AU2019200370A1

AU2019200370A1 - A stability system

Info

Publication number: AU2019200370A1
Application number: AU2019200370A
Authority: AU
Inventors: Trevor Williamson
Original assignee: BARMINCO Ltd
Current assignee: BARMINCO Ltd
Priority date: 2018-04-13
Filing date: 2019-01-18
Publication date: 2019-10-31

Abstract

Abstract A stability system is described for an industrial machine having an elevatable boom. The stability system includes at least one machine inclination sensor arranged to 5 provide machine inclination information indicative of inclination of the industrial machine, a boom inclination sensor arranged to provide boom inclination information indicative of inclination of the elevatable boom of the industrial machine, and physical data. The physical data is indicative of locations of components of the industrial machine, mass values of components of the industrial machine, and centre of gravity 10 values of components of the industrial machine. The system determines at least one tipping line associated with the industrial machine, and determines a combined centre of gravity of the industrial machine using the boom inclination information and the physical data. The system also determines a tipping angle using the tipping line and the combined centre of gravity. The system also includes a display arranged to display 15 information indicative of a tipping risk based on the determined tipping angle and the machine inclination. 10958739_1 (GHMaers) P106990.AU.1 yx - X axis + X axis +Y axis - - Y axis 14 34 1612 23 3024 Fig. 1 12 - Z axis + Z axis 1810 + X axis - X axis Fig. 2

Description

Field of the Invention

The present invention relates to a stability system for an industrial machine.

Background of the Invention

In an industrial environment, such as a mining environment, it is known to use industrial machines to carry out various operations. Some such machines, including wheel loaders and integrated tool carriers, typically have front wheels that are capable of articulating relative to rear wheels, and include an elevatable boom and attachment, such as a bucket or workbasket, that can provide significant weight at a location relatively remote from the body of the machine, depending on the mass of the load. As a consequence, a significant safety issue may exist in relation to machine tipping, particularly if the machine is disposed on ground that is not level in the travelling and/or cross-slope direction.

Summary of the Invention

In accordance with a first aspect of the present invention, there is provided a stability system for an industrial machine having an elevatable boom, the stability system including:

at least one machine inclination sensor arranged to provide machine inclination information indicative of inclination of the industrial machine;

a boom inclination sensor arranged to provide boom inclination information indicative of inclination of the elevatable boom of the industrial machine; and physical data indicative of:

locations of components of the industrial machine;

mass values of components of the industrial machine; and centre of gravity values of components of the industrial machine;

the system arranged to determine at least one tipping line associated with the industrial machine, and to determine a combined centre of gravity of the industrial machine using the boom inclination information and the physical data;

the system arranged to determine a tipping angle using the tipping line and the combined centre of gravity; and the system including a display arranged to display information indicative of a

10958739_1 (GHMatters) P106990.AU.1

2019200370 18 Jan 2019 tipping risk based on the determined tipping angle and the machine inclination.

In an embodiment, the industrial machine includes a front portion and a rear portion, the rear portion capable of articulating relative to the front portion about an articulation 5 connection.

In an embodiment, the system includes an articulation sensor arranged to provide articulation information indicative of articulation of the rear portion relative to the front portion, the system arranged to use the articulation information to determine the tipping io angle.

In an embodiment, the system is arranged to compare the machine inclination with a defined maximum allowable tipping angle, and the system includes a warning indicator arranged to generate a visible and/or audible warning when a tipping risk is determined is to exist based on the comparison.

In an embodiment, the maximum allowable tipping angle is a defined percentage of the determined tipping angle, for example 90% of the tipping angle.

In an embodiment, the industrial machine includes machine controls used to control components of the industrial machine and the system is arranged to prevent operation of at least one machine control when a tipping risk is determined to exist. The machine controls may include a boom control to control inclination of the boom and an articulation control arranged to control articulation of the rear portion of the industrial machine relative to the front portion of the industrial machine.

In an embodiment, the system is arranged to prevent operation of at least one machine control when an overload risk is determined to exist.

In an embodiment, the industrial machine includes an attachment arranged to connect to a free end of the elevatable boom, the physical data including data indicative of a mass value of the attachment and a centre of gravity value of the attachment.

In an embodiment, the system is arranged to store information indicative of the mass values and centre of gravity values of a plurality of attachments, each attachment including a machine readable tag including tag information indicative of the attachment type, and the industrial machine including a tag reader arranged to read the tag

10958739_1 (GHMatters) P106990.AU.1 information, the tag information used to retrieve information indicative of the mass value of the attachment and the centre of gravity value of the attachment. The machine readable tag may be an RFID tag and the tag reader may comprise an RFID reader.

In an embodiment, the system includes:

a boom pressure sensor arranged to provide boom pressure data indicative of boom pressure; and stored load data for each attachment, the stored load data including, for each load, boom pressure data indicative of a boom pressure at a plurality of boom elevation angles;

the system arranged to determine the load on the attachment by obtaining the boom pressure data from the boom pressure sensor and the boom inclination information from the boom inclination sensor, and the system arranged to use the determined load to determine the tipping angle.

In an embodiment, the system is arranged to define a cross-slope tipping line used to determine a wheel lift situation as a result of a cross-slope inclination of the industrial machine. The cross-slope tipping line may be defined between a central location on a rear axle of the industrial machine and a front tyre ground contact portion.

In an embodiment, the system is arranged to define a travelling direction tipping line used to determine a wheel lift situation as a result of a travelling direction inclination of the industrial machine. The travelling direction tipping line may be defined between front tyre ground contact portions of front wheels of the industrial machine.

In an embodiment, the system is arranged to determine a wheel lift situation as a result of a cross-slope and travelling direction inclination of the industrial machine.

In an embodiment, the system is arranged to determine an overturning moment based on first mass and centre of gravity data associated with first components of the industrial machine, and a restoring moment based on second mass and centre of gravity data associated with second components of the industrial machine, and to determine tipping risk based on the ratio of the overturning moment to the restoring moment.

In an embodiment, the first mass and centre of gravity data is indicative of the mass of

10958739_1 (GHMatters) P106990.AU.1 the attachment and load and location of a combined centre of gravity of the attachment and load, and the second mass and centre of gravity data is indicative of the mass of components of the industrial machine other than the attachment and load and location of a combined centre of gravity of the components of the industrial machine other than the attachment and load.

In an embodiment, the system is arranged to determine locations of components and centres of gravity of components of the industrial machine relative to a defined coordinate system. The coordinate system may have an origin disposed at a position central of a front axle of the industrial machine.

In an embodiment, the system is arranged to display information indicative of any one or more of:

a cross-slope tipping risk;

a travelling direction tipping risk;

a combined cross-slope and travelling direction tipping risk;

a cross-slope inclination of the industrial machine;

a travelling direction inclination of the industrial machine;

the type of attachment connected to the elevatable boom;

a load mass on the attachment;

a safe working load on the attachment;

a load lift radius;

a load height;

articulation of the industrial machine; and/or a current date/time.

