WO2024173600A1

WO2024173600A1 - Front loader stabilization

Info

Publication number: WO2024173600A1
Application number: PCT/US2024/015859
Authority: WO
Inventors: Zachary Meyer Omohundro; Lucas Jeffrey SALEM; Uriel Aparacido Rosa; Natasha PANATTONI; Collin LAFAYETTE
Original assignee: Zimeno Inc.
Priority date: 2023-02-14
Filing date: 2024-02-14
Publication date: 2024-08-22
Also published as: WO2024173615A1; WO2024173601A1

Abstract

A front loader stabilization system may include a vehicle, a lift mechanism carried by the vehicle for raising and lowering a tool configured to carry a load, and a controller. The controller is configured to determine a stability risk based on tool height and at least one of vehicle pitch; vehicle turning radius; vehicle roll; vehicle speed; vehicle geographic location; vibration; operator skill level; load height; and load weight distribution. The controller is further configured to output control signals based on the stability risk, wherein the control signals are configured to result in at least one of tool height; vehicle speed and turning radius being limited.

Description

FRONT LOADER STABILIZATION

BACKGROUND

[0001] A front loader generally includes a front mounted lift mechanism to raise and lower a load carrying tool, such as a bucket or fork. The tool may be raised and lowered by the lift mechanism. Front loader vehicles may have a variety of different forms and configurations such as a tractor with a front loader attachment, a skid steer or a forklift.

BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1 is a diagram schematically illustrating portions of an example front loader stabilization system.

[0003] Figure 2 is a flow diagram of an example front loader stabilization method.

[0004] Figure 3 is a flow diagram of an example front loader stability model generation and/or updating method.

[0005] Figure 4 is a diagram schematically illustrating portions of an example front loader stabilization system.

[0006] Figure 5 is a diagram illustrating an example display presentation indicating (1 ) a current status of operational parameters with respect to respective operational parameter limits and (2) current pitch and roll status with respect to respective pitch and roll limits.

[0007] Figure 6 is a side view illustrating portions of an example front loader stabilization system transporting a first load with the first load carrying tool across a first terrain. [0008] Figure 7 is a side view illustrating portions of the example front loader stabilization system of Figure 6 transporting a second load with the second load carrying tool across a second terrain.

[0009] Figure 8 is a top view illustrating portions of an example boom notification system of the front loader stabilization system of Figures 6 and 7.

[00010] Figure 9 is a top view illustrating portions of an example boom notification system for use with the front loader stabilization system of Figures 6 and 7.

[00011] Figure 10 is a sectional view illustrating an example construction of the boom notification system of Figure 8 or of the boom notification system of Figure 9.

[00012] Figure 11 is a sectional view illustrating an example construction of the boom notification system of Figure 8 or of the boom notification system of Figure 9.

[00013] Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements. The figures are not necessarily to scale, and the size of some parts may be exaggerated to more clearly illustrate the example shown. Moreover, the drawings provide examples and/or implementations consistent with the description; however, the description is not limited to the examples and/or implementations provided in the drawings.

DETAILED DESCRIPTION OF EXAMPLES

[00014] Front loaders come in a wide variety of configurations and sizes. Front loaders may be equipped to raise and lower a large variety of different load carrying tools such as forks and buckets. The loads carried by the load carrying tools may vary in both size, weight and weight distribution. Front loaders may transport loads over a wide variety of terrain with different slopes and different degrees of unevenness. Due to these large number of stability factors or variables, it may be difficult for an operator of the front loader to a properly control the front loader so as to avoid lateral tipping of the vehicle where sides of the vehicle may lift off the ground or forward tipping of the vehicle where rear wheels of the vehicle may lift off the ground.

[00015] Disclosed are example front loader stabilization systems that assist with the operation of the front loader so as to reduce any risk of forward or lateral tipping during operation. Disclosed are example front loader stabilization systems that continually evaluate any stability risk for the front loader, in real-time, and that take preemptive action (before tipping or before tipping beyond certain points) to maintain stability of the front loader. The preemptive action may be in the form of automatically limiting particular operational choices by the operator. The preemptive limited or action may be in the form of notifying the operator that particular states or operations of the front loader should be avoided.

[00016] In some implementations, the example front loader stabilization systems determine stability risk by evaluating tool height and at least one additional stability factor such as vehicle pitch, vehicle roll, turning radius, vehicle speed, geographic location of the vehicle, vibration of the vehicle, load height, load weight, load weight distribution, and operator skill. In some implementations, each individual stability factor is evaluated against a corresponding threshold to determine if a stability risk threshold has been exceeded. In some implementations, a preemptive stability action such as limiting tool height, vehicle speed or turning radius, is taken in response to a value for a single stability factor exceeding its corresponding threshold. In some implementations, the preemptive stability action may be taken in response to the values for all of the stability factors exceeding/satisfying their corresponding respective thresholds. In some implementations, the preemptive stability action may be taken in response to a predefined minimum number or percentage of stability factors having values that exceed their corresponding thresholds. In some implementations, the preemptive stability action may be taken in response to a certain predefined or selected sub portion of stability factors having values that exceed their corresponding thresholds.

[00017] In some implementations, the evaluation takes into account multivariable dependencies of the different stability factors. In some implementations, the stability risk evaluation is carried out using a stability model, wherein different values for the different stability factors are input to the model to determine the stability risk. In some implementations, the model includes each of the aforementioned stability factors. In other implementations, the model may include a portion of the above noted stability factors. Various mathematical multivariable model generation techniques may be utilized using the different stability factors.

[00018] In some implementations, the example front loader stabilization systems provide an operator or manager with the ability to select which stability factors are utilized to evaluate stability risk. In some implementations, the example front loader stabilization systems may include multiple operator selectable models, wherein each of the models are based upon different combinations of stability factors for use in evaluating stability risk. In some implementations, the example front loader stabilization systems automatically choose which of the different stability models to employ to evaluate risk based upon the particular operations being performed by the front loader, the environment in which the operations are performed, or the skill of the operator currently operating the front loader vehicle.

[00019] In some implementations, the example front loader stabilization systems may include different stability models for different types or sizes of front loaders, for different sizes or types of front loader vehicles and/or for different sizes or types of front loader tools or attachments. The different models may utilize different combinations of stability factors and/or may have different thresholds or different mathematical weightings or weights for the different stability factors. In some implementations, the example front loader stabilization systems may prompt an operator to input information regarding characteristics of the front loader vehicle or the tool/attachment currently being used by the front loader vehicle. In some implementations, the example front loader stabilization systems may automatically determine characteristics of the front loader vehicle or tool/attachment currently being used by the front loader vehicle using one or more sensors, such as one or more cameras carried by the vehicle.

[00020] In some implementations, the preemptive actions for reducing future potential risk of forward and/or lateral tipping comprise limiting tool height, limiting vehicle speed and/or limiting the turning radius based upon the determined stability risk. In some implementations, each of such operational parameters may be limited in response to a determined stability risk. In other implementations, only particular operational parameters are limited. In some implementations, the operator or manager may select which operational parameters are available for being limited to reduce stability risk. For example, an operator may permit the height of the tool and the turning radius to be limited without any limitations placed upon vehicle speed. In some implementations, the example front loader stabilization system may automatically select what particular operational parameters are to be limited in response to a stability risk. Such automatic selection may be based upon any of various factors such as the particular operation being performed, the type or characteristics of the loads being transported, the skill level of the operator, characteristics of the vehicle and/or the load carrying tool, characteristics of the terrain (slope/unevenness), dimensions of a building or structural environment in which the front loader is to operate (the size or relative positioning of doors and corridors which may require particular turns) and the like.

[00021] In some implementations, the example front loader stabilization systems automatically generate and/or automatically and dynamically update the stability models. Stability models may be initially created by such systems monitoring the roll and/or pitch of the front loader. In response to the roll/pitch of the front loader exceeding a roll/pitch threshold, the example front loader stabilization senses may automatically record the values associated with the various stability factors when the roll/pitch threshold was exceeded. These recorded values may serve as future thresholds for identifying a stability risk or may serve as inputs to a multivariable calculation for generating or determining a particular stability model. Because such models are generated based upon data collected during a particular operation of a particular front loader and a particular front loader attachment/tool carrying a particular type of load or traversing a particular type of terrain, multiple distinct or individual models may be generated for each of multiple different combinations of front loader vehicles, front loader tools, operational terrain, load types, load weight ranges, operators and the like. In other words, each model may be customized to provide more accurate stability risk reducing control.

[00022] In some implementations, the example front loader stabilization systems not only generate unique and individual stability models for each vehicle, for each operator, for each type of operation, for each type of load being carried, for different environment conditions, for different terrains or geographic locations, and the like, but also automatically update such previously generated models using new data or stability factor values. Once a model has been generated and is being used to evaluate stability risk, the example front loader stabilization systems may continue to monitor vehicle pitch and/or roll during operation. In circumstances where the roll/pitch of the front loader exceeds a roll/pitch threshold during its operation, even when operating under the prior established limits according to a previously generated or stored model, the example systems may update the particular model being used with new values for one or more stability factors. The updated values may serve as new or updated threshold or may serve as new inputs to a multivariable calculation or model so as to result in new thresholds, new stability factor weightings or other adjustments to the stability model.

[00023] In some implementations, the disclosed front loader stabilization systems display current operational parameter limits that are being automatically implemented or that are recommended to the operator. The disclosed front loader stabilization system may further display the current status or state of the operational parameter limits relative to their limits. Such operational parameters comprise tool height, vehicle speed and turning radius. In some implementations, the information is visibly presented to the operator by controllably actuating light emitters provided on the lift arms of the boom that support the load carrying tool. In some implementations, the disclosed front loader stabilization systems addition display a current pitch and/or roll status of the front loader relative to various pitch and roll thresholds or pitch and roll limits.

[00024] For purposes of this disclosure, the term “processing unit” shall mean a presently developed or future developed computing hardware that executes sequences of instructions contained in a non-transitory memory. Execution of the sequences of instructions causes the processing unit to perform steps such as generating control signals. The instructions may be loaded in a random access memory (RAM) for execution by the processing unit from a read only memory (ROM), a mass storage device, or some other persistent storage. In other embodiments, hard wired circuitry may be used in place of or in combination with software instructions to implement the functions described. For example, a controller may be embodied as part of one or more applicationspecific integrated circuits (ASICs). Unless otherwise specifically noted, the controller is not limited to any specific combination of hardware circuitry and software, nor to any particular source for the instructions executed by the processing unit.

