noch auf einem Vorder- und einem Hinterrad sowie einem Abstützelement steht, wobei sich das Vorder- und das Hinterrad sowie das Abstützelement auf der gleichen Fahrzeugseite befinden, so müsste man fordern, dass im Betriebszustand zu keiner Zeit der Grenzwert a_min =4 unterschritten wird, um nicht diesen labilen Zustand zu erreichen. Der Vorteil des Kraft-Standsicherheitsbeiwert S_F besteht nun darin, dass man mit seiner Hilfe sehr leicht die Einhaltung dieses vorgegebenen Grenzwertes überwachen kann, indem man darauf achtet, dass der Wert von S_F - nach obiger Formel berechnet - immer größer als eins ist. Im Falle des labilen Zustands, d.h. im Falle von nur noch drei Abstützpunkten, würde nämlich die Kräftesumme im Nenner den gleichen Wert annehmen, wie die Kräftesumme im Zähler, da es sich dann bei den drei größten Abstützkräften um die drei einzigen von Null verschiedenen Abstützkräfte handelt.In preferred embodiments, the number a of the wheels and supporting elements, via which the vehicle is supported on the ground, and / or the force-stability factor S _{F is} monitored as the stability parameter, wherein S _{F is} calculated from the supporting forces F _i provided via the wheels and the supporting elements becomes. The calculation of S _F preferably takes place according to the following formula: $$S_F=\frac{{\displaystyle \underset{i=1}{\overset{a_{\mathit{ges}}}{\Sigma }}}{F}_i}{{\displaystyle \underset{i=1}{\overset{a_{\min }-1}{\Sigma }}}{F}_{i.\mathrm{Max}}}.$$

where a _tot the total number of wheels and support elements, a _min a predetermined minimum number of wheels and support elements, via which the vehicle must be supported at least on the ground, and F _{i, max} indicate the ( a _min -1) largest supporting forces. S _F is a dimensionless quantity that Assuming that the vehicle is supported by two front and two rear wheels and a laterally extended Abstützverbreiterung with two support elements on the ground, ie a _ges = 6 apply. Furthermore, suppose that a lazy condition in which the vehicle threatens to tip over exists when the vehicle is only on a front and a rear wheel and a support element, wherein the front and the rear wheel and the support member on the same Vehicle side, it would have to demand that in the operating state at any time the limit value a _min = 4 is not reached, so as not to reach this unstable state. The advantage of the force-stability factor S _F is that with its help, it is very easy to monitor compliance with this preset limit value by making sure that the value of S _F calculated using the above formula is always greater than one. In the case of the unstable state, ie in the case of only three support points, namely the force sum in the denominator would assume the same value as the force sum in the counter, since it is then the three single support forces to the three only non-zero support forces ,

In the event that the vehicle via two front wheels and two, especially designed as twin wheels, rear wheels and two laterally extendable Abstützverbreiterungen with two support elements on the ground is supported and the angle of rotation α of the loading crane is detected about a vertical axis and the extended state of the support elements, It is advantageous if at the side fully extended Abstützverbreiterungen depending on the angle of rotation α of the loading crane a _min = 6 or a _min = 5 and a laterally not fully extended Abstützverbreiterungen a _min = 6 is selected.

In the event that the vehicle via two front wheels and two, in particular designed as twin wheels, rear wheels and a laterally extendable Abstützverbreiterung with two support elements on the ground is supported and the angle of rotation α of the loading crane is detected about a vertical axis and the extended state of the support elements, is it is advantageous if at the side fully extended Abstützverbreiterung depending on the rotation angle α of the loading crane a _min = 6 or a _min = 4 and not laterally not fully extended Abstützverbreiterung a _min = 6 is selected.

It should be noted that compliance with the limit values for a _min mentioned in the last two sections automatically also meets the aforementioned standard EN 12999, provided that all wheels can be braked by a parking brake.