In an embodiment, the industrial machine is an integrated tool carrier or a wheel loader.

In accordance with a second aspect of the present invention, there is provided a stability system for an industrial machine having an elevatable boom;

the stability system arranged to determine at least one tipping line associated with the industrial machine;

the stability system arranged to determine a combined centre of gravity of the industrial machine using boom inclination information indicative of inclination of the elevatable boom and physical data indicative of:

locations of components of the industrial machine;

10958739_1 (GHMatters) P106990.AU.1 mass values of components of the industrial machine; and centre of gravity values of components of the industrial machine;

the stability system arranged to determine a tipping angle using the tipping line and the combined centre of gravity; and the stability system arranged to determine tipping risk information for display, the tipping risk information indicative of a tipping risk based on the determined tipping angle and machine inclination information indicative of an inclination of the industrial machine.

In accordance with a third aspect of the present invention, there is provided a method of determining stability of an industrial machine having an elevatable boom, the method including:

using at least one machine inclination sensor to provide machine inclination information indicative of inclination of the industrial machine;

using a boom inclination sensor to provide boom inclination information indicative of inclination of the elevatable boom of the industrial machine;

receiving physical data indicative of:

locations of components of the industrial machine;

determining at least one tipping line associated with the industrial machine;

determining a combined centre of gravity of the industrial machine using the boom inclination information and the physical data;

determining a tipping angle using the tipping line and the combined centre of gravity; and displaying information indicative of a tipping risk based on the determined tipping angle and the machine inclination.

Brief Description of the Drawings

The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a diagrammatic side view of an example industrial machine with which a stability system in accordance with an embodiment of the invention may be used, and showing x and y axes of a coordinate system used to define locations of components of the machine;

Figure 2 is a diagrammatic plan view of the example industrial machine shown

10958739_1 (GHMatters) P106990.AU.1 in Figure 1, and showing x and z axes of the coordinate system used to define locations of components of the machine;

Figure 3 is a diagrammatic plan view of the example industrial machine, and showing an example cross-slope tipping line;

Figure 4 is a diagrammatic side view of the example industrial machine, and showing an example travelling direction tipping point;

Figure 5 is a diagrammatic representation of an example display used to communicate stability and other industrial machine related information to an operator of the machine;

Figure 6 is a block diagram of a stability system in accordance with an embodiment of the present invention;

Figure 7 is a block diagram illustrating sensors of the stability system shown in Figure 6;

Figure 8 is a block diagram illustrating stored data used by the stability system shown in Figure 6;

Figure 9 is a block diagram illustrating a cross-slope tipping angle assessment algorithm used by the stability system shown in Figure 6;

Figure 10 is a block diagram illustrating a total hoisted mass calculation algorithm, the total hoisted mass being used in the algorithm shown in Figure 9;

Figure 11 is a block diagram illustrating an algorithm for calculating a centre of gravity of a boom, attachment and load of an industrial machine relative to a reference front axle centre position, the centre of gravity of the boom, attachment and load being used in the algorithm shown in Figure 9;

Figure 12 is a block diagram illustrating an algorithm for calculating a centre of gravity of an attachment and load of an industrial machine relative to the reference front axle centre position, the centre of gravity of the attachment and load being used in the algorithm shown in Figure 11;

Figure 13 is a block diagram illustrating an algorithm for calculating a centre of gravity of the boom of the industrial machine relative to the reference front axle centre position, the centre of gravity of the boom being used in the algorithm shown in Figure 11;

Figure 14 is a block diagram illustrating an algorithm for calculating a centre of gravity of combined front and rear portions of the industrial machine relative to the reference front axle centre position, the centre of gravity of the combined front and rear portions being used in the algorithm shown in Figure 9;

Figure 15 is a table illustrating cross-slope tipping angles for different boom inclinations and machine articulations;

10958739_1 (GHMatters) P106990.AU.1

Figure 16 is a block diagram illustrating a travelling direction tipping angle assessment algorithm used by the stability system shown in Figure 6;

Figure 17 is a table illustrating travelling direction cross-slope tipping angles for different boom inclinations and machine articulations; and

Figure 18 is a block diagram illustrating a static tipping load assessment algorithm used by the stability system shown in Figure 6.

Description of an Embodiment of the Invention

Referring to the drawings, Figures 1 to 4 show a representation of an example industrial machine, in this example a wheel loader 10, with which a stability system in accordance with the present invention may be used. However, while the present embodiments are described in relation to a wheel loader 10, it will be understood that any suitable industrial machine that has a movable load carrying boom is envisaged, such as an integrated tool carrier.

The industrial machine 10 includes a front portion 12 and a rear portion 14 connected to each other at an articulation connection 16 so as to facilitate articulation of the rear portion 14 relative to the front portion 12.

For consistency, the locations of all components of the industrial machine 10 are defined with reference to a common reference location that serves as an origin of a reference coordinate system having x, y, and z axes 18, 20, 22 respectively. In the present example, the origin corresponds to a front axle centre position 23.

The industrial machine 10 also includes an attachment 24 disposed at a remote end of a boom 26, the boom 26 being controllable by an operator of the industrial machine 10 in order to increase or decrease the angle of inclination of the boom 26 and thereby controllably raise or lower the attachment 24. In this example, the attachment is a bucket 24, although it will be understood that any suitable attachment is envisaged, for example a workbasket.

The industrial machine 10 also includes front tyres 30 associated with a front axle 32 and rear tyres 34 associated with a rear axle 36. The origin of the reference coordinate system in this example is disposed at a central location on the front axle between the front tyres 30, although it will be understood that any location on the industrial machine may be used as the origin.

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2019200370 18 Jan 2019

Referring to Figure 3, a cross-slope tipping line 38 is shown in relation to the industrial machine 10. The tipping line 38 is a line defined between a central location 40 on the rear axle 36 between the rear tyres 34, and a front tyre tipping point 42 corresponding to a ground engaging portion of a front tyre 30. The tipping line 38 is used to determine whether a wheel is likely to lift from the ground as a result of a cross slope inclination of the machine during use, by determining whether a combined centre of gravity of the industrial machine 10 (including the front and rear machine parts 12, 14, the boom 26 and the attachment 24) is disposed outside of the tipping line 38, in the io example shown in Figure 3 to the left of the tipping line 38.

It will be understood that if the industrial machine 10 is articulated to the right instead of to the left, as shown in Figure 3, the cross-slope tipping line 38 will extend through a front tyre tipping point 42 that is disposed on the other front tyre 30.

Referring to Figure 4, each front tyre 30 has a front tyre tipping point 42 and a line between the two front tyre tipping points 42 represents a tipping direction tipping line used to determine whether a wheel is likely to lift from the ground as a result of a travelling direction inclination of the industrial machine 10 during use. The present stability system determines whether the industrial machine is likely to tilt about the travelling direction tipping line during use in response to a travelling direction inclination, based on a combined centre of gravity of the industrial machine 10 (including the front and rear machine parts 12, 14, the boom 26 and the attachment 24) and the location of the combined centre of gravity relative to the tipping line.