[00025] For purposes of this disclosure, unless otherwise explicitly set forth, the recitation of a “processor”, “processing unit” and “processing resource” in the specification, independent claims or dependent claims shall mean at least one processor or at least one processing unit. The at least one processor or processing unit may comprise multiple individual processors or processing units at a single location or distributed across multiple locations.

[00026] For purposes of this disclosure, the term “coupled” shall mean the joining of two members directly or indirectly to one another. Such joining may be stationary in nature or movable in nature. Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate member being attached to one another. Such joining may be permanent in nature or alternatively may be removable or releasable in nature. The term “operably coupled” shall mean that two members are directly or indirectly joined such that motion may be transmitted from one member to the other member directly or via intermediate members. The term “fluidly coupled” shall mean that two or more fluid transmitting volumes are connected directly to one another or are connected to one another by intermediate volumes or spaces such that fluid may flow from one volume into the other volume.

[00027] For purposes of this disclosure, the phrase “configured to” denotes an actual state of configuration that fundamentally ties the stated function/use to the physical characteristics of the feature proceeding the phrase “configured to”.

[00028] For purposes of this disclosure, the term Teleasably” or “removably” with respect to an attachment or coupling of two structures means that the two structures may be repeatedly connected and disconnected to and from one another without material damage to either of the two structures or their functioning.

[00029] For purposes of this disclosure, unless explicitly recited to the contrary, the determination of something “based on” or “based upon” certain information or factors means that the determination is made as a result of or using at least such information or factors; it does not necessarily mean that the determination is made solely using such information or factors. For purposes of this disclosure, unless explicitly recited to the contrary, an action or response “based on” or “based upon” certain information or factors means that the action is in response to or as a result of such information or factors; it does not necessarily mean that the action results solely in response to such information or factors.

[00030] For purposes of this, unless explicitly recited to the contrary, recitations reciting that signals “indicate” a value or state means that such signals either directly indicate a value, measurement or state, or indirectly indicate a value, measurement or state. Signals that indirectly indicate a value, measure or state may serve as an input to an algorithm or calculation applied by a processing unit to output the value, measurement or state. In some circumstances, signals may indirectly indicate a value, measurement or state, wherein such signals, when serving as input along with other signals to an algorithm or calculation applied by the processing unit may result in the output or determination by the processing unit of the value, measurement or state.

[00031] Figure 1 is a diagram schematically illustrating portions of an example front loader stabilization system 20. System 20 assists with the operation of a front loader so as to reduce any risk of forward or lateral tipping during operation. System 20 continually (continuously or periodically) evaluates any stability risk for the front loader, in real-time, takes preemptive action (before tipping or before tipping beyond certain points) to maintain stability of the front loader. The preemptive action may be in the form of automatically limiting particular operational choices by the operator or outputs by the system. The preemptive limited or action may be in the form of notifying the operator that particular states or operations of the front loader should be avoided. System 20 comprises front loader 22, operator interface 38, and controller 40.

[00032] Front loader 22 comprises vehicle 24, lift mechanism 26 and load carrying tool 28. Vehicle 24 comprises a self-propelled vehicle for transporting loads. Vehicle 24 may be in the form of a tractor, skid loader, forklift or the like. In some implementations, vehicle 24 is driven by an internal combustion engine and associated transmission. In some implementations, vehicle 24 is driven by a battery which supplies power to an electric motor which supplies torque directly to ground propulsion members (wheels or tracks) via the transmission or which supplies torque to a hydraulic pump which drives a hydraulic motor which drives the ground propulsion members via the transmission. In some implementations, the speed at which the vehicle is driven and the steering of the vehicle are under control of an operator, either residing on the vehicle or remotely controlling the vehicle. In some implementations, the speed at which the vehicle is driven and the steering of the vehicle are automated.

[00033] Lift mechanism 26 comprises a mechanism configured to raise and lower load carrying tool 28. In the example illustrated, lift mechanism 26 comprises one or more lift arms 32 supported by vehicle 24 for being raised and lowered to raise and lower tool 28. In one example implementation, lift arms 32 pivotable about an axis 31 by powered actuator to raise and lower tool 28. Although lift arms 32 are illustrated as being linear, in some implementations, such lift arms 32 may be angled or other configurations. In some implementations, lift mechanism 26 may have other configurations. For example, lift mechanism 26 may comprise a mechanism similar to those found in forklifts; the lift mechanism comprising a vertical mast and a carriage that may be moved along the vertical mast to raise and lower attached forks.

[00034] Load carrying tool 28 comprises a device configured to engage and carry a load while the load is being raised or lowered by lift mechanism 26 and/or while vehicle 24 is transporting the carried load across a terrain. Examples of load carrying tool 28 include, are not limited to, forks, spears, tines, buckets and the like. In some implementations, load carrying tool 28 is pivotable or may be articulated relative to the lift mechanism 26 about a horizontal axis, such as axis 33. In some implementations, load carrying tool 28 is releasably or removably mounted to lift mechanism 26 such that differently configured or differently sized load carrying tools 28 may be used as part of front loader 22.

[00035] Operator interface 38 comprises one or more devices that interface with an operator or controller of front loader 22 by providing information to the operator and/or by receiving input or commands from the operator. Operator interface 38 communicates with controller 40. Operator interface 38 may be in the form of a display, a touchscreen, a haptic device, one or more dials, an individual light or a set of information or status indicating lights, a steering wheel, a joystick, accelerator pedal, a brake pedal, a shift lever, a toggle switch, a pushbutton switch, a keyboard, a touchpad, a mouse, a speaker, a microphone with speech recognition software, a camera and the like. In some implementations in which operation of front loader 22 is automated, lacking an operator, operator interfaces 38 may be omitted (as indicated by broken lines).

[00036] Controller 40 comprises a computing resource in the form of a processor or processing unit 42 and a memory 44. Memory 44 comprises a non- transitory computer-readable medium containing instructions for directing processor 42 to carry out the various functions and operations described below. In some implementations, controller 40 may be carried by vehicle 24. In some implementations, controller 40 may be remote from vehicle 24, such as where controller 40 communicates in a wireless fashion with vehicle 24 using wireless transceivers. In some implementations, controller 40 may be part of a cloudbased service. In some implementations, the computing functions of controller 40 may be distributed across multiple processing elements or computing elements, wherein such elements may be entirely carried by vehicle 24, may be entirely remote from vehicle 24 or may reside both on vehicle 24 and at remote locations.

[00037] Instructions in memory 44 direct processor 42 to carry out front loader stabilization methods. As result, controller 40 receives signals, data or information indicating various states and/or particular values for various stability factors. Such signals, data or information may be provided by various sensors and/or may be provided by operator input through operator interface 38. Such signals, data or information may indicate various values for various stability factors 50. Examples of factors 50 include, but are not limited to, tool height 52-1 , vehicle pitch 52-2, vehicle roll 52-3, vehicle turning radius 52-4, vehicle speed 52-5, vehicle geographic location 52-6, vibration 52-7, load height 52-8, load weight 52-load weight distribution 52-10 and operator skill 52-11 .

[00038] Tool height 52-1 refers to the height of load carrying tool 28 relative to the point at which lift mechanism 26 is attached to vehicle 24 or relative to the underlying terrain upon which vehicle 24 is traversing. In implementations where lift mechanism 26 comprises a boom having lift arms 32, signals indicating the current angle of such lift arms (about axis 31 ) may indicate the current height of the load carrying tool 28. In some implementations, a potentiometer or other types of sensors may be used to indicate the angle of lift arms 32. In some implementations, the height of tool 28 may be determined by other sensors, such as one or more cameras.

[00039] Vehicle pitch 52-2 refers to frontward/rearward tilting indicated by sensors such as gyroscopes, accelerometers, inertial measurement units or cameras. Vehicle roll 52-3 refers to sideways or lateral tilting of vehicle 24 as indicated by sensors such as gyroscopes, accelerometers, inertial measurement units or cameras.

[00040] Vehicle turning radius 52-4 refers to the angle at which vehicle 24 is being turned. Data regarding the vehicle turning radius 52-4 may be based upon signals from a vehicle steering system, devices of operator interface 38 (steering wheel or joystick inputs) or obtained from a routine or program prescribing particular turns by the vehicle at particular times. Vehicle speed 52-5 refers to the ground speed of vehicle 24 and may be based on signals derived from the state of the vehicle transmission, devices of operator interface 38 (gear and RPM settings, pedal depressment), or obtained from a routine or program prescribing particular speeds by the vehicle at particular times. Vehicle speed 52-5 may be based on wheel odometry (wheel encoders), vision odometry (cameras) and sensed geographic location changes (based on GPS signals).

[00041] Vehicle geographic location 52-6 refers to the geographic coordinates of vehicle 24. Values for vehicle geographic location 52-6 may be obtained from a global positioning satellite (GPS) system and/or vehicle odometry. Such geographic locations may correspond to previously mapped locations having associated terrain conditions, terrain slope and/or terrain unevenness/roughness. As result, a particular geographic location 52-6 may likewise indicate a particular terrain condition, slope or roughness.

[00042] Vibration 52-7 refers to vibration experienced by the vehicle. Such vibration may be in the form of what is known as power hopping. Values for the degree of vibration 52-7 may be obtained from one or more vibration sensors, such as accelerometers, carried by vehicle 24, lift mechanism 26 or tool 28.

[00043] Load height 52-8 refers to the height of the load being carried by load carrying tool 28 (in contrast to the height of the load carrying tool 28). The load height 52-8 may be a value indicating an extent to which the load being carried by tool 28 rises above tool 28 or extends below a bottom of tool 28. The height of the load may be indicated by signals from a camera capturing images of the load upon load carrying tool 28. The height of the load may be derived from the height of the load carrying tool 52-1 and dimensions of the load (determined based upon images from a camera or from input by an operator using operator interface 38). A greater load height may create a larger moment with respect to vehicle 24, reducing stability.