If the supporting forces F _i provided via the wheels are detected, it is also advisable to additionally monitor the axle loads in the course of the stability monitoring, since they can be calculated very simply from the corresponding supporting forces F _i (by summation). The axle load is the proportion of the total mass (net mass and mass of the load of a vehicle) that is allocated to an axle (a wheel set) of that vehicle.

wobei r_ges die Gesamtanzahl der Räder, r_min eine vorbestimmte Mindestanzahl an Rädern, über welche das Fahrzeug wenigstens am Untergrund abgestützt sein muss, L_rest,i die Restlängen der Schwingungsdämpfer bis zum Abheben der Räder, L_grenz,i die Grenzlängen der Schwingungsdämpfer, bei denen die Räder vom Untergrund abheben, und L_rest,i,max die (r_min- 1) größten Restlängen der Schwingungsdämpfer angeben. Wie im Falle des Kraft-Standsicherheitsbeiwert S_F könnte man dann im Zuge der Standsicherheitsüberwachung darauf achten, dass der Wert von S_L immer größer als eins ist.It is particularly advantageous to determine the support forces F _i provided via the wheels via a measurement of rebound distances (of the wheel suspensions). For this purpose, it is advantageous to determine for each of the wheels once a Entfederungskennlinie (Entfederungsweg as a function of the supporting force). Subsequently, these characteristics can be used at any time for a conversion of the measured Entfederungswege in supporting forces. The maximum possible Entfederungsweg corresponds to the way in which a wheel lifts off the ground and the support provided by this wheel assumes the value zero. This approach is particularly suitable for vehicles that have leaf springs with a linear spring characteristic. For other types of suspensions, for example, for simplicity, the measured lengths L _{i of} the vibration dampers of the wheels could also be converted directly into a length stability coefficient S _L , and the value of S _L monitored. The calculation of S _L preferably takes place according to the following formula: $$S_L=\frac{{\displaystyle \underset{i=1}{\overset{r_{\mathit{ges}}}{\Sigma }}}{L}_{\mathit{rest}.i}}{{\displaystyle \underset{i=1}{\overset{r_{\min }-1}{\Sigma }}}{L}_{\mathit{rest}.i.\mathrm{Max}}}.{\mathrm{With}L}_{\mathit{rest}.i}=L_{\mathit{cross}.i}-L_i.$$

where r _{ges is} the total number of wheels, r _{min is} a predetermined minimum number of wheels over which the vehicle must be supported at least on the ground, L _{rest, i} the _residual lengths of the vibration damper until the wheels are lifted, L _{grenz, i} the limit lengths of the vibration damper, in which the wheels lift off the ground, and L _{rest, i, max} the ( r _min- 1) largest _residual lengths of the vibration damper specify. As in the case of the force stability factor S _F , it would then be possible to ensure in the course of stability monitoring that the value of S _{L is} always greater than one.

wobei a_ges wiederum die Gesamtanzahl der Räder und Abstützelemente angibt.A further advantageous embodiment is that the extended state of the support elements is detected, and based on that, the possible tilting edges K _{j of} the vehicle are calculated in crane operation. If, in addition, one calculates the distances I _{i, Kj of} the wheels and supporting elements to the tilting edges K _j and at the same time records the angle of rotation α of the loading crane about a vertical axis and the supporting forces F _i provided via the wheels and the supporting elements, it is possible to as a function of the angle of rotation α of the loading crane with respect to the momentarily relevant tilting edge K _a as a stability parameter to monitor the _{residual state} moment M _{rest, Kα} , where M _{rest, Kα} can be calculated according to the following formula: $$M_{\mathit{rest}.\mathit{Ka}}={\displaystyle \underset{i=1}{\overset{a_{\mathit{ges}}}{\Sigma }}}{F}_i\cdot l_{\mathit{iK\alpha }}.$$

where a _ges again indicates the total number of wheels and support elements.

• Rad- und Abstützelement-Messeinrichtungen, durch welche sowohl Beiträge der Räder als auch Beiträge der Abstützelemente zur Größe des wenigstens einen Standsicherheitsparameters erfassbar sind, und
• eine Steuer- und Regeleinheit, welcher Messsignale der Rad- und Abstützelement-Messeinrichtungen zuführbar sind,

wobei durch die Steuer- und Regeleinheit eine Größe des wenigstens einen Standsicherheitsparameters ermittelbar und mit wenigstens einem vorbestimmten Grenzwert vergleichbar ist.Protection is also desired for a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, wherein the vehicle can be supported on the ground by wheels and by support elements separate from the wheels, characterized in that the device comprises:

• Rad- and support element measuring devices, by which both contributions of the wheels and contributions of the support elements to the size of the at least one stability parameter can be detected, and
• a control and regulation unit to which measurement signals of the wheel and support element measuring devices can be fed,

wherein a size of the at least one stability parameter can be determined by the control and regulation unit and is comparable to at least one predetermined limit value.