The stability system uses the tipping determinations based on the cross-slope and travelling direction tipping lines and the combined centre of gravity value to provide an operator with feedback in relation to the likelihood of occurrence of a tipping situation in both the cross-slope and travelling directions. In this example, the feedback is provided in visual and form using a display 50, as shown in Figure 5, and optionally also audible form.

In the present example, the stability system calculates a static cross-slope tipping angle representative of the chassis inclination of the industrial machine 10 in the cross35 slope direction that corresponds to a hazardous wheel lift situation, and a static travelling direction tipping angle representative of the chassis inclination of the industrial machine 10 in the travelling direction that corresponds to a hazardous wheel

10958739_1 (GHMatters) P106990.AU.1

2019200370 18 Jan 2019 lift situation.

The stability system also determines an overturning moment based on the location of the centre of gravity of the attachment 24 and load, and a restoring moment based on 5 the location of the centre of gravity of the industrial machine 10 (not including the attachment and load), and determines whether the industrial machine is likely to tilt about the travelling direction tipping line during use based on the load and the location of the load.

io The feedback to the operator is intended to provide an early warning to the operator of the industrial machine 10 of a hazardous situation and prevent a potentially life threatening machine rollover by encouraging the operator to modify one or more parameters of the machine, such as the articulation angle or the elevation of the boom 26, to bring the machine towards a safer configuration for the current environment conditions.

The system is also arranged to actively prevent the operator from operating a control if a hazardous tipping situation would result, thereby preventing the operator from operating machine controls in a way that would increase the risk of a machine rollover 20 or other hazardous situation.

Referring to Figure 5, the display 50 is typically disposed in a cab of the industrial machine 10 so that the information on the display 50 can be clearly seen by the operator.

In this example, the display 50 includes longitudinal tilt indicia 52 indicative of the current percentage of an allowable longitudinal tilt. This provides the operator with an indication as to how close the current travelling direction chassis inclination is to a longitudinal tilt situation that has been calculated based on the current centre of gravity 30 of the industrial machine 10 (including the front and rear machine parts 12, 14, the boom 26 and attachment 24) and the relevant longitudinal tipping line.

The display 50 also includes cross-slope tilt indicia 54 indicative of the current percentage of an allowable cross-slope tilt. This provides an operator with an indication as to how close the current cross-slope chassis inclination is to a cross-slope tilt situation that has been calculated based on the current centre of gravity of the industrial machine 10 (including the boom 26 and attachment 24) and relevant current

10958739_1 (GHMatters) P106990.AU.1

2019200370 18 Jan 2019 cross-slope tipping line 38.

The display 50 also includes indicia in the form of a combined tilt magnitude chart 56 indicative of a combined current tilt magnitude relative to a combined tilt limit that has 5 been calculated based on the current centre of gravity of the industrial machine 10 (including the front and rear machine parts 12, 14, the boom 26 and attachment 24) and the relevant current longitudinal and cross-slope tipping lines. In this example, the chart includes bars of progressively increasing size, with the bars changing colour from green, to yellow and red according to how close the combined tilt is to a combined tilt io limit.

The display 50 also includes indicia 58, in text and graphical form, indicative of the type of attachment 24 currently connected to the boom 26 of the industrial machine 10, and indicia in the form of a load magnitude chart 60 indicative of a current load magnitude 15 relative to a rated load limit for the current attachment 24. In this example, the chart includes bars of progressively increasing size, with the bars changing colour from green, to yellow and red according to how close the current load is to the rated load limit.

The display 50 also includes a longitudinal tilt graphic 62 showing an industrial machine with a longitudinal tilt corresponding to the current longitudinal tilt of the industrial machine 10, a cross-slope tilt graphic 64 showing an industrial machine with a cross-slope tilt corresponding to the current cross-slope tilt of the industrial machine 10, and an articulation angle graphic 66 showing an industrial machine with an articulation corresponding to the current articulation of the industrial machine 10.

The display 50 also includes numerical tilt indicia 68 indicative of the current percentage of an allowable combined longitudinal and cross-slope tilt, and numerical load indicia 70 indicative of the current percentage of a rated load limit for the current 30 attachment 24.

The display 50 also includes load mass indicia 72 indicative of the current load mass, safe working load indicia 74 indicative of a safe working load limit for the attachment, boom angle indicia 76 indicative of the current boom angle, load lift radius indicia 78 35 indicative of the distance between a remote end of the attachment and the front axle centre position 23, load height indicia 80 indicative of the height of the load from the ground, and data and time indicia 82 indicative of the current date and time.

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2019200370 18 Jan 2019

Referring to Figure 6, a functional block diagram of a stability system 90 is shown, the stability system 90 including a processing unit 92 arranged to implement, control and coordinate operations in the stability system 90; stored machine physical data 94, including data indicative of physical parameters of the industrial machine such as centre of gravity values, dimensions and mass values of components of the industrial machine 10; stored attachment physical data 96, including data indicative of physical parameters of a plurality of attachments that are connectable to the industrial machine 10, such as centre of gravity values, dimensions and mass values of the plurality of io attachments; and mass tables indicative of the relationship between load mass and measured pressure and boom angle values.

The processing unit 92 is arranged to calculate information indicative of the current tipping conditions for the industrial machine in relation to determined tipping criteria, 15 and to present tipping related information to an operator on the display 50 so that the operator can determine the tipping risk and take appropriate action, for example by modifying the current machine articulation angle or boom elevation. In this example, the processing unit 92 also calculates information indicative of current load conditions in relation to attachment load limits for communication to the operator.

The stability system 90 also includes sensors 98 disposed on the industrial machine 10 and used to provide data relating to the configuration of the industrial machine 10 in terms of articulation, boom position and chassis orientation. The stability system 90 uses the data to calculate intermediate values 99 required to determine the tipping 25 lines, and to calculate combined centre of gravity values, longitudinal and cross-slope tipping angles and load tilt values.

The stability system 90 also includes a warning indicator device 100, in this example an indicator light or a loudspeaker, for generating a visible and/or audible warning, for 30 example to indicate that a potentially hazardous tipping situation exists or a potentially hazardous load situation exists.

The stability system 90 also includes a machine control interface 102 arranged to interface with controls 103 of the industrial machine 10 so that the machine controls 35 103 can be modified or locked in order to prevent occurrence of a hazardous situation.

For example, an attempt by an operator to raise the boom 26, increase machine articulation or lift a load that exceeds the load rating of the machine may be prevented

10958739_1 (GHMatters) P106990.AU.1 from occurring by the processing unit 92 and machine control interface 102.