[00044] Load weight refers to the weight of the load being carried by load steering tool 28. A heavier load may create a larger moment with respect to vehicle 24, reducing stability. Values for load weight may be determined based upon signals from a weight sensor carried by vehicle 24, lift mechanism 26, and/or load carrying tool 28. In some implementations, the weight sensor may be in the form of one or more hydraulic pressure sensors which sense hydraulic pressures of hydraulic jacks supporting and lifting lift arms of lift mechanism 26. In some implementations, weight sensor may be in the form of strain gauges on lift arms 32 of lift mechanism 26. In yet other implementations, other weight sensors may be employed. In some implementations, the weight of the load may be input by an operator via operator interface 38 or may be determined based upon other data input by the operator such as the type of load or the number of load units, wherein each unit has a predetermined individual weight.

[00045] Load weight distribution refers to the relative distribution of mass or weight across or along the volume of the load carried by load carrying tool 28. Load weight distribution may refer to the center of gravity or center of mass of the load relative to the ground or relative to vehicle 24. A higher center of gravity or center of mass may create a larger moment relative to vehicle 24, reducing stability. Values for load weight distribution may be determined based upon input from an operator using operator interface 38. For example, the operator may indicate a particular type of load being carried, wherein the particular type of load may have a predetermined or otherwise earlier known center of gravity or weight distribution. In some implementations, the center of gravity may be additionally determined based upon the load height 52-8 and the load weight 52-9. In some implementations, the load may carry an identification or identifier, such as a barcode, QR code are the like which may be scanned or captured by a camera, wherein the identification indicates the type of the load or in some circumstances, indicates dimensions of the load, the weight of the load and the center of gravity of the load. As discussed above, the dimensions of the load may be utilized in combination with the tool height 52-1 to determine the load height 52-8.

[00046] Operating skill 52-11 refers to the skill, experience, age or training of the operator with respect to the particular vehicle 24 being operated, a class of vehicles including vehicle 24, the particular tool being used or a class of tools including the particular tool being used, the particular load currently being carried by tool 28 or a class of loads including the particular load, the weight, load height or load weight distribution of the particular load, and/or the geographic area being traversed by vehicle 24. Operating skill 52-11 may be measured in terms of hours of operation, years of experience, training degrees, prior operation history, or accidents, pay level, and the like. Values for operating skill 52-11 may be input by the operator using operator interface 38 or may be determined or retrieved from stored records and an identification of the operator from a scanned or otherwise read ID card or a captured image of the operator. In some implementations, the ID card may directly indicate an authorization level or any one of the above noted experience, age or training levels.

[00047] Controller 40 analyzes such signals, data or information to evaluate or determine a degree of a stability risk for front loader 22. In some implementations, each stability factor has an associated threshold value that when exceeded reflects a stability risk such that preemptive stability actions are taken by controller 40. In some implementations, a preemptive stability action such as limiting tool height, vehicle speed or turning radius, is taken by controller 40 in response to a value for a single stability factor 52 exceeding its corresponding threshold. In some implementations, the preemptive stability action may be taken by controller 40 in response to the values for all of the stability factors exceeding/satisfying their corresponding respective thresholds. In some implementations, the preemptive stability action may be taken by controller 40 in response to a predefined minimum number or percentage of stability factors 52 having values that exceed their corresponding thresholds. In some implementations, the preemptive stability action may be taken in response to a certain predefined or selected sub portion of stability factors 52 having values that exceed their corresponding thresholds.

[00048] In some implementations, controller 40 may determine a stability risk score, value or grade based upon a combination of scores or values for the different stability factors. For example, a stability risk score, value or grade may be based upon a multivariable equation wherein each stability factor fits into the equation and has a particular weight towards the final score, value or grade. In the example illustrated, each of such stability factors may be part of one or more stability models 56 (as shown by broken lines in Figure 1 ). The stability models have an output based upon a combination of the values of multiple stability factors/parameters. In one example model, each stability factors 52 is an input towards a final stability risk score or grade. In other example models, tool height 52-1 and at least one of the remaining stability factors 52 serve as inputs to the model or equation for determining or outputting final stability risk or grade. In other example models, tool height 52-1 and at least two of the remaining stability factors 52 serve as inputs to the model or equation for determining or outputting final stability risk or grade.

[00049] In some implementations, each of the above described stability models may be available for use by controller 40 in determining a stability risk score, grade or evaluation. In some implementations, controller 40 may automatically select which model to utilize based upon the values received for all or a portion of the stability factors 52. For example, controller 40 may automatically select the particular model having a particular combination of stability factors as inputs based upon the geographic location of vehicle 24, the particular operation being performed by the front loader, the weight of the load currently being carried by tool 28, the height at which the load is expected to be carried during operation, the weight distribution of the load being carried, the expected speed of vehicle for a particular operation, the skill level of the operator or the like. In some implementations, controller 40 may automatically select which model to use based upon other factors or sensed values. In still other implementations, controller 40 may use a particular stability model 56 in response to a selection by the operator or manager is received through operator interface 38. In some implementations, controller 40 may communicate the determined stability risk score, grade or evaluation to the operator via operator interface 38 (display, audible notification be a speaker, information indicating lights or the like).

[00050] Upon determining a stability risk score, controller 40 evaluates the score to determine what, if any, preemptive actions should be taken. Particular preemptive actions may include limiting at least one of tool height, vehicle speed and turning radius. In some implementations, such preemptive actions may comprise controller 40 outputting control signals causing operator interface 38 (a display, a series of information indicating lights, audible notifications from a speaker or the like) notifying the operator of recommended limits for at least one of the tool height, the vehicle speed and the turning radius based upon the determined stability risk. In some implementations, the preemptive action may comprise automatically limiting at least one of tool height, vehicle speed and turning radius. In some implementations, controller 40 may simply ignore or disregard commands from an operator which would cause the tool height, vehicle speed or turning radius to be exceeded. In some implementations, controller 40 may physically limit movement of portions of operator interface 38 to limit at least one of tool height, vehicle speed or turning radius. For example, controller 40 may output control signals causing or limiting the rotation of a steering wheel (to limit turning radius), limiting the movement of an RPM lever or accelerator pedal (to limit vehicle speed) and/or limit movement of a boom lifting lever to physically prevent the operator from moving levers so as to raise the boom and the tool above the height restriction.

[00051] In some implementations, the operator may be given the opportunity to select from different modes for preemptive action. The operator may be given the opportunity to select which of the operational parameters of the front loader 22 are limitable in response to a stability risk score exceeding a predefined threshold. The operator may further be given the opportunity (prompts on operator interface 38) to select how the notifications are given, by notification with recommended limits, by a controller disregard for inputs, or by physical operator interface input restrictions as described above.

[00052] In some implementations, different combinations of stability factors or different stability models/equations having different sets of stability factors as inputs may be utilized for each of tool height, vehicle speed and turning radius. A first stability model may be used to determine the extent of when the turning radius of the vehicle should be limited (either automatically or by operator provided recommendations). A second different stability model may be used to determine the extent of when the speed of the vehicle should be limited (either automatically or by operator provided recommendations). A third different stability model may be used to determine the extent of when tool height should be limited (either automatically or by operator provided recommendations).

[00053] Figure 2 is a flow diagram illustrating portions of an example front loader stabilization method 100 and may be performed by a controller as part of a front loader stabilization system, such as system 20 described above. As indicated by block 104, a controller may first determine a vehicle type and/or characteristic (vehicle or front loader type, model, size, weight, boom type, tool type). Such a determination may be made based upon information received through an operator interface 38 from an operator. The controller may utilize this information to select the particular stability factors 52 that are to be used for determining a stability risk. In some implementations, the controller may utilize this information to select a particular stability model for determining a stability risk.

[00054] As indicated by block 108, stability factors are selected. A controller may provide prompts on operator interface 38 prompting an operator to select which stability factors 52 are to be used when determining the stability risk. In implementations where the set of stability factors used to determine the stability risk are preset based upon the type of vehicle and/or characteristics, block 108 may be omitted. As described above, in some implementations, the controller may automatically select what stability factors are to be used for determining stability risk based upon values obtained for particular stability factors or other values obtained from other sensors.

[00055] As indicated by block 112, a selection is made as to what operational parameters (tool height, vehicle speed, turning radius) are to be limited in response to or based upon a determined stability risk exceeding a predefined threshold. In some implementations, the selection may be made by the operator via operator interface 38. In some implementations, the selection may be made by the controller based upon environmental conditions, the type of operations being performed by the front loader, or the values or states from particular stability factors 52. As described above, different operational parameters may be limited based upon different stability models or different sets of stability factors. In some implementations, each of tool height, turning radius and vehicle speed are limited in response to a stability risk exceeding a predefined threshold. In some circumstances, block 112 may be omitted.

[00056] As indicated by block 116, the controller, such as controller 40, determines stability risk based upon the vehicle type/characteristic determined in block 104 and the selected stability factors chosen in block 108. In some implementations, a preemptive stability action such as limiting tool height, vehicle speed or turning radius, is taken in response to a value for a single stability factor exceeding its corresponding threshold. In some implementations, the preemptive stability action may be taken in response to the values for all of the stability factors exceeding/satisfying their corresponding respective thresholds. In some implementations, the preemptive stability action may be taken in response to a predefined minimum number or percentage of stability factors having values that exceed their corresponding thresholds. In some implementations, the preemptive stability action may be taken in response to a certain predefined or selected sub portion of stability factors having values that exceed their corresponding thresholds.

[00057] In some implementations, the determination of the stability risk may take into account multivariable dependencies of the different stability factors. In some implementations, the stability risk evaluation is carried out using a stability model, wherein different values for the different stability factors are input to the model to determine the stability risk. In some implementations, the model includes each of the aforementioned stability factors. In other implementations, the model may include a portion of the above noted stability factors. Various mathematical multivariable model generation techniques may be utilized using the different stability factors. [00058] In some implementations, the example front loader stabilization system may provide an operator or manager with the ability to select which stability factors are utilized to evaluate stability risk. In some implementations, the example front loader stabilization systems may include multiple operator selectable models, wherein each of the models are based upon different combinations of stability factors for use in evaluating stability risk. In some implementations, the example front loader stabilization systems automatically choose which of the different stability models to employee to evaluate risk based upon the particular operations being performed by the front loader, the environment in which the operations are performed, or the skill of the operator currently operating the front loader vehicle.