The at least one stability parameter may in turn - just as described in connection with the method according to the invention - by the number a of wheels and supporting elements, on which the vehicle on Substrate is supported and / or the force-stability coefficient S _F and / or the _{residual state} moment M _{rest, Kα} depending on the angle of rotation α of the loading crane with respect to the currently relevant tilting edge K _α act.

Advantageously, at least one warning signal can be generated by the control and regulation unit when the at least one predetermined limit value is exceeded or fallen short of, and / or at least one measure for restraining the at least one predetermined limit value can be controlled. The warning signal may be transmitted by the control unit e.g. generated in the form of an electrical pulse sequence and then converted by means of warning lights and / or speakers in an optical and / or acoustic signal. The at least one measure for restoring the at least one predetermined limit value can be stored, for example, as a programmed course of action in the control and regulation unit. In the simplest case, the course of action is a stop process by which crane operation is stopped.

It is furthermore advantageous if the device has a rotational angle measuring device for detecting a rotational angle α of the loading crane about a vertical axis and / or an extended state measuring device for detecting an extended state of the supporting elements, wherein the measuring signals of the rotational angle and / or the Ausfahrzustand- Measuring device (eg via corresponding signal lines or by wireless transmission) of the control unit can be fed. In the event that it is the support elements to support legs, which are mounted on a laterally extendable Abstützverbreiterung is, and that all non-variable parameters (such as the mounting position of Abstützverbreiterung on the vehicle frame) known and stored in the control unit In order to determine the position of the support elements relative to the vehicle, it is only necessary to detect the extension lengths of the support widening and the support legs with the aid of the extended state measuring device.

In the event that the support elements are arranged on at least one laterally extendable Abstützverbreiterung and the loading crane on a crane base, which is connected to the at least one Abstützverbreiterung rests, it is advantageous, the support element measuring devices in the support elements and / or to arrange at the connection of the supporting elements with the Abstützverbreiterung and / or at the connection of the Abstützverbreiterung with the crane base.

In a preferred embodiment, the support forces F _i provided via the wheels and the support elements can be detected by the wheel and support element measuring devices. This is possible, for example, in the case of the support forces F _i provided by the support elements, in that the support element measuring devices are designed as load cells. In the case of the wheels, the measurement of the supporting forces F _i, for example, via a measurement of Entfederungswegen (the wheel suspensions) or the lengths L _{i of} the vibration damper (eg by rope length sensors) or via a measurement of the tire inner pressures. Furthermore, it is conceivable to realize a Radkraftmessung by means of strain gauges near the axis ends. If the supporting forces F _i provided via the wheels are detected, then it is advisable (as already described above) to also monitor the axle loads in the course of stability monitoring - with the aid of the control and regulation unit - since they are very simple can be calculated from the corresponding support forces (by summation).

Further exemplary embodiments are characterized in that (in the case of a known position of the position of the support elements relative to the vehicle) the tilting edges K _{j of} the vehicle in crane operation and additionally the distances I _{i, Kj of} the wheels and support elements to the tilting edges K by the control unit _{j are} calculable. Under this condition, it is then possible (as described above) to subsequently monitor the _residual stability torque M _{rest, Kα} as a stability parameter.

Fig. 1

eine schematische Darstellung eines Ausführungsbeispiels eines Fahrzeugs, auf dem ein Ladekran montiert ist und das für die vorliegende Erfindung relevant ist,

Fig. 2

ein Modell des in Fig. 1 dargestellten Fahrzeugs, in dem einige der für die Standsicherheitsüberwachung relevanten Parameter eingezeichnet sind,

Fig. 3a, 3b, 4a, 4b

Grenzwertdarstellungen für die Mindestanzahl an Rädern und Abstützelementen, über welche das Fahrzeug in unterschiedlichen Ausführungsformen wenigstens am Untergrund abgestützt sein muss, in Abhängigkeit von dem Drehwinkel α des Ladekrans und dem Ausfahrzustand der Abstützelemente,

Fig. 5

einen beispielhaften Verlauf des Kraft-Standsicherheitsbeiwerts S_F in Abhängigkeit von dem Drehwinkel α des Ladekrans und

Fig. 6

eine schematische Darstellung eines möglichen Schwingungsdämpfers eines Rads.