As shown in Figure 7, in this example the sensors 98 include:

a boom inclinometer 110 arranged to provide information indicative of the inclination of the boom 26 relative to horizontal;

a boom pressure sensor 112 arranged to provide information indicative of hydraulic pressure associated with inclination of the boom 26;

a chassis cross-slope inclinometer 114 arranged to provide information indicative of the inclination of the chassis relative to horizontal in the cross-slope direction;

a chassis travel direction inclinometer 116 arranged to provide information indicative of the inclination of the chassis relative to horizontal in the travelling direction;

an articulation sensor 118 arranged to provide information indicative of the articulation angle between the rear portion 14 of the industrial machine 10 and the front portion 12 of the industrial machine 10; and an RFID reader 120 arranged to read a RFID tag on an attachment 24 when the attachment 24 is connected to the industrial machine 10 so as to identify the attachment 24. Identification of the attachment 24 is used to obtain relevant data associated with the attachment, including physical characteristics of the attachment 24 such as mass and centre of gravity values.

As shown in Figure 8, the stability system 90 includes stored data 130 that includes the machine physical data 94, the attachment physical data 96 and the calculated intermediate values 99. In this example, the stored data 130 includes:

an attachment lookup table 132 arranged to store a table for each attachment 24 capable of connecting to the boom 26, each table including for each load a mass value, a measured boom pressure sensor value and a measured boom inclination value. Each table is created by determining a boom pressure sensor value for each attachment and defined load at a plurality of boom inclinations, and the relevant table to use is selected in response to identification of the

10958739_1 (GHMatters) P106990.AU.1 attachment type using the RFID reader 120.

attachment mass data 134 indicative of the mass of the attachment 24. This value is a defined value associated with the attachment type, and therefore the relevant mass value for the attachment 24 is selected in in response to identification of the attachment type using the RFID reader 120.

attachment centre of gravity data 136 indicative of the centre of gravity of the attachment 24 and determined load mass using a defined value associated with the attachment type and the load determined using the attachment lookup table 132.

boom mass data 138 indicative of the mass of the boom 24. This value is a defined value associated with the industrial machine 10.

boom centre of gravity coordinate data 140 indicative of the centre of gravity of the boom relative to a boom pivot. This value is a defined value associated with the industrial machine.

boom pivot coordinate data 142 indicative of the location of the boom pivot relative to the front axle centre position 23. This value is a defined value associated with the industrial machine.

boom length data 144 indicative of the length of the boom 26. This value is a defined value associated with the industrial machine.

machine front portion mass data 146 indicative of the mass of the front portion 12 of the industrial machine 10. This value is a defined value associated with the industrial machine 10.

front portion centre of gravity coordinate data 148 indicative of the centre of gravity of the front portion 12 of the industrial machine 10 relative to the front axle centre position 23. This value is a defined value associated with the industrial machine 10.

machine rear portion mass data 147 indicative of the mass of the rear portion 14 of the industrial machine 10. This value is a defined value associated with the

10958739_1 (GHMatters) P106990.AU.1 industrial machine 10.

rear portion centre of gravity coordinate data 152 indicative of the centre of gravity of the rear portion 12 of the industrial machine 10 relative to the front axle centre position 23. This value is a defined value associated with the industrial machine 10.

articulation point centre of gravity coordinate data 153 indicative of the articulation point 16 between the front and rear portions 12, 14 of the industrial machine 10 relative to the front axle centre position 23. This value is a defined value associated with the industrial machine 10.

front tyre tipping point coordinate data 156 indicative of the location of the tipping point in the travelling direction relative to the front axle centre position 23. This value is a defined value associated with the industrial machine 10.

cross-slope set limit data 158 for the static cross-slope tipping angle. This value defines the maximum allowable industrial machine cross-slope inclination relative to the determined cross-slope tipping angle. The cross-slope set limit data 158 may be defined as a percentage of the cross-slope tipping angle, for example 10%, such that a warning is generated if the cross-slope inclination of the industrial machine is within 10% of the cross-slope tipping angle.

travelling direction set limit data 160 for the static travelling direction tipping angle. This value defines the maximum allowable industrial machine travelling direction inclination relative to the determined travelling direction tipping angle. The travelling direction set limit data 160 may be defined as a percentage of the travelling direction tipping angle, for example 10%, such that a warning is generated if the travelling direction inclination of the industrial machine is within 10% of the travelling direction tipping angle.

load set limit data 162 for the static tipping load. This value defines the maximum allowable percentage static tipping load, which is determined by dividing the overturning moment associated with the machine by the restoring moment associated with the machine. In this example, the load set limit data 162 is defined as a maximum percentage, for example 65%, such that a warning is generated if the percentage static tipping load reaches 65%.

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Afunctional block diagram 170 illustrating a cross-slope tipping angle assessment algorithm used by the stability system 90 is shown in Figure 6. The algorithm represented by the functional block diagram 170 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

The cross-slope tipping angle assessment algorithm inputs:

defined values associated with the industrial machine 10 - the boom mass value 138, the mass 146 of the front portion of the industrial machine 10, the mass 150 of the rear portion of the industrial machine, the coordinate 156 of the front tyre tipping point, the coordinate 154 of the centre of the rear axle, and the set limit 158 for the static cross-slope tipping angle; and values that are calculated using defined values associated with the industrial machine 10, using defined values associated with the attachment 24, and/or using values derived from the sensors 98.

In this example, the calculated values include:

a total hoisted load value 172 representing the sum of the mass of the load and the mass of the attachment 24. The total hoisted load value 172 is calculated using the algorithm shown in Figure 10.

the combined centre of gravity 174 of the boom 26, attachment 24 and load relative to the front axle centre position 23. The combined centre of gravity 174 of the boom 26, attachment 24 and load is calculated using the algorithm shown in Figure 11.

the combined centre of gravity 176 of the front and rear portions 12, 14 of the industrial machine 10 relative to the front axle centre position 23. The combined centre of gravity 176 of the front and rear portions 12, 14 of the industrial machine 10 is calculated using the algorithm shown in Figure 14.

Using the inputs, the combined centre of gravity 178 of the industrial machine 10 (boom, attachment, load, and front and rear machine portions) relative to the front axle

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2019200370 18 Jan 2019 centre position 23 is calculated.

The static cross-slope tipping angle 180 is then calculated using the combined machine centre of gravity 178, an articulation value derived from the articulation sensor 5 118, the coordinate of the front tyre tipping point 156 and the coordinate of the centre of the rear axle 154. Based on the articulation value, the front tyre tipping point 156 and the coordinate of the centre of the rear axle 154, the processor 92 calculates the coordinates of the tipping line 38, and the static cross-slope tipping angle 180 is then determined based on the location of the combined machine centre of gravity 178 and io the tipping line 38. The operator may also be prevented from operating the machine controls 103 if such operation of the controls would increase the tipping risk.

The processor 92 then calculates a maximum allowable cross-slope tipping angle by applying a defined cross-slope tipping angle set limit 158 to the calculated static cross15 slope tipping angle 180, and compares the maximum allowable cross-slope tipping angle to a cross-slope inclination value provided by the chassis cross-slope inclinometer 114. If the cross-slope inclination value is at or exceeds the maximum allowable cross-slope tipping angle, a warning is generated, for example a visible warning on the warning indicator light 100 and/or an audible warning at the loudspeaker 102.