[00059] In some implementations, the example front loader stabilization system may include different stability models for different types or sizes of front loaders, for different sizes or types of front loader vehicles and/or for different sizes or types of front loader tools or attachments. The different models may utilize different combinations of stability factors and/or may have different thresholds or different mathematical weightings or weights for the different stability factors. In some implementations, the example front loader stabilization systems may prompt an operator to input information regarding characteristics of the front loader vehicle or the tool/attachment currently being used by the front loader vehicle. In some implementations, the example front loader stabilization systems may automatically determine characteristics of the front loader vehicle or tool/attachment currently being used by the front loader vehicle using one or more sensors, such as one or more cameras carried by the vehicle.

[00060] Controller 40 may continually determine the stability risk (continually evaluated determine scores for stability risk) either continuously or periodically. In some implementations, stability risk is determined in real time, for example, at least every second. In some implementations, the operator may select (via operator interface 38) the frequency at which the stability risk is determined. In some implementations, controller 40 may determine the frequency based upon environmental conditions, the type of operations being performed by the front loader 22 and/or the current values for one or more of the stability factors 52. For example, in some implementations, controller 40 may more frequently determine and evaluate stability risk as the values being received for the selected stability factors 52 approach levels where the stability risk would exceed the predefined threshold that would trigger preemptive action.

[00061] As indicated by block 120, in response to the stability risk exceeding a predefined threshold, at least one of tool height, vehicle speed and turning radius may be limited. In some implementations, the controller may employ multiple different thresholds, wherein the satisfaction of each different threshold triggers a different extent to which the operational parameter is limited. For example, satisfaction of a first lower stability risk threshold may trigger limiting tool height to a first maximum height, satisfaction of a second greater stability risk threshold may trigger limiting tool height to a second lower maximum height, and satisfaction of a third even greater stability risk threshold may trigger limiting tool height to a third even lower maximum height. Different sets of multiple thresholds may likewise be applied for triggering limiting of vehicle speed and/or turning radius.

[00062] Blocks 122-1 and 122-2 identify preemptive actions that may be taken by the controller and by the system for limiting tool height, vehicle speed and/or turning radius based on stability risk. As indicated by block 122-1 , the controller may output control signals causing operator interface to notify the operator of the recommended limits. As indicated by block 122-2, the controller may automatically limit the selected limit of operation parameters. As described above, such automatic limiting may be in the form of controller disregarding any further input which would result in the tool height, vehicle speed or turning radius being exceeded and/or may be in the form of the controller physically limiting movement or input of a component of operator interface 38.

[00063] Figure 3 is a flow diagram illustrating an example stability model generation and/or updating method 200. To generate an initial stability model, roll and/or pitch thresholds for a front loader are established. A roll threshold may be an unacceptable roll angle for the front loader. Likewise, a pitch threshold may be an unacceptable pitch angle for the front loader. In some implementations, such thresholds may be acceptable degrees of roll or pitch which are within a predefined range or tolerance from an unacceptable degree of roll or pitch.

[00064] As indicated by block 206, during operation of the front loader, the roll and pitch of the front loader may be monitored. In some implementations, the front loader may comprise accelerometers, gyroscopes and/or inertial measurement units for outputting signals indicating the roll and/or pitch of the front loader. As indicated by block 208, the sensed pitch and roll values of the front loader may be compared against the roll and pitch thresholds, respectively. In response to the pitch values satisfying the predetermined pitch threshold, the controller 40 may record the current or immediately prior state or values for each of the various stability factors 52. Likewise, in response to the roll values satisfying the predetermined roll threshold, the controller may record the current or immediately prior state or values for each of the various stability factors 52. In some implementations, the values of the stability factors at the time that the pitch or roll thresholds were satisfied may be set as multi dependent variable inputs or values. Multiple instances of the roll or pitch threshold being satisfied and their corresponding stability factor values may be used to generate a particular model for the particular front loader to generate the model. The generation of such models may occur empirically over time during actual use of the front loader or may be determined in an experimental or manufacturing setting. To generate a stability model having a particular set of stability factors (a portion of the stability factors shown in Figure 1 ), values for the stability factors 52 which are not to be part of the model are not recorded or are not used for generating the model.

[00065] Once the model has been generated, it may be updated “in the field”. As indicated by block 204, use of an earlier model may result in tool height, vehicle speed and/or turning radius being limited based upon the stability risk which was determined using the prior selected model. With such limits in place, the controller may continue to monitor the roll and/or pitch of the front loader or front loader vehicle per block 206 and compare the roll and/or pitch to the roll/pitch thresholds per block 208. Assuming accuracy of the prior model, such limits should theoretically prevent the front loader vehicle from having a sensed roll or pitch that exceeds the roll and pitch thresholds. However, due to changes in characteristics or performance of the front loader vehicle, or other changes or variations in the stability factors 52, there may be occurrences where the front loader roll or pitch exceeds the corresponding roll or pitch threshold. In such circumstances, as indicated by block 210, the controller may automatically update the model using the new values for the stability factors at the time that the roll or pitch thresholds were exceeded or satisfied. As result, the stability models stored in memory 44 of controller 40 or stored elsewhere may be modified and refined over time or updated to account for changes in the front loader.

[00066] In some circumstances, a particular model that was generated using a first particular front loader 22 may initially be used for a second different front loader 22. During operation, the second different front loader may have sensed roll or pitch values that exceed the roll or pitch thresholds. As result, the particular stability model utilized with the second front loader may be updated based upon the values of the stability factors that were present when the second different front loader experience a roll or pitch exceeding the corresponding thresholds. This updated stability model may be assigned to the second front loader or assigned to a class of front loader similar to the second front loader to provide a different stability model customized towards the characteristics of the second front loader. In such a fashion, multiple customized stability models may be generated.

[00067] Figure 4 is a diagram presenting a side view schematically illustrating portions of an example front loader stabilization system 320. Front loader stabilization system 320 comprises a front loader 322, stability factor sensors 330, operator interfaces 338 and controller 40 (described above). Front loader 322 comprises vehicle 324, lift mechanism 326 and load carrying tool 328.

[0001] Vehicle 324 comprises a self-propelled vehicle configured to carry, raise and lower, and articulate the end effector/functional load carrying tool 328. Vehicle 324 comprises frame 400, propulsion members in the form of wheels 402-1 , 402-2 (collectively referred to as wheels 402), drive/transmission 404, and steering system 406. Frame 400 supports the remaining components of vehicle 324. In some implementations, frame 400 may support an operator station or cab.

[0002] Wheels 402 movably support vehicle 324 along an underlying terrain. In some implementations, vehicle 324 may alternatively comprise other ground engaging propulsion members such as tracks. Drive/transmission 404 supplies controlled torque to at least one of wheels 402-1 , 402-2. In the example illustrated, drive transmission 404 is a rear drive system supplying power to wheels 402-1 . Drive transmission 404 comprises a torque source such as an internal combustion engine and/or an electric motor, powered by a battery. Torque from the torque source may be directly transmitted to wheels 402-1 or may be utilized to drive a hydraulic pump which drives a hydraulic motor that outputs the torque. Drive/transmission 404 may additionally comprise a transmission in the form of a series of gears or other transmission components for controllably and variably delivering the torque to wheels 402-1 to control the speed at which wheels 402-1 propel vehicle 324 forwardly or rearwardly.

[0003] Steering system (SS) 406 is operably coupled to wheels 402-2 and controls the steering of vehicle 324. In some implementations, steering system 406 may comprise a steer by wire system. Steering system 406 may comprise a rack and pinion gear system for angularly rotating wheels 402-2 to steer vehicle 324.

[0004] Lift mechanism 326 comprises a mechanism configured to raise and lower load carrying tool 328. In the example illustrated, lift mechanism 326 comprises a front loader attachment or boom comprising one or more lift arms 332, actuator 410, tool coupler 412 and actuator 414. Lift arms 332 are supported by vehicle 324 for being raised and lowered by an to raise and lower tool 328. In one example implementation, lift arms 332 are pivotable about an axis 333 by powered actuator 410 to raise and lower tool 328. Although lift arms 332 are illustrated as being linear, in some implementations, such lift arms 332 may be angled or have other configurations. In some implementations, lift mechanism 326 may have other configurations. For example, lift mechanism 326 may comprise a mechanism similar to those found in forklifts; the lift mechanism comprising a vertical mast and a carriage that may be moved along the vertical mast to raise and lower attached forks.

[0005] Actuator 410 comprises a powered device configured to controllably pivot lift arms 332. In some implementations, actuator 410 may comprise one or more hydraulic jacks (hydraulic cylinder-piston assemblies) which may have a first end pivotably connected to a lift arm 332 and a second end pivotably connected to frame 400, wherein hydraulic pressure supplied to such jacks controllably extends and retracts such jacks so as to pivot lift arms 32 about axis 333. In yet other implementations, actuator for 10 may comprise other mechanisms for controllably pivoting lift arms 332 or for otherwise vertically raising and lowering the ends of lift arms 332.

[0006] Tool coupler 412 is carried at an end portion of lift arms 332 and is configured to connect with or mate with a corresponding tool interface of tool 328. In the example illustrated, tool coupler 412 is pivotably supported at the end portion of lift arm 332 for pivoting about axis 415 relative to lift arms 332 as indicated by arrows 416. Pivoting of tool coupler 412 about axis 415 results in tool 328, when connected, also being pivoted or articulated to a selected tilt. In some implementations, the tool may not be removable such that tool coupler 412 may be omitted or altered.

[0007] Actuator 414 comprise a powered device operably coupled to tool coupler 412 to pivot or articulate tool coupler 412. In one example implementation, actuator 414 may comprise at least one hydraulic jack (hydraulic cylinder-piston assembly) having a first end pivotally connected to at least one of lift arm 332 and a second end pivotally connected to tool coupler 412, wherein hydraulic pressure supplied to the jack controllably extends and retracts the at least one jack so as to pivot tool coupler 412 about axis 415.

[0008] Load carrying tool 328 comprises a device configured to engage and carry a load while the load is being raised or lowered by lift mechanism 326 and/or while vehicle 324 is transporting the carried load across a terrain.