Further details and advantages of the present invention will be explained with reference to the figure description with reference to the embodiments illustrated in the drawings. Showing:

Fig. 1

1 is a schematic representation of an embodiment of a vehicle on which a loading crane is mounted and which is relevant to the present invention,

Fig. 2

a model of in Fig. 1 vehicle in which some of the parameters relevant to the stability

Fig. 3a, 3b, 4a, 4b

Limit value representations for the minimum number of wheels and supporting elements, via which the vehicle must be supported in different embodiments at least on the ground, depending on the angle of rotation α of the loading crane and the extended state of the supporting elements,

Fig. 5

an exemplary profile of the force-stability coefficient S _F as a function of the rotation angle α of the loading crane and

Fig. 6

a schematic representation of a possible vibration damper of a wheel.

In the Fig. 1 is schematically illustrated one of the examples of a vehicle 1, on which a loading crane 2 is mounted and its stability can be monitored by means of the method according to the invention or the device according to the invention. In this case, the vehicle 1 via two front wheels 3a and four formed as a twin wheels rear wheels 3b and a laterally extendable Abstützverbreiterung 5 with two support elements 4 can be supported on the ground. Also visible are one of the axles 6 of the vehicle 1, a part of the vehicle frame 9, a control and regulation unit 7 and the crane base 8 of the loading crane 2. Not visible are the wheel, support element, rotation angle and extension state measuring devices. since these are partially integrated in certain vehicle components - such as in the case of the support element measuring devices in the support legs 4 - or are covered by other vehicle components.

The Fig. 2 shows a model of in Fig. 1 shown vehicle 1 in plan view. In this model, the support points on the ground (black and white circles), the position of the crane base 8, which at the same time defines the intersection of the vertical axis about which the loading crane 2 can be rotated, with the horizontal vehicle level, one of the in this state possible tilting edges K _a and the distances I _{i, Kα of} the support points (wheels 3a and 3b and support elements 4) to the Tilted edges K _α drawn. The model further includes a definition of the angle of rotation α of the loading crane 2 about the vertical axis. It should be noted that the wheels 3a and 3b are in reality not support points, but support surfaces. In the first nutrition, however, it was assumed that there were support points.

The FIGS. 3a, 3b, 4a and 4b For example, preferred limit values for the minimum number of wheels 3 a and 3 b and support elements 4, via which the vehicle 1 must be supported in different embodiments at least on the ground, depending on the angle of rotation α of the loading crane 2 and the extended state of the support elements 4. The reference numerals are representative of this group of figures only in the Fig. 3a specified. The FIGS. 3a and 3b refer to the case that the vehicle 1 can be supported on the ground by a maximum of two front wheels 3a and two rear wheels 3b designed as twin wheels and two laterally extendable support extensions 5 with two support elements 4 each. In this case, it is advantageous if in the case of laterally fully extended support extensions 5 (FIG. Fig. 3b ) at a rotational angle α of the loading crane 2 between about 225 ° and 315 ° a _min = 6 or a _min = 5 and laterally not fully extended Abstützverbreiterungen 5 ( Fig. 3a ) is always a _min = 6 is selected to ensure the stability of the vehicle 1 in crane operation. If, however, the vehicle has only one laterally extendable support widening 5 with two support elements 4, it is advantageous for laterally fully extended support widenings 5 (FIG. Fig. 4b ) at a rotational angle α of the loading crane 2 between about 225 ° and 315 ° a _min = 6 or a _min = 4 and at laterally not fully extended Abstützverbreiterungen 5 ( Fig. 4a ) to select a _min = 6.