During use, the relationship between the cross-slope inclination value and the maximum allowable cross-slope tipping angle is represented visually on the display 50, in this example using the allowable cross-slope tilt indicia 54.

Afunctional block diagram 190 illustrating an algorithm for calculating a total hoisted load 172 used by the stability system 90 is shown in Figure 10. The algorithm represented by the functional block diagram 190 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged. The calculated total hoisted load is used 172 is used in the algorithm shown in Figure 9.

The total hoisted load calculation algorithm uses the RFID reader 120 to read a RFID tag on the current connected attachment 24 and thereby determine the type of attachment 24. Using the identified attachment 24, the processor 92 selects a load lookup table corresponding to the attachment 24 and makes the selected load lookup table available to the processor 92. Identification of the attachment 24 also enables

10958739_1 (GHMatters) P106990.AU.1 the mass 134 of the attachment when unloaded to be determined.

The selected lookup table 132 includes a mass value for each combination of measured boom pressure sensor value and measured boom inclination value, and in this way the processor 92 is able to determine a mass value for the current load using a current boom inclination value and current boom pressure sensor value.

The total hoisted mass 172 is then calculated by adding the determined load mass value to the attachment mass value 134.

Afunctional block diagram 200 illustrating an algorithm for calculating the boom, attachment and load centre of gravity 174 used by the stability system 90 is shown in Figure 11. The algorithm represented by the functional block diagram 200 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

The algorithm uses the calculated total hoisted mass value 172, the boom mass value 138, a calculated value for the centre of gravity of the attachment 24 and load relative to the front axle centre position 23, and a calculated value 202 for the centre of gravity of the boom 26 relative to the front axle centre position 23 to calculate the centre of gravity 174 of the boom 26, attachment 24 and load relative to the front axle centre position 23. The value 202 for the centre of gravity of the attachment and load relative to the front axle centre position 23 is calculated using the algorithm shown in Figure 12. The value 204 for the centre of gravity of the boom 26 relative to the front axle centre position 23 is calculated using the algorithm shown in Figure 13.

Afunctional block diagram 210 illustrating an algorithm for calculating the centre of gravity 202 of the attachment 24 and load relative to the front axle centre position 23 used in the algorithm in Figure 11 is shown in Figure 12. The algorithm represented by the functional block diagram 210 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

The attachment and load centre of gravity calculation algorithm uses the RFID reader 120 to read an RFID tag on the current connected attachment 24 and thereby determine the type of attachment 24. Identification of the attachment 24 enables the centre of gravity 212 of the attachment and load relative to the end of the boom to be determined as this is a defined value associated with the attachment.

10958739_1 (GHMatters) P106990.AU.1

Using a boom inclination angle obtained from the boom inclinometer 110 and a travelling direction inclination obtained from the chassis travel direction inclinometer 116, the processor 92 calculates the angle 214 of the boom 26 relative to the chassis of the industrial machine 10.

The algorithm uses the calculated boom angle 214 relative to the chassis of the industrial machine 10, the centre of gravity 212 of the attachment and load relative to the end of the boom 26, the coordinate 142 of the boom pivot relative to the centre front axle position 23, and the boom length 144 to calculate the centre of gravity 202 of the attachment 24 and load relative to the front axle centre position 23.

Afunctional block diagram 216 illustrating an algorithm for calculating the centre of gravity 204 of the boom 26 relative to the front axle centre position 23 used in the algorithm in Figure 11 is shown in Figure 13. The algorithm represented by the functional block diagram 216 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

Using a boom inclination value obtained from the boom inclinometer 110, a travel direction inclination value obtained from the chassis travel direction inclinometer 116, the coordinate 142 of the boom pivot relative to the front axle centre position 23, and the centre of gravity 140 of the boom relative to the boom pivot position, the processor 92 calculates the centre of gravity 204 of the boom relative to the front axle centre position 23.

Afunctional block diagram 220 illustrating an algorithm for calculating the centre of gravity 176 of the front and rear portions of the industrial machine 10 relative to the front axle centre position 23 used in the algorithm in Figure 9 is shown in Figure 14. The algorithm represented by the functional block diagram 220 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

Using the mass 147 of the rear portion of the machine, the mass 146 of the front portion of the machine, the centre of gravity 148 of the front portion of the machine relative to the front axle centre position 23, the centre of gravity 150 of the rear portion of the machine relative to the front axle centre position 23, the coordinates 153 of the articulation point relative to the front axle centre position 23, and the articulation angle

10958739_1 (GHMatters) P106990.AU.1 obtained from the articulation sensor 118, the processor 92 calculates the centre of gravity 176 of the front and rear portions of the industrial machine 10 relative to the front axle centre position 23.

A table 224 illustrating example boom inclination angles 226, example articulation angles 228 and example cross-slope tipping angles 230 for a particular load is shown in Figure 15. It can be seen that for a defined load as the articulation angle 228 increases, the cross-slope tipping angle 230 reduces, and as a consequence a warning is provided to an operator of the industrial machine 10 at a lower cross-slope inclination angle as the articulation angle 230 increases. Similarly, as the boom inclination angle 226 increases, the cross-slope tipping angle 230 reduces, and as a consequence a warning is provided to an operator of the industrial machine 10 at a lower cross-slope inclination angle 230 as the boom angle 226 increases.

Afunctional block diagram 240 illustrating a travelling direction tipping angle assessment algorithm used by the stability system 90 is shown in Figure 16. The algorithm represented by the functional block diagram 240 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged. The algorithm is similar to the algorithm for assessing the cross-slope tipping angle shown in Figure 9, and like features are indicated with like reference numerals.

The travelling direction tipping angle assessment algorithm inputs:

defined values associated with the industrial machine 10 - the boom mass value 138, the mass 146 of the front portion of the industrial machine, the mass 150 of the rear portion of the industrial machine, the coordinate 156 of the front tyre tipping point, and the set limit 160 for the static travelling direction tipping angle; and values that are calculated using defined values associated with the industrial machine 10, using defined values associated with the attachment 24, and/or using values derived from sensors 98.

In this example, the calculated values include:

a total hoisted load value 172 representing the sum of the mass of the load and

10958739_1 (GHMatters) P106990.AU.1 the mass of the attachment 24. The total hoisted load value 172 is calculated using the algorithm shown in Figure 10.

the combined centre of gravity 174 of the boom 26, attachment 24 and load relative to the front axle centre position. The combined centre of gravity 174 of the boom 26, attachment 24 and load is calculated using the algorithm shown in Figure 11.

the combined centre of gravity 176 of the front and rear portions 12, 14 of the industrial machine 10 relative to the front axle centre position. The combined centre of gravity 176 of the front and rear portions 12, 14 of the industrial machine 10 is calculated using the algorithm shown in Figure 14.