Examples of load carrying tool 328 include, are not limited to, forks, spears, tines, buckets and the like. In some implementations, load carrying tool 328 is pivotable or may be articulated relative to the lift mechanism 326 about a horizontal axis, such as axis 333. In some implementations, load carrying tool 328 is releasably or removably mounted to lift mechanism 326 such that differently configured or differently sized load carrying tools 328 may be used as part of front loader 322.

[0009] In the example illustrated load carrying tool 328 additionally comprises tool identifier 418. Tool identifier 418 is mounted load carrying tool 328 and is configured to indicate one or more characteristics of the type of load carrying tool 328 to controller 40. Identifier 418 may be in the form of a visible readable code, such as a barcode or QR code, wherein a camera carried by vehicle 324 or lift mechanism 326 captures an image of the code and wherein the controller 40 determines the type and/or size of the load carrying tool 328 based upon the read code and a lookup table.

[00010] In some implementations, the identifier 418 may comprise a wireless sensor tag configured to transmit a signal or to be read by corresponding reader scanner on the front vehicle. For example, the identifier may comprise a radiofrequency identifier (RFID) tag mounted to the tool 328. The RFID tag may indicate the type and/or size of the tool 328. Each of multiple types or sizes of tool 328 which may removably connectable to coupler 412 may be provided with different identifiers 418. As result, controller 40 may use such identifiers 418 to determine which of the multiple available different tools 328 are currently releasably connected to lift mechanism 326 and in use by vehicle 324. In some implementations, identifier 418 may be omitted. For example, in some implementations, controller 40 may determine the type and/or size of tool 328 using optical recognition and image processing on images of tool 328 captured by one or both of cameras supported by vehicle 324. [00011] Stability factor sensors 330 comprise sensors carried by vehicle 324 that are configured to sense or otherwise obtain information or regarding the state or values for the various stability factors 52 (shown and described above with respect to Figure 1 ). Stability factor sensors 330 comprise position sensor 330-1 , position sensor 330-2, inertial measurement units 330-3, turning sensor 330-4, speed sensor 330-5, location sensor 330-6, vibration sensors 330-7, camera 330-8, weight sensor 330-9 and operator camera 330-10.

[00012] Position sensor 330-1 comprises at least one sensor configured to output signals indicating values for tool height 52-1 . In some implementations, position sensor 330-1 may comprise a potentiometer sensing the angle at which lift arms 332 are supported about axis 333. In some implementations, position sensor 330-1 may comprise hydraulic fluid pressure sensors which output signals that may indicate the position of lift arms 332 based upon the level of hydraulic pressure sensitive in the hydraulic jacks of actuator 410. In some implementations, images captured by camera 330-8 may also be utilized by controller 40 to confirm the height of tool 328 as indicated by position sensor 330-1 or to be used in place of position sensor 330-1 .

[00013] Position sensor 330-2 comprises at least one sensor configured to output signals indicating values tilt of tool 328 which may impact tool height 52-1 . In some implementations, position sensor 330-2 may comprise a potentiometer sensing the angle at which coupler 412 is supported about axis 415. In some implementations, position sensor 330-2 may comprise hydraulic fluid pressure sensors which output signals that may indicate the position of coupler 412 based upon the level of hydraulic pressure sensitive in the hydraulic jacks of actuator 414. In some implementations, images captured by camera 330-8 may also be utilized by controller 40 to confirm the tilt of tool 328 as indicated by position sensor 330-2 or to be used in place of position sensor 330-2. In some implementations, position sensor 330-2 may be omitted.

[00014] Inertial measurement units 330-3 comprise conventionally known inertial measurement units which may include gyroscopes and accelerometers. Inertial measurement units 330-3 may output signals indicating roll and pitch (pitch factor 52-2 and roll factor 52-3) of vehicle 324. In some implementations, inertial measurement 30-3 may further output signals indicating values for vibration (vibration factor 52-7). In some implementations, roll and pitch may alternatively or also be determined based upon images captured by camera 330- 8.

[00015] Turning sensor 330-4 comprises at least one sensor configured to output signals indicating values for the turning radius (turning radius parameter 52-4) of wheels 402-2. In some implementations, turning sensor 334-4 may comprise a potentiometer which senses the angular position of a steering wheel, the position of a joystick or other manual input device 420 or which senses the positioning of a rack and pinion or other structures of steering system 406 that physically turn wheels 402-2. In some implementations, values for the turning radius 52-4 may also be determined based upon images captured by camera 330-8 or from command signals received by controller 40 for the turning of vehicle 324.

[00016] Speed sensor 330-5 comprise at least one sensor configured output signals indicating the speed of vehicle 324. In some implementations, speed sensor 330-5 may comprise a wheel encoder that senses rotation of wheels 402-1. In some implementations, speed sensor 330-5 may comprise a ground camera which output signals indicating the speed of vehicle 324. In some implementations, values for the vehicle speed factor 52-5 may be based upon images captured by camera 330-8 or signals from location sensor 330-6.

[00017] Location sensor 330-6 comprises at least one sensor configured output signals indicating the geographic location of vehicle 324. In some implementations, location sensor 330-6 may comprise a global positioning satellite (GPS) system antenna and receiver. In some implementations values for the geographic location 52-6 may be determined based upon a map, signals from speed sensor 330-5 and signals from steering system 406, given an initial starting location as provided by operator 37 using manual input device 420.

[00018] Vibration sensor 330-7 comprises at least one sensor configured output signals indicating vibration of vehicle 324. As noted above, in some implementations, version sensor 330-7 may be provided by IMU’s 330-3. In some implementations, dedicated vices, such as accelerometers may be utilized to provide values for vibration factor 52-7).

[00019] Camera 330-8 is carried by frame 400 at a location so as to have a field-of-view encompassing regions forward of vehicle 324 including tool 328 and its load. In some implementations, camera 330-8 may comprise a monocular two-dimensional camera. In other implementations, camera 330-8 may comprise a stereoscopic or 3D camera. The example illustrated, camera 330-8 is supported at an elevated position, above the height of tool coupler 412. In some implementations camera 330-8 may be mounted to the roof of an operator cab. In other implementations, camera 330-8 may be mounted at the front of a hood of vehicle 324. Images captured by camera 330-8 may be used by controller 40 to determine values for tool height 52-1 , vehicle pitch 52-2, vehicle roll 52-3, vibration 52-4, load height 52-8 or other stability factors. [00020] Weight sensor 330-9 comprise at least one sensor configured to output signals indicating the weight of the load carried by tool 328. In some implementations, weight sensor 330-9 may comprise a hydraulic pressure sensor that senses hydraulic pressure with respect to the hydraulic jack supporting lift arm 332 at a particular height. In yet other implementations, weight sensor 330-9 may comprise strain sensors positioned on lift arms 332. In yet other implementations, system 320 may include other forms of a sensor configured to output signals indicating the weight of the load carried by tool 328.

[00021] Operator identifier 330-10 comprise a camera/camera/card reader configured to output signals from which the skill of the operator may be determined by controller 40: a camera/camera/card reader that is configured to scan or capture an image of an ID card identifying the operator, or a camera configured to scan or read an authorization card identifying the skill level of the person having the authorization card. In some implementations, the operator interface comprises a card reader configured to read an ID card or ID tag/badge identifying the operator or a card/badge indicating the skill level of the operator. Controller 40 may be configured to access a database to determine the skill level of the operator 37 once the operator has been identified from images captured by identifier 330-10 or has been identified upon reading of an ID card or badge.

[00022] Operator interfaces 338 comprise devices by which an operator 37 may control drive/transmission 404, steering system 406, actuator 410 and actuator 414. Operator interfaces 338 may further facilitate the input of commands, information or instructions to controller 40. In the example illustrated, operator interfaces 338 comprise manual input devices for 20, and display 422. Manual input devices 420 comprise devices which are conveyed to be manually manipulated by operator 37 to provide commands or instructions to controller 40, drive transmission 404 and/or steering system 406. In the example illustrated, manual input device 420 may comprise a steering wheel, a transmission shift lever, and RPM throttle, a lift mechanism control for controlling actuator 410 and a tool tilt control for controlling actuator 414. In other implementations, manual input device 420 may comprise any of various levers, panels, the steering wheel, a joystick, pushbuttons and the like. In some implementations, manual input device 420 may comprise a mouse controlling a pointer on display 422 to provide input to controller 40.

[00023] Display 422 comprise a monitor or screen by which information may be visually presented to operator 37. Display 422 may be provided in an operator cab provided as part of vehicle 324. Display 422 provides visual information or images based upon control signals received from controller 40.

[00024] As shown by broken lines in Figure 4, in some implementations, the operator 37 may be at a remote location 43, wherein the operator 37 is able to control from the remote location 43 by receiving information display 422’in my providing input via manual input devices 420’. The communication between the remote location 43 and front loader 322 may be facilitated by a wireless transceiver 430 provided on vehicle 324 and at the remote location 43. As schematically shown by Figure for 4, the remote location 43 may provide with or a portion of the computing resource serving as controller 40.

[00025] Controller 40 is described above with respect to system 20. Controller 40 carries out method 100 and 200 described above based upon the various stability factors 52. As described above, values for the various stability factors 52 may be acquired from the different sensors 330. As schematically shown by Figure 4, controller 40 may access a locally residing or remotely residing database 430 of previously generated stability models. [00026] In some implementations, controller 40 may also access a locally residing or remotely residing geo-referenced map 432. The geo-referenced map 432 may indicate a particular terrain conditions for particular geographic locations. For example, controller 40 may determine that front loader 322 is at a particular geographic location based upon location sensor 330-6. Controller 40 may then consult geo-referenced map 432 to obtain information such as the slope of the terrain at the current particular geographic location of front loader 322, the slope of the terrain forward and in close proximity to front loader 322, and/or soil conditions of the terrain (muddy, sandy, packed, tilled). Such information may be used as a stability factor determine a stability risk.

[00027] In some implementations, controller 40 of the particular vehicle or controllers 40 of other vehicles may record the geographic locations at which operation parameters (tool height, vehicle speed and/or turning radius) were previously limited due to stability risks. In some implementations, the particular preemptive actions (whether automatic or operator initiated following displayed recommendations) taken by the controller 40 may be recorded for each of the geographic locations. Geo-referenced map 432 may include such recorded geographic locations. In some implementations, controller 40 may either automatically take the same previously performed preemptive actions when front loader 322 is at the same corresponding geographic locations or display or otherwise output recommendations that the operator implement the same preemptive actions at the same locations. In some implementations, controller 40 may automatically deem a sufficient stability risk to take preemptive action in response to front loader 322 being at the same geographic location as the prior stability risk, but wherein controller 40 carries out a new evaluation or analysis to determine what preemptive actions or what degree of preemptive action should be taken. In some implementations, controller 40 will not automatically deem a sufficient stability risk, but will be configured to use a prior historical stability risk information for the geographic location as an input to a stability risk model, stability risk equation or other stability risk evaluation tool.