In the Fig. 5 an exemplary profile of the force-stability coefficient S _F as a function of the rotation angle α of the loading crane 2 is shown. This course is similar to the one in Fig. 3b illustrated situation. It is very clear that the value of S _F between approximately 225 ° and 315 ° assumes an absolute minimum. Here is the loading crane 2 or the boom system above the driver's cab. To ensure the stability, it is therefore advantageous to require a _min = 6 for this angular range.

Fig. 6 shows a schematic representation of a possible vibration damper 10 of one of the wheels 3a and 3b. Dashed lines the position of the vibration damper 10 is located, in which the wheel would lift off the ground. Furthermore, the relevant for the calculation of the length _L sizes stability coefficient S L _i and L _cross-i are shown.

Claims (17)

Method for monitoring at least one stability parameter of a loading crane (2) mounted on a vehicle (1), wherein the vehicle (1) in crane operation via wheels (3a, 3b) and on the supporting elements (4) on the wheels (3a, 3b) Subsurface is supported, characterized in that both contributions of the wheels (3a, 3b) and contributions of the support elements (4) are detected to a size of the stability parameter and this size is compared with at least one predetermined limit. Method according to claim 1, characterized in that - If the at least one predetermined limit value is exceeded or fallen short of, at least one warning signal is emitted and / or at least one measure is taken to maintain the at least one predetermined limit value, and / or - A rotation angle ( α ) of the loading crane (2) about a vertical axis and / or an extended state of the support elements (4) is detected, wherein the at least one stability parameter preferably in dependence on the rotation angle ( α ) of the loading crane (2) and / or the extended state of the supporting elements (4) is monitored. A method according to claim 1 or 2, characterized in that as a stability parameter, a number ( a ) of the wheels (3a, 3b) and supporting elements (4), via which the vehicle (1) is supported on the ground, is monitored, and / or a force-stability factor ( S _F ) is monitored as the stability parameter, the force-stability factor ( S _F ) being calculated from supporting forces ( F _i ) provided via the wheels (3a, 3b) and the support elements (4). A method according to claim 3, characterized in that the force-stability coefficient ( S _F ) is calculated according to the following formula: $$S_F=\frac{{\displaystyle \underset{i=1}{\overset{a_{\mathit{ges}}}{\Sigma }}}{F}_i}{{\displaystyle \underset{i=1}{\overset{a_{\min }-1}{\Sigma }}}{F}_{i.\mathrm{Max}}}.$$

where ( a _ges ) indicates a total number of wheels (3a, 3b) and supporting elements (4), ( a _min ) a predetermined minimum number of wheels (3a, 3b) and supporting elements (4) over which the vehicle (1) at least on Underground must be supported, indicating and ( F _{i, max} ) indicate the ( a _min -1) largest supporting forces. Method according to one of claims 1 to 4, wherein the wheels (3a, 3b) of the vehicle (1) on axes (6) are arranged, characterized in that axle loads are monitored, the axle loads from the on the wheels (3a, 3b ) provided supporting forces ( F _i ) are calculated. Method according to one of claims 3 to 5, characterized in that over the wheels (3a, 3b) provided supporting forces ( F _i ) are determined by a measurement of Entfederungswegen. Method according to one of claims 1 to 6, characterized in that lengths ( L _i ) of vibration dampers (10) of the wheels (3a, 3b) are detected and that a length stability coefficient ( S _L ) is monitored, wherein the length stability coefficient ( S _L ) is calculated from the measured lengths ( L _i ), and wherein the length stability coefficient ( S _L ) is preferably calculated according to the following formula: $$S_L=\frac{{\displaystyle \underset{i=1}{\overset{r_{\mathit{ges}}}{\Sigma }}}{L}_{\mathit{rest}.i}}{{\displaystyle \underset{i=1}{\overset{r_{\min }-1}{\Sigma }}}{L}_{\mathit{rest}.i.\mathrm{Max}}}.{\mathrm{With}L}_{\mathit{rest}.i}=L_{\mathit{cross}.i}-L_i.$$