Using the inputs, the combined centre of gravity 178 of the industrial machine 10 (boom, attachment, load, and front and rear machine portions) relative to the front axle centre position 23 is calculated.

The static travelling direction tipping angle 242 is then calculated using the combined machine centre of gravity 178, an articulation value derived from the articulation sensor 118, and the coordinate of the front tyre tipping point 156. Based on the front tyre tipping point 156, the processor 92 defines a travelling direction tipping line that extends through the front tyre tipping point 156 and parallel to the front axle 32, and the static travelling direction tipping angle 242 is determined based on the location of the combined machine centre of gravity 178 and the defined travelling direction tipping line.

The processor 92 then calculates a maximum allowable travelling direction tipping angle by applying a defined travelling direction tipping angle set limit 160 to the calculated static travelling direction tipping angle 242, and compares the maximum allowable travelling direction tipping angle to a travelling direction inclination value provided by the chassis travelling direction inclinometer 116. If the travelling direction inclination value is at or exceeds the maximum allowable travelling direction tipping angle, a warning is generated, for example a visible warning on the warning indicator light 100 and/or an audible warning at the loudspeaker 102.

During use, the relationship between the travelling direction inclination value and the maximum allowable travelling direction tipping angle is represented visually on the

10958739_1 (GHMatters) P106990.AU.1 display 50, in this example using the allowable travelling direction tilt indicia 52.

A table 250 illustrating example boom inclination angles 252, example articulation angles 254 and example travelling direction tipping angles 256 for a particular load is shown in Figure 17. It can be seen that for a defined load as the articulation angle 254 increases, the travelling direction tipping angle 256 reduces, and as a consequence a warning is provided to an operator of the industrial machine 10 at a lower travelling direction inclination angle as the articulation angle 254 increases. Similarly, as the boom inclination angle 252 increases, the travelling direction tipping angle 256 reduces, and as a consequence a warning is provided to an operator of the industrial machine 10 at a lower travelling direction inclination angle as the boom angle 252 increases.

Afunctional block diagram 260 illustrating a tipping load assessment algorithm used by the stability system 90 is shown in Figure 18. The algorithm represented by the functional block diagram 260 in this example is implemented by the processing unit 92, although it will be understood that other implementations are envisaged.

The tipping load assessment algorithm inputs:

defined values associated with the industrial machine 10 - the boom mass value 138, the mass 150 of the rear portion of the industrial machine, the mass 146 of the front portion of the machine, the coordinate 156 of the front tyre tipping point, and the set limit 268 for the static tipping load; and values that are calculated using defined values associated with the industrial machine 10, using defined values associated with the attachment 24, and/or using values derived from sensors 98.

In this example, the calculated values include:

the combined centre of gravity 204 of the boom 26 relative to the front axle centre position. The combined centre of gravity 204 of the boom 26 is calculated

10958739_1 (GHMatters) P106990.AU.1 using the algorithm shown in Figure 13.

Using the inputs, the combined centre of gravity 178 of the industrial machine (boom, attachment, load, and front and rear machine portions) relative to the front axle centre is calculated.

Using the total hoisted load value 172, the centre of gravity 202 of the attachment and load relative to the front axle centre position 23 (calculated according to the algorithm shown in Figure 12), the coordinate 156 of the front tyre tipping point, and a travelling direction inclination angle obtained from the travelling direction inclinometer 116, the processor 92 calculates an overturning moment 261 that tends to cause tipping of the industrial machine 10 about the longitudinal direction tipping line.

Similarly, using the mass 262 of the complete machine (calculated by adding the front portion mass 146, the rear portion mass 147 and the boom mass 138), the combined centre of gravity 178 of the machine front and rear portions 12, 14 and boom 26 relative to the front axle centre position 23, the coordinate of the front tyre tipping point 156, and a travelling direction inclination angle obtained from the travelling direction inclinometer 116, the processor 92 calculates a restoring moment 266 that tends to resist tipping of the industrial machine 10 about the longitudinal direction tipping line.

The processor 92 then calculates a ratio 268 of the overturning moment 261 to the restoring moment 266 and the calculated ratio is compared with a set ratio limit 268 for the static tipping load. If the calculated ratio is at or exceeds the set ratio limit 268, a warning is generated, for example a visible warning on the warning indicator light 100 and/or an audible warning at the loudspeaker 102.

During use, the relationship between the calculated static tipping load ratio and the set limit for the ratio is represented visually on the display 50, in this example using the load magnitude chart 60.

The calculated relationship between the cross-slope inclination value and the

10958739_1 (GHMatters) P106990.AU.1 maximum allowable cross-slope tipping angle, and the calculated relationship between the travelling direction inclination value and the maximum allowable travelling direction tipping angle are used to produce the combined tilt magnitude chart 56 on the display 50.

During use of the industrial machine, information associated with the industrial machine 10 is provided to the operator of the industrial machine on the display 50, including:

information indicative of the inclination of the industrial machine 10 on the longitudinal tilt graphic 62, cross-slope tilt graphic 64 and articulation angle graphic 66;

information indicative of the relationship between current industrial machine inclination values and potentially hazardous tilt situations on the allowable travelling direction tilt indicia 52, the allowable cross-slope tilt indicia 54, the combined tilt magnitude chart 56, and combined tilt indicia 68; and load related information indicative of the rated load limit on the load indicia 70, the safe working load indicia 74, the boom angle indicia 76, the load lift radius indicia 78, and the load height indicia 80.

In addition to providing the operator with information about the conditions and operation associated with the industrial machine, the stability system 90 also acts to prevent a potentially hazardous situation from occurring by locking the machine controls 103, for example so as to prevent further elevation of a load or further articulation of the industrial machine 10.

It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.

In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the

10958739_1 (GHMatters) P106990.AU.1

2019200370 18 Jan 2019 invention.

Modifications and variations as would be apparent to a skilled addressee are deemed to be within the scope of the present invention.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. A stability system for an industrial machine having an elevatable boom, the stability system including:

at least one machine inclination sensor arranged to provide machine inclination information indicative of inclination of the industrial machine;

a boom inclination sensor arranged to provide boom inclination information indicative of inclination of the elevatable boom of the industrial machine; and physical data indicative of:

locations of components of the industrial machine;

mass values of components of the industrial machine; and centre of gravity values of components of the industrial machine;

the system arranged to determine at least one tipping line associated with the industrial machine, and to determine a combined centre of gravity of the industrial machine using the boom inclination information and the physical data;

the system arranged to determine a tipping angle using the tipping line and the combined centre of gravity; and the system including a display arranged to display information indicative of a tipping risk based on the determined tipping angle and the machine inclination.
2. A stability system as claimed in claim 1, wherein the industrial machine includes a front portion and a rear portion, the rear portion capable of articulating relative to the front portion about an articulation connection.
3. A stability system as claimed in claim 2, comprising an articulation sensor arranged to provide articulation information indicative of articulation of the rear portion relative to the front portion, the system arranged to use the articulation information to determine the tipping angle.
4. A stability system as claimed in any one of claims 1 to 3, wherein the system is arranged to compare the machine inclination with a defined maximum allowable tipping angle, and the system includes a warning indicator arranged to generate a visible and/or audible warning when a tipping risk is determined to exist based on the comparison.
5. A stability system as claimed in claim 4, wherein the maximum allowable tipping angle is a defined percentage of the determined tipping angle.