[00028] As shown by Figure 4, in some implementations, system 320 may comprise a cloud-based server processing resource and database 434. In some implementations, the cloud-based server processing resource may provide controller 40 rather than controller 40 residing on front loader 322. In some implementations, the stability models 430 and the geographic map 432 may be customized to the particular front loader 322 and may reside on the particular front loader 322. Each different front loader 322 may store and carry an associated unique set of stability models 430 and geo-referenced map 432. In some implementations, operations of controller 40 may be distributed between portions which are carried on vehicle 324 and the cloud-based server processing resource and database 434. In some implementations, controller 40 may entirely reside on front loader 322, whereas geo-referenced map 432 and stability models 430 reside on the database portion of resource 434. In some implementations, controller 40, stability models 430 and geo-referenced map 432 may all reside on the cloud-based server and database 434, wherein the vehicle 324 comprises an additional controller which wirelessly communicates with the cloud-based resource and database 434.

[00029] Figure 5 is a diagram illustrating portions of an example presentation 500 on display 522 that may be generated in response to control signals output by controller 40 of system 20 and/or system 320. Presentation 500 comprises limitation indicators 530-1 , 530-2, 530-3 (collectively referred to as indicators 530) and stability status indicators 532-1 and 532-2 (collectively referred to as indicators 532). Each of indicators 530, 532 are in the form of graphical bars presented on display 522. [00030] Each of indicators 530 comprises a limit indicating line 540, status line 542, a lower threshold line 544, and an upper threshold line 544. Limit indicating line 540 corresponds to the current maximum value allowed given the current determined stability risk. Line 540 of limitation indicator 530-1 corresponds to the maximum height for tool 28, 328 given the current determined stability risk. Line 540 of limitation indicator 530-2 corresponds to the maximum vehicle speed for vehicle 324 given the current determined stability risk. Line 540 of indicator 530-3 corresponds to the minimum turning radius (the maximum sharpness of a turn) for vehicle 324 given the current stability risk. The location or height of line 540 of each of indicators 530 may change with changes in the determined stability risk.

[00031] Lines 540 may communicate the current automated limitations established by controller 40 or may indicate a recommended limit to the operator that the operator should not exceed when controlling front loader 322. As noted above, the operator may choose the particular mode, may choose whether such limiting is automatic or remains under the control of the operator with the controller 40 providing recommendations.

[00032] Status line 542 of each of indicators 530 indicates or corresponds to the current value for the particular limited operational parameter. Status line 542 of indicator 530-1 indicates the current height of tool 28, 328 relative to the current limit indicated by line 540 of indicator 530-1. Status line 542 of indicator 530-2 indicates the current speed of vehicle 530-2 relative to the current limit indicated by line 540 of indicator 530-2.

[00033] Status line 542 of indicator 530-3 indicates the current turning angle of wheels 402-2 relative to the current limit indicated by line 540 of indicator 530- 3. In the example illustrated, status line 542 rises or moves towards the limit indicating line 540 as the turning radius decreases or as the turning angle becomes sharper. In other implementations, this relationship may be reversed, wherein the indicator 530-3 is configured such that the status line 542 of indicator 530-3 falls as it moves towards limit indicating line 540 as a turning radius decreases or as a turning angle becomes sharper. In such implementations, the status line should not fall below the limit indicating line 540. An example illustrated, status indicating line 540 corresponds the top of a filled region within the bar forming the respective indicator 530. In other implementations, each of the status lines 540 may alter comprise a single line without an underlying filled in region or may comprise a bar or other graphic symbol that moves up and down along another single vertical line or along a bar and having an endpoint corresponding to the parameter limit. As the tool height, the vehicle speed and the turning radius vary, the position of lines 542 will also vary.

[00034] Lower thresholds line 542 and upper threshold line 544 correspond to values that are less than the maximum limits indicated by lines 540. Upper thresholds line 544 is between lower threshold line 542 and limit indicating line 540. Thresholds lines 542 and 544 trigger different warnings or degrees of caution based upon how close the lines 542 and 544 are to the maximum limits. For example, in response to the height of tool 28, 328 exceeding a lower threshold value corresponding to line 542 of indicator 530-1 , controller 40 may output control signals such that the status line 542 and/or the filled region below status line 542 changes from a first color (such as green), flashing state, design or the like to a second color (such as yellow), a second flashing state, or a second design or the like. In response to the height of tool 28, 328 exceeding a threshold value corresponding to line 546, controller 40 may output control signals such that the status line 546 and/or the filled region below status line 546 changes from the second color (such as yellow), the second flashing state, and/or the second design or the like to a third color (such as red), a third flashing state, a third design or the like. Controller 40 may output control signals such that indicators 530-2 and 530-3 also change in response to the state of the vehicle speed or turning radius, respectively, in a similar fashion.

[00035] Indicators 532-1 and 532-2 indicate the current pitch and roll of front loader 322, such as indicated by inertial measurement units 330-3. Each of indicators 532 comprises limit indicating line 550, status line 552, a lower threshold line 554, and an upper threshold line 554. Limit indicating line 550 corresponds to the current maximum value for the particular front loader 322 or for a particular class of front loaders including front loader 322. Line 550 of limitation indicator 532-1 corresponds to the maximum pitch for the front loader 322. Line 550 of limitation indicator 532-2 corresponds to the maximum roll for front loader 322. The location or height of line 550 of each of indicators 532 may vary amongst different front loaders.

[00036] Status line 542 of each of indicators 532-1 , 532-2 indicates or corresponds to the current pitch and roll, respectively, of front loader 322. In the illustrated example, status indicating line 550 corresponds the top of a fill region within the bar forming the respective indicator 532. In other implementations, each of the status lines 550 may alter comprise a single line without an underlying filled in region or may comprise a bar or other graphic symbol that moves up and down along another single vertical line or along a bar and having an endpoint corresponding to the parameter limit. As the pitch and roll vary, the position of lines 552 will also vary.

[00037] Lower thresholds line 552 and upper threshold line 554 correspond to values that are less than the maximum limits indicated by lines 550. Upper thresholds line 554 is between lower threshold line 552 and limit indicating line 550. Thresholds lines 552 and 554 trigger different warnings or degrees of caution based upon how close the lines 552 and 554 are to the maximum limits. For example, in response to the pitch exceeding a lower threshold value corresponding to line 552 of indicator 532-1 , controller 40 may output control signals such that the status line 552 and/or the filled region below status line 552 changes from a first color (such as green), a first flashing state, a first design or the like to a second color (such as yellow), a second flashing state, a second design or the like. In response to the pitch exceeding a threshold value corresponding to line 556, controller 40 may output control signals such that the status line 556 and/or the filled region below status line 556 changes from the second color (such as yellow), the second flashing state, the second design or the like to a third color (such as red), a third flashing state, a third design or the like. Controller 40 may output control signals such that indicated 530-2 similarly changes in response to the roll of front loader 322.

[00038] Although indicators 530-538 comprise graphics in the form of bars or bar graphs, in other implementations, one or more of indicators 50-538 may alternatively be in the form of dials, pie charts or other graphical means for presenting stability status information to the operator. In some implementations, stability status information may alternatively or additionally be presented to the operator either audibly by a speaker or by controllably varying the light emission of light-emitting. devices, such as light emitting diodes, on a panel.

[00039] Figures 6 and 7 illustrate portions of an example front loader stabilization system 620, an example implementation of system 320 described above. System 620 comprises a front loader 622, stability factor sensors 630, operator interface 638, controller 40 and boom a notification system 800. Front loader 622 comprises vehicle 624, lift mechanism 626 and exchangeable load carrying tools 628-1 (shown in Figure 6) and 628-2 (shown in Figure 7) (collectively referred to as tools 628).

[00040] Vehicle 624 comprises a self-propelled vehicle configured to carry, raise and lower, and articulate a load carrying tool such as locating tool 628-1 and 628-2. Vehicle 624 comprises frame 700, propulsion members in the form of wheels 702-1 , 702-2 (collectively referred to as wheels 702), drive/transmission 404, and steering system 406. Drive/transmission 404 and steering system 406 are described above with respect to system 320 but are used with wheels 702. Frame 700 supports the remaining components of vehicle 324. In the example illustrated, frame 700 forms an operator cab 701 having an operator seat 703 for an operator 37 and a roof 704 extending over the seat 703, generally above and between wheels 702-1 .

[00041] Wheels 702 movably support vehicle 624 along an underlying terrain. In some implementations, vehicle 324 may alternatively comprise other ground engaging propulsion members such as tracks. Figure 6 illustrates front loader 622 with tool 628-1 while traversing a transversely sloped and forward downwardly sloped terrain 641 -1 . Figure 7 illustrates the front loader 622 with tool 628-2 traversing a substantially level terrain 641 -2.

[00042] Lift mechanism 626 comprises a mechanism configured to raise and lower load carrying tools, such as tools 628. In the example illustrated, lift mechanism 626 comprises a front loader attachment comprising a boom in the form of one or more lift arms 632, actuator 610, tool coupler 612 an actuator. Lift arms 632 are supported by vehicle 624 for being raised and lowered by actuator 610 to raise and lower tools 628. In one example implementation, lift arms 632 are pivotable by powered actuator 10 to raise and lower tool 628. [00043] Actuator 610 comprises a powered device configured to controllably pivot lift arms 632. In the example illustrated, actuator 610 comprises one or more hydraulic jacks (hydraulic cylinder-piston assemblies) which may have a first end pivotably connected to a lift arm 632 and a second end pivotably connected to frame 700, wherein hydraulic pressure supplied to such jacks controllably extends and retracts such jacks so as to pivot lift arms 632. In yet other implementations, actuator 610 may comprise other mechanisms for controllably pivoting lift arms 632 or for otherwise vertically raising and lowering the ends of lift arms 632.