wherein (R _ges), a total number of the wheels (3a, 3b) indicating (r _min) is a predetermined minimum number of wheels (3a, 3b) must be over which the vehicle (1) is supported at least on the ground, indicating (L _{rest , i} ) indicate _{residual lengths of} the vibration dampers (10) until the wheels (3a, 3b) are lifted off, ( L _{limit, i} ) limit lengths of the vibration dampers (10), in which the wheels (3a, 3b) from the ground, indicate and (L _{rest, i, max} ) indicate the ( r _min - 1) largest residual lengths of the vibration damper (10). A method according to claim 4 to 7, characterized in that in crane operation, a condition S _F > 1 and / or a condition S _L > 1 is maintained. Method according to one of claims 1 to 8, characterized in that tilting edges ( K _j ) of the vehicle (1) are calculated in crane operation, and that preferably distances ( I _{i, Kj} ) of the wheels (3a, 3b) and supporting elements (4) calculated to the tilting edges ( K _j ). Method according to claim 9, wherein the angle of rotation ( α ) of the loading crane (2) is detected about a vertical axis and the supporting forces ( F _i ) provided by the wheels (3a, 3b) and the supporting elements (4) are determined, characterized in that , depending on the angle of rotation ( α ) of the loading crane (2) with respect to a current tilting edge ( K _α ), a _residual stability torque ( M _{rest, Kα} ) is monitored as the stability parameter, the residual moment of _rest ( M _{rest, Kα} ) being calculated according to the following formula becomes: $$M_{\mathit{rest}.\mathit{Ka}}={\displaystyle \underset{i=1}{\overset{a_{\mathit{ges}}}{\Sigma }}}{F}_i\cdot l_{\mathit{iK\alpha }}.$$

where ( a _ges ) indicates the total number of wheels (3a, 3b) and supporting elements (4). Device for monitoring at least one stability parameter of a loading crane (2) mounted on a vehicle (1), wherein the vehicle (1) operates simultaneously via wheels (3a, 3b) and via support elements (4) separate from the wheels (3a, 3b) during crane operation. can be supported on the ground, characterized in that the device comprises: - Rad- and support element measuring devices by which both contributions of the wheels (3a, 3b) and contributions of the support elements (4) to the size of the at least one stability parameter can be detected, and a control and regulation unit (7), to which measurement signals can be fed to the wheel and support element measuring devices, wherein a size of the at least one stability parameter can be determined by the control and regulation unit (7) and compared with at least one predetermined limit value. Apparatus according to claim 11, characterized in that - at least one warning signal can be generated by the control and regulation unit (7) when the at least one predetermined limit value is exceeded or undershot and / or at least one measure for restraining the at least one predetermined limit value can be controlled, and / or - The apparatus comprises a rotation angle measuring device for detecting a rotation angle ( α ) of the loading crane (2) about a vertical axis and / or an extended state measuring device for detecting an extended state of the support elements (4), wherein measurement signals of the rotation angle and / or Extension state measuring device of the control unit (7) can be fed. Apparatus according to claim 11 or 12, wherein the support elements (4) are arranged on at least one laterally extendable Abstützverbreiterung (5) and the loading crane (2) on a crane base (8) which is connected to the at least one Abstützverbreiterung (5) rests , characterized in that the support element measuring devices in the support elements (4) and / or at a compound of the support elements (4) with the Abstützverbreiterung (5) and / or at a compound of Abstützverbreiterung (5) with the crane base (8) are. Device according to one of claims 11 to 13, characterized in that by means of the wheel and support element measuring devices via the wheels (3a, 3b) and the support elements (4) provided supporting forces ( F _i ) are detectable, wherein the over the wheels (3a, 3b) provided supporting forces ( F _i ) are preferably detectable via a measurement of Entfederungswegen. Device according to one of claims 11 to 14, characterized in that by the wheel-measuring lengths ( L _i ) of vibration dampers (10) of the wheels (3a, 3b) are detectable. Device according to one of claims 11 to 15, characterized in that by the control and regulation unit (7) tilting edges ( K _j ) of the vehicle (1) are calculated in crane operation, and that preferably by the control and regulating unit (7) distances ( I _{i, Kj} ) of the wheels (3a, 3b) and support elements (4) to the tilting edges ( K _j ) are calculated. Vehicle (1) on which a loading crane (2) is mounted and which has wheels (3a, 3b) and extensible support elements (4), characterized in that the vehicle (1) has a device according to one of claims 11 to 16.

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