10958739_1 (GHMatters) P106990.AU.1
6. A stability system as claimed in claim 5, wherein the maximum allowable tipping angle is about 90% of the tipping angle.
7. A stability system as claimed in any one of the preceding claims, wherein the industrial machine includes machine controls used to control components of the industrial machine and the system is arranged to prevent operation of at least one machine control when a tipping risk is determined to exist.
8. A stability system as claimed in claim 7, wherein the machine controls include a boom control to control inclination of the boom and an articulation control arranged to control articulation of the rear portion of the industrial machine relative to the front portion of the industrial machine.
9. A stability system as claimed in claim 7 or claim 8, wherein the system is arranged to prevent operation of at least one machine control when an overload risk is determined to exist.
10. A stability system as claimed in any one of the preceding claims, wherein the industrial machine includes an attachment arranged to connect to a free end of the elevatable boom, the physical data including data indicative of a mass value of the attachment and a centre of gravity value of the attachment.
11. A stability system as claimed in claim 10, wherein the system is arranged to store information indicative of the mass values and centre of gravity values of a plurality of attachments, each attachment including a machine readable tag including tag information indicative of the attachment type, and the industrial machine including a tag reader arranged to read the tag information, the tag information used to retrieve information indicative of the mass value of the attachment and the centre of gravity value of the attachment.
12. A stability system as claimed in claim 11, wherein the machine readable tag comprises an RFID tag and the tag reader comprises an RFID reader.
13. A stability system as claimed in any one of claims 10 to 12, comprising:

a boom pressure sensor arranged to provide boom pressure data indicative of boom pressure; and

10958739_1 (GHMatters) P106990.AU.1

2019200370 18 Jan 2019 stored load data for each attachment, the stored load data including, for each load, boom pressure data indicative of a boom pressure at a plurality of boom elevation angles;

the system arranged to determine the load on the attachment by obtaining the

5 boom pressure data from the boom pressure sensor and the boom inclination information from the boom inclination sensor, and the system arranged to use the determined load to determine the tipping angle.
14. A stability system as claimed in any one of the preceding claims, wherein the io system is arranged to define a cross-slope tipping line used to determine a wheel lift situation as a result of a cross-slope inclination of the industrial machine.
15. A stability system as claimed in claim 14, wherein the cross-slope tipping line is defined between a central location on a rear axle of the industrial machine and a front

15 tyre ground contact portion.
16. A stability system as claimed in any one of the preceding claims, wherein the system is arranged to define a travelling direction tipping line used to determine a wheel lift situation as a result of a travelling direction inclination of the industrial

20 machine.
17. A stability system as claimed in claim 16, wherein the travelling direction tipping line is defined between front tyre ground contact portions of front wheels of the industrial machine.
18. A stability system as claimed in any one of the preceding claims, wherein the system is arranged to determine a wheel lift situation as a result of a cross-slope and travelling direction inclination of the industrial machine.

30
19. A stability system as claimed in any one of the preceding claims, wherein the system is arranged to determine an overturning moment based on first mass and centre of gravity data associated with first components of the industrial machine, and a restoring moment based on second mass and centre of gravity data associated with second components of the industrial machine, and to determine tipping risk based on

35 the ratio of the overturning moment to the restoring moment.
20. A stability system as claimed in claim 19, wherein the first mass and centre of

10958739_1 (GHMatters) P106990.AU.1 gravity data is indicative of the mass of the attachment and load and location of a combined centre of gravity of the attachment and load, and the second mass and centre of gravity data is indicative of the mass of components of the industrial machine other than the attachment and load and location of a combined centre of gravity of the components of the industrial machine other than the attachment and load.
21. A stability system as claimed in any one of the preceding claims, wherein the system is arranged to determine locations of components and centres of gravity of components of the industrial machine relative to a defined coordinate system.
22. A stability system as claimed in claim 21, wherein the coordinate system has an origin disposed at a position central of a front axle of the industrial machine.
23. A stability system as claimed in any one of the preceding claims, wherein the system is arranged to display information indicative of any one or more of:

a cross-slope tipping risk;

a travelling direction tipping risk;

a combined cross-slope and travelling direction tipping risk;

a cross-slope inclination of the industrial machine;

a travelling direction inclination of the industrial machine;

the type of attachment connected to the elevatable boom;

a load mass on the attachment;

a safe working load on the attachment;

a load lift radius;

a load height;

articulation of the industrial machine; and/or a current date/time.
24. A stability system as claimed in any one of the preceding claims, wherein the industrial machine is an integrated tool carrier or a wheel loader.
25. A stability system for an industrial machine having an elevatable boom;

the stability system arranged to determine at least one tipping line associated with the industrial machine;

the stability system arranged to determine a combined centre of gravity of the industrial machine using boom inclination information indicative of inclination of the elevatable boom and physical data indicative of:

10958739_1 (GHMatters) P106990.AU.1 locations of components of the industrial machine;

mass values of components of the industrial machine; and centre of gravity values of components of the industrial machine;

the stability system arranged to determine a tipping angle using the tipping line and the combined centre of gravity; and the stability system arranged to determine tipping risk information for display, the tipping risk information indicative of a tipping risk based on the determined tipping angle and machine inclination information indicative of an inclination of the industrial machine.
26. A stability system as claimed in claim 25, wherein the system is arranged to use articulation information indicative of articulation of a rear portion of the industrial machine relative to a front portion of the industrial machine to determine the tipping angle.
27. A stability system as claimed in claim 25 or claim 26, wherein the system is arranged to compare the machine inclination with a defined maximum allowable tipping angle, and the system includes a warning indicator arranged to generate a visible and/or audible warning when a tipping risk is determined to exist based on the comparison.
28. A stability system as claimed in claim 27, wherein the maximum allowable tipping angle is a defined percentage of the determined tipping angle.
29. A stability system as claimed in claim 28, wherein the maximum allowable tipping angle is about 90% of the tipping angle.
30. A stability system as claimed in any one of claims 25 to 29, wherein the system is arranged to prevent operation of at least one machine control of the industrial machine when a tipping risk is determined to exist.
31. A stability system as claimed in claim 30, wherein the system is arranged to prevent operation of at least one machine control when an overload risk is determined to exist.
32. A stability system as claimed in any one of the preceding claims, wherein the physical data includes data indicative of a mass value of an attachment of the industrial