[00044] Tool coupler 612 is carried at an end portion of lift arms 632 and is configured to connect with or mate with a corresponding tool interface of either of tools 628. In the example illustrated, tool coupler 612 is pivotably supported at the end portion of lift arm 632 for pivoting relative to lift arms 632. Pivoting of tool coupler 612 results in the currently attached tool 628-1 or 628-2 also being pivoted or articulated to a selected tilt.

[00045] Actuator 614 comprises a powered device operably coupled to tool coupler 612 to pivot or articulate tool coupler 612. In the example illustrated, actuator 614 comprises at least one hydraulic jack (hydraulic cylinder-piston assembly) having a first end pivotally connected to at least one of lift arm 632 and a second end pivotally coupled to tool coupler 612, wherein hydraulic pressure supplied to the jack controllably extends and retracts the at least one jack so as to pivot tool coupler 612.

[00046] Load carrying tools 628 comprise devices configured to engage and carry a load while the load is being raised or lowered by lift mechanism 626 and/or while vehicle 624 is transporting the carried load across a terrain. In the example illustrated, load carrying tool 628-1 is in the form of a fork. Figure 6 illustrates the load during tool 628-1 carrying an example load 629-1 in the form of a bundle or bale of material such as hay, straw, stalks or the like. Figure 7 illustrates load carrying tool 628-2 in the form of a bucket carrying an example load 629-2 in the form of particulate material such as feed, seed, minerals, grain, soil, rocks or any other material which may be carried by a bucket.

[00047] In the example illustrated, each of load carrying tools 628 additionally comprises tool identifier 418. Tool identifier 418 is mounted to load carrying tools 628-1 and 628-2 and is configured to indicate one or more characteristics of the type of load carrying tool 628 to controller 40. Identifier 418 may be in the form of a visible readable code, such as a barcode or QR code, wherein a camera carried by vehicle 624 or lift mechanism 626 captures an image of the code and wherein the controller 40 determines the type and/or size of the load carrying tool 628 based upon the read code and a lookup table.

[00048] In some implementations, the identifier 418 may comprise a wireless sensor tag configured to transmit a signal or to be read by corresponding reader scanner on the front vehicle. For example, the identifier may comprise a radiofrequency identifier (RFID) tag mounted to the tool 628. The RFID tag may indicate the type and/or size of the tool 328. Each of multiple types or sizes of tool 628 which may removably connectable to coupler 612 may be provided with different identifiers 418. As result, controller 40 may use such identifiers 418 to determine which of the multiple available different tools 628 are currently releasably connected to lift mechanism 626 and in use by vehicle 624. In some implementations, identifier 418 may be omitted. For example, in some implementations, controller 40 may determine the type and/or size of tool 628 using optical recognition and image processing on images of tool 628 captured by one or more cameras supported by vehicle 624. [00049] Stability factor sensors 630 comprise sensors carried by vehicle 624 that are configured to sense or otherwise obtain information regarding the state or values for the various stability factors 52 (shown and described above with respect to Figure 1 ). Stability factor sensors 630 comprise position sensor 330-1 , position sensor 330-2, inertial measurement units 630-3, turning sensor 630-4, speed sensor 330-5, location sensor 330-6, camera 630-8, weight sensor 630-9 and operator identifier 630-10.

[00050] Position sensor 630-1 comprises at least one sensor configured to output signals indicating values for tool height 52-1 . In some implementations, position sensor 630-1 may comprise a potentiometer for sensing the angle at which lift arms 632 are supported. In some implementations, position sensor 630- 1 may comprise hydraulic fluid pressure sensors which output signals that may indicate the position of lift arms 632 based upon the level of hydraulic pressure sensed in the hydraulic jacks of actuator 610. In some implementations, images captured by camera 630-8 may also be utilized by controller 40 to confirm the height of tool 628-1 , 628-2 as indicated by position sensor 630-1 or to be used in place of position sensor 630-1 .

[00051] Position sensor 630-2 comprises at least one sensor configured to output signals indicating values for the tilt of tool 628-1 , 628-2 which may impact tool height 52-1 . In some implementations, position sensor 630-2 may comprise a potentiometer sensing the angle at which coupler 612 is supported. In some implementations, position sensor 630-2 may comprise hydraulic fluid pressure sensors which output signals that may indicate the position of coupler 612 based upon the level of hydraulic pressure sensitive in the hydraulic jacks of actuator 614. In some implementations, images captured by camera 630-8 may also be utilized by controller 40 to confirm the tilt of tool 628-1 , 628-2 as indicated by position sensor 630-2 or to be used in place of position sensor 630-2. In some implementations, position sensor 630-2 may be omitted.

[00052] Inertial measurement units 630-3 comprise conventionally known inertial measurement units which may include gyroscopes and accelerometers. Inertial measurement units 630-3 may output signals indicating roll and pitch (pitch factor 52-2 and roll factor 52-3) of vehicle 624. In some implementations, inertial measurement units 630-3 may further output signals indicating values for vibration (vibration factor 52-7). In some implementations, roll and pitch may alternatively or also be determined based upon images captured by camera 630- 8.

[00053] Turning sensor 630-4 comprises at least one sensor configured to output signals indicating values for the turning radius (turning radius parameter 52-4) of wheels 702-2. In some implementations, turning sensor 634-4 may comprise a potentiometer which senses the angular position of a steering wheel, the position of a joystick or other manual input device 720 or which senses the positioning of a rack and pinion or other structures of steering system 406 that physically turn wheels 702-2. In some implementations, values for the turning radius 52-4 may also be determined based upon images captured by camera 630-8 or from command signals received by controller 40 for the turning of vehicle 624.

[00054] Speed sensor 630-5 comprises at least one sensor configured output signals indicating the speed of vehicle 624. In some implementations, speed sensor 630-5 may comprise a wheel encoder that senses rotation of wheels 702-1. In some implementations, speed sensor 630-5 may comprise a ground camera which output signals indicating the speed of vehicle 624. In some implementations, values for the vehicle speed factor 52-5 may be based upon images captured by camera 630-8 or signals from location sensor 630-6.

[00055] Location sensor 630-6 comprises at least one sensor configured output signals indicating the geographic location of vehicle 624. In some implementations, location sensor 630-6 may comprise a global positioning satellite (GPS) system antenna and receiver. In some implementations values for the geographic location 52-6 may be determined based upon a map, signals from speed sensor 630-5 and signals from steering system 406, given an initial starting location as provided by operator 37 using manual input device 720.

[00056] Camera 630-8 is carried by frame 700 at a location so as to have a field-of-view encompassing regions forward of vehicle 624 including tool 628-1 , 628-2 and its load. In some implementations, camera 630-8 may comprise a monocular two-dimensional camera. In other implementations, camera 630-8 may comprise a stereoscopic or 3D camera. In the example illustrated, camera 630-8 is supported at an elevated position, above the height of tool coupler 612. In the example illustrated, camera 630-8 may be mounted to the roof of an operator cab 701 . In other implementations, camera 630-8 may be mounted at the front of a hood 705 of vehicle 624. Images captured by camera 630-8 may be used by controller 40 to determine values for tool height 52-1 , vehicle pitch 52-2, vehicle roll 52-3, vibration 52-4, load height 52-8 or other stability factors.

[00057] Weight sensor 630-9 comprise at least one sensor configured to output signals indicating the weight of the load carried by tool 628-1 , 628-2. In some implementations, weight sensor 630-9 may comprise a hydraulic pressure sensor that senses hydraulic pressure with respect to the hydraulic jack supporting lift arm 632 at a particular height. In yet other implementations, weight sensor 630-9 may comprise strain gauges/sensors positioned on lift arms 632. In yet other implementations, system 620 may include other forms of a sensor configured to output signals indicating the weight of the load carried by tool 628- 1 , 628-2.

[00058] Operator identifier 630-10 comprise a camera/scanner/card reader configured to output signals identifying the operator 37 such that his or her skill may be determined by controller 40. Operator identifier 630-10 may comprise a camera that is configured to scan or capture an image of an ID card identifying the operator, or a camera configured to scan or read an authorization card identifying the skill level of the person having the authorization card. In some implementations, the operator interfaces 638 may comprise a card reader configured to read an ID card or ID tag/badge identifying the operator or a card/badge indicating the skill level of the operator. Controller 40 may be configured to access a database to determine the skill level of the operator 37 once the operator has been identified from images captured by operator identifier or has been identified upon reading of an ID card or badge.

[00059] Operator interfaces 638 comprise devices by which an operator 37 may control drive/transmission 404, steering system 406, actuator 610 and actuator 614. Operator interfaces 638 may further facilitate the input of commands, information or instructions to controller 40. In the example illustrated, operator interfaces 638 comprise manual input devices 720, and display 722.

[00060] Manual input devices 720 comprise devices which are configures to be manually manipulated by operator 37 to provide commands or instructions to controller 40, drive transmission 404 and/or steering system 406. In the example illustrated, manual input devices 720 may be in the form of a steering wheel, a transmission shift lever, a RPM throttle, a lift mechanism control for controlling actuator 610 and a tool tilt control for controlling actuator 614. In other implementations, manual input devices 720 may comprise any of various levers, push buttons, slider bars, and the like. In some implementations, manual input devices 720 may comprise a mouse controlling a pointer on display 722 to provide input to controller 40.

[00061] Display 722 comprise a monitor or screen by which information may be visually presented to operator 37. Display 722 is provided in an operator cab 701 provided as part of vehicle 624. Display 722 provides visual information or images based upon control signals received from controller 40.

[00062] As shown by broken lines in Figure 4, in some implementations, the operator 37 may be at a remote location 43, wherein the operator 37 is able to control from the remote location 43 by receiving information display 422’ in my providing input via manual input devices 420’. The communication between the remote location 43 and front loader 322 may be facilitated by a wireless transceiver 430 provided on vehicle 324 and at the remote location 43. As schematically shown by Figure 4, in addition to controller 40 or portion of controller 40 being at a remote location or provided by a cloud-based server processing resource in database 434, system 620 may comprise stability models 430 (similar to stability models 56 described above) and a geo-referenced map 432 locally on front loader 622 and/or remotely provided as part of the cloudbased server in database 434.