10958739_1 (GHMatters) P106990.AU.1 machine and a centre of gravity value of the attachment.
33. A stability system as claimed in claim 32, wherein the system is arranged to store information indicative of the mass values and centre of gravity values of a plurality of attachments, each attachment including a machine readable tag including tag information indicative of the attachment type, the tag information used to retrieve information indicative of the mass value of the attachment and the centre of gravity value of the attachment.
34. A stability system as claimed in claim 32 or claim 33, wherein the system is arranged to determine the load on the attachment by obtaining boom pressure data from a boom pressure sensor and boom inclination information from a boom inclination sensor, and to use the determined load to determine the tipping angle.
35. A stability system as claimed in any one of claims 25 to 34, wherein the system is arranged to define a cross-slope tipping line used to determine a wheel lift situation as a result of a cross-slope inclination of the industrial machine.
36. A stability system as claimed in claim 35, wherein the cross-slope tipping line is defined between a central location on a rear axle of the industrial machine and a front tyre ground contact portion.
37. A stability system as claimed in any one of claims 25 to 36, wherein the system is arranged to define a travelling direction tipping line used to determine a wheel lift situation as a result of a travelling direction inclination of the industrial machine.
38. A stability system as claimed in claim 37, wherein the travelling direction tipping line is defined between front tyre ground contact portions of front wheels of the industrial machine.
39. A stability system as claimed in any one of claims 25 to 38, wherein the system is arranged to determine a wheel lift situation as a result of a cross-slope and travelling direction inclination of the industrial machine.
40. A stability system as claimed in any one of claims 25 to 39, wherein the system is arranged to determine an overturning moment based on first mass and centre of gravity data associated with first components of the industrial machine, and a restoring

10958739_1 (GHMatters) P106990.AU.1 moment based on second mass and centre of gravity data associated with second components of the industrial machine, and to determine tipping risk based on the ratio of the overturning moment to the restoring moment.
41. A stability system as claimed in claim 40, wherein the first mass and centre of gravity data is indicative of the mass of the attachment and load and location of a combined centre of gravity of the attachment and load, and the second mass and centre of gravity data is indicative of the mass of components of the industrial machine other than the attachment and load and location of a combined centre of gravity of the components of the industrial machine other than the attachment and load.
42. A stability system as claimed in any one of claims 25 to 41, wherein the system is arranged to display information indicative of any one or more of:

a cross-slope tipping risk;

a travelling direction tipping risk;

a combined cross-slope and travelling direction tipping risk;

a cross-slope inclination of the industrial machine;

a travelling direction inclination of the industrial machine;

the type of attachment connected to the elevatable boom;

a load mass on the attachment;

a safe working load on the attachment;

a load lift radius;

a load height;

articulation of the industrial machine; and/or a current date/time.
43. A method of determining stability of an industrial machine having an elevatable boom, the method including:

using at least one machine inclination sensor to provide machine inclination information indicative of inclination of the industrial machine;

using a boom inclination sensor to provide boom inclination information indicative of inclination of the elevatable boom of the industrial machine;

receiving physical data indicative of:

locations of components of the industrial machine;

mass values of components of the industrial machine; and centre of gravity values of components of the industrial machine;

determining at least one tipping line associated with the industrial machine;

10958739_1 (GHMatters) P106990.AU.1 determining a combined centre of gravity of the industrial machine using the boom inclination information and the physical data;

determining a tipping angle using the tipping line and the combined centre of gravity; and displaying information indicative of a tipping risk based on the determined tipping angle and the machine inclination.
44. A method as claimed in claim 43, comprising obtaining articulation information indicative of articulation of a rear portion of the industrial machine relative to a front portion of the industrial machine, and using the articulation information to determine the tipping angle.
45. A method as claimed in claim 43 or claim 44, comprising comparing the machine inclination with a defined maximum allowable tipping angle, and generating a visible and/or audible warning when a tipping risk is determined to exist based on the comparison.
46. A method as claimed in claim 45, wherein the maximum allowable tipping angle is a defined percentage of the determined tipping angle.
47. A method as claimed in claim 46, wherein the maximum allowable tipping angle is about 90% of the tipping angle.
48. A method as claimed in any one of the preceding claims, wherein the industrial machine includes machine controls used to control components of the industrial machine and the method comprises preventing operation of at least one machine control when a tipping risk is determined to exist.
49. A method as claimed in claim 48, comprising preventing operation of at least one machine control when an overload risk is determined to exist.
50. A method as claimed in any one of claims 43 to 49, wherein the physical data includes data indicative of a mass value of an attachment of the industrial machine and a centre of gravity value of the attachment.
51. A method as claimed in claim 50, wherein each attachment includes a machine readable tag including tag information indicative of the attachment type, the method

10958739_1 (GHMatters) P106990.AU.1 comprising storing information indicative of the mass values and centre of gravity values of a plurality of attachments, and reading the tag information using a tag reader, the tag information used to retrieve information indicative of the mass value of the attachment and the centre of gravity value of the attachment.
52. A method as claimed in claim 50 or claim 51, comprising determining the load on the attachment by obtaining boom pressure data from a boom pressure sensor and boom inclination information from a boom inclination sensor, and using the determined load to determine the tipping angle.
53. A method as claimed in any one of claims 43 to 52, comprising defining a cross-slope tipping line used to determine a wheel lift situation as a result of a crossslope inclination of the industrial machine.
54. A method as claimed in claim 53, wherein the cross-slope tipping line is defined between a central location on a rear axle of the industrial machine and a front tyre ground contact portion.
55. A method as claimed in any one of claims 43 to 54, comprising defining a travelling direction tipping line used to determine a wheel lift situation as a result of a travelling direction inclination of the industrial machine.
56. A method as claimed in claim 55, wherein the travelling direction tipping line is defined between front tyre ground contact portions of front wheels of the industrial machine.
57. A method as claimed in any one of claims 43 to 56, comprising determining a wheel lift situation as a result of a cross-slope and travelling direction inclination of the industrial machine.
58. A method as claimed in any one of claims 43 to 57, comprising determining an overturning moment based on first mass and centre of gravity data associated with first components of the industrial machine, and a restoring moment based on second mass and centre of gravity data associated with second components of the industrial machine, and determining tipping risk based on the ratio of the overturning moment to the restoring moment.

10958739_1 (GHMatters) P106990.AU.1
59. A method as claimed in claim 58, wherein the first mass and centre of gravity data is indicative of the mass of the attachment and load and location of a combined centre of gravity of the attachment and load, and the second mass and centre of gravity data is indicative of the mass of components of the industrial machine other than the attachment and load and location of a combined centre of gravity of the components of the industrial machine other than the attachment and load.
60. A method as claimed in any one of claims 43 to 59, comprising displaying information indicative of any one or more of:

a cross-slope tipping risk;

a travelling direction tipping risk;

a combined cross-slope and travelling direction tipping risk;

a cross-slope inclination of the industrial machine;

a travelling direction inclination of the industrial machine;

the type of attachment connected to the elevatable boom;

a load mass on the attachment;

a safe working load on the attachment;

a load lift radius;

a load height;

articulation of the industrial machine; and/or a current date/time.
61. An industrial machine comprising a stability system as claimed in any one of claims 1 to 42.