[00063] Controller 40 is described above with respect to systems 20 and 320. Controller 40 carries out method 100 and 200 described above based upon the various stability factors 52. As described above, values for the various stability factors 52 may be acquired from the different sensors 630. As schematically shown by Figure 4, controller 40 may access a locally residing or remotely residing database 430 of previously generated stability models. As will be described hereafter, in system 620, controller 40 may not only present stability information as described above with respect to Figure 5, but may also present the same or similar information on at least one of the lift arms 632 using boom notification system 800.

[00064] Boom notification system 800 comprises one or more light emitters 802 located on portions of lift arm 632 that face or that are viewable by operator 37 when lift arm 632 are raised. Boom notification system 800 provides information to operator 37 while allowing the operator 37 to maintain a forward looking focus while driving of front loader 622 and operating lift mechanism 626 and the load carrying tool 628-1 or 628-2. Boom notification system 800 variably emits light 804 (different colors, different brightness levels, different flashing frequencies, different number of lights, different lengths a continuous line of light) to communicate information to the operator 37. As will be described hereafter, boom notification system 800 communicates information regarding the stability and at least one stability operational parameter to the operator such that the operator may respond to a stability risk or appreciate a stability risk in a more timely fashion.

[00065] Figure 8 is a top view of boom notification system 800 of system 620. The right side of lift arm 632 is the end closest to operator cab 701 . In the example illustrated, at least one of lift arms 632 comprises rows 806-1 , 806-2 and 806-3 (collectively referred to as rows 806) of light emitters 802-1 , 802-2 and 802-3 (collectively referred to as light emitters 802), respectively. In the example illustrated, each of rows 806 comprises a series of 14 individual light emitters 802. In other implementations, other numbers of light emitted may be provided in each of such rows. [00066] Each of the light emitters 802 are individually actuatable to different states. For example, each of light emitters 802 may be turned on and off. In some implementations, each of such light emitters 802 may additionally be actuatable to different degrees of brightness, may be actuated (turned on and off) at different frequencies, may be actuated to different light emitting intensities or brightnesses, or may be actuated to different colors. In some implementations, each of such light emitters 802 may comprise light emitting diodes. Such light emitting diodes may be provided on multiple electrical power and signal transmitting lines or may be provided by one or more printed circuit boards, such as flexible printed circuit boards.

[00067] In the example illustrated, controller 40 outputs control signals to row 806-1 of light emitters 802-1 to communicate information similar to the information presented by indicator 530-1 described above. Controller 40 outputs control signals so as to actuate a selected number of light emitters 802-1 from a first default state (such as off) to a second different actuated state (such as on) (shown by darkened circles), from right to left as seen in Figure 8, to indicate the current height of tool 628-1 , 628-2 (similar to status line 542). As the height of tool 628-1 , 628-2 increases, the number of light emitters in the second state (from right to left) also increases.

[00068] Controller 40 may additionally illuminate a leftward most light emitter, such as the example light emitter 809 in row 806-1 to the second state or to yet a third different states to indicate the current limit for the height of tool 628- 1 , 628-2 based upon the current determined stability risk (similar to line 540). In some implementations, the nature of the second state of the emitters 802-1 in row 806-1 may vary additionally based upon the proximity of the current state to the limit (similar to when thresholds 544 and 546 are passed). For example, when the tool height is less than a lower threshold, the second state may be the light emitters emitting a green colored light. When the tool height exceeds the first lower threshold, the second state may be the light emitters emitting a yellow colored light. In response to the tool height exceeding an upper threshold, between the lower threshold and the current limit, the second state may be the light emitters emitting a red colored light, indicating close proximity to the limit. In some implementations, controller 40 may not actuate a particular individual light to indicate the current limit, but may solely vary the color (green, yellow, red as described above) or other characteristic (brightness/intensity, flashing frequency) of the light in the second state to indicate proximity to the limit, wherein once the limit is reached, no additional light emitters are actuated.

[00069] Rows 806-2 and 806-3 of light emitters 802-2 and 802-3, respectively, communicate information regarding vehicle speed and turning radius, similar to indicators 530-2 and 530-3, respectively, as described above. The illumination or actuation of light emitters 802-2 and 802-3 of rows 806-2 and 806-3, respectively, may be done in a fashion similar to that described above with respect to row 806-1 so as to communicate the respective current limits for vehicle speed and turning radius and so as to communicate the current respective status of the operational parameters: vehicle speed and turning radius.

[00070] With system 800 shown in Figure 8, an operator, when viewing the positioning of tool 628-1 , 628-2 and its load 29-1 , 69-2, respectively, may concurrently view the state of the light emitters on or near the top of lift arms 332. The operator may visibly ascertain the limitations placed upon tool height, vehicle speed and turning radius due to the current ascertained stability risk and may also ascertain the proximity of the current tool height, vehicle speed and turning radius to such limits. As result, the operator can more quickly make adjustments, as needed, to enhance stability. [00071] In some implementations, the presentation of data or information on a lift arm 632 may be simplified by only providing a single row of light emitters that communicate a single type of stability information. Figure 9 illustrates boom a notification system 900 which may be utilized in place of boom notification system 800 described above. Boom notification system 900 comprises a single row 806-1 of light emitters 802-1 . With system 900, controller 40 outputs control signals as described above with respect to row 806-1 of system 800. Controller 40 utilizes the single row of light emitters 802-1 to communicate the height of the load carrying tool 628-1 , 628-2. In such an implementation, the vehicle speed and/or turning radius limits and current statuses may be presented to the operator by controller 40 in other fashions or solely by presentation 500 as described above with respect to Figure 5.

[00072] In some implementations, the left lift arm 632-1 and the right lift arm 632 may each include a single row of light emitters. For example, the left lift arm 632 may comprise row 806-1 of light emitters 802-1 , wherein controller 40 selectively actuates individual light emitters to communicate the current tool height limit (or proximity to a limit by varying a characteristic of the second state as described above) and the current tool height. At the same time, the right lift arm may comprise row 806-2 or 806-3 of light emitters 802-2 or 802-3, wherein controller 40 selectively actuates individual light emitters 802-2 or 802-3 to communicate the current vehicle speed limit or the current turning radius limit (or proximity to the limit by a varying a characteristic of the second state as described above) and the current vehicle speed or turning radius, respectively.

[00073] In some implementations, each of the light emitters 802-1 may not be independently actuatable to different states relative to one another. For example, all of light emitters 802-1 may be configured to simultaneously or concurrently be actuated between the same states to communicate stability information to the operator. For example, all of the light emitters 802-1 may be actuated to a green color (or may be left off) when the current height of tool 628- 1 , 628-2 is below the lower threshold (value of line 544 as described above). All of the light emitters may be actuated to a second different color, such as yellow, when the lower threshold (the value of line 544 described above) is exceeded. All of the light emitters may be actuated to a third different color, such as red, when the upper threshold (the value of line 546) is exceeded.

[00074] In implementations where the limits are presented as recommendations to the operator for his or her use, controller 40 may actuate the light emitters to yet a fourth color or an additional different states when the limit has been exceeded. For example, when the tool height limit is being exceeded by the current tool height due to input from the operator, despite the recommended limit, controller 40 may actuate all the light emitters 802-1 to a fourth collar, such as blue, or may actuate all of the light emitters 802-1 to a flashing red color or a more intense or brighter red color. Controller 40 may similarly actuate the light emitters 802-2 and 802-3 (when provided) when vehicle speed or turning radius limits, are currently being exceeded by the current vehicle speed or turning radius limits, respectively, when under operator control.

[00075] Figure 10 is a sectional view illustrating construction 1000 of an example boom notification system 800 or system 900 described above. With construction 1000, a flexible printed circuit board/electrical wiring 1002 supporting at least light emitters 802-1 is mounted within an interior of lift arm 632, wherein lift arm 62 has openings 1004 through its upper surface for the passage of emitted light. In the example illustrated, each of the light emitters 802- 1 has a corresponding aligned opening 1004 through its upper surface. In some implementations, such openings 1004 may be covered by a transparent or translucent film or cover panel 1006 to protect such light emitters 802 from dust or damage. In some implementations, the panel 1006 may be omitted and the openings 1004 may be filled with a transparent material.

[00076] Figure 11 is a sectional view illustrating construction 1100 of an example boom notification system 800 or system 900 described above. With construction 1100, a flexible printed circuit board/electrical wiring 1102 supporting at least light emitters 802-1 is mounted along an upper surface of lift arm 632. As result, the structural integrity of lift arm 632 is not compromised. Moreover, existing front loaders may be more easily updated or modified to include system 800 or system 900.

[00077] In the example illustrated, the construction 1100 additionally comprises a cover panel 1106 mounted or formed to the top of lift arm 632 so as to extend over and protect circuit board/wiring 1102 and light emitters 802 from dust or damage. In some implementations, the protective cover panel 1106 may be transparent such as where individual lights are selectively and independently actuated by controller 40. In some implementations, the protective cover panel may be diffusive or translucent such as in implementations where the individual light emitters are not independently actuated to different states or colors.

[00078] Although the claims of the present disclosure are generally directed to maintaining stability of a front loader by limiting operational parameters of the front loader, the present disclosure is additionally directed to the features set forth in the following definitions.

1 . A front loader vehicle comprising: a front loader comprising a fork or a bucket; and a controller configured to operate the front loader and the fork or bucket based upon operator input from an operator, wherein the controller is configured to receive an authorization input pertaining to the operator and is configured to limit operational parameters of the front loader based upon the authorization input. The front loader vehicle of definition 1 , wherein the authorization input comprises an authorization input consisting of: an authorization code, an identification of the operator, hours of operation by an operator; and an experience level of the operator. The front loader vehicle of definition 1 further comprising an operator interface, wherein the operator interface receives the authorization input from the operator. The front loader vehicle of definition 1 , wherein the operator interface comprises at least one operator interface selected from a group of operator interfaces 338 consisting of: a camera, a scanner, a keyboard, a mouse, and a joystick. The front loader vehicle of definition 1 , wherein the operational parameters to be limited by the controller are selected from a group of operational parameters consisting of: maximum load weight, maximum loader height, maximum vehicle speed. The front loader vehicle of definition 1 further comprising an operator interface configured to receive an identification of the operator, wherein the controller tracks or retrieves hours of experience by the operator using the front loader vehicle and wherein the controller is configured to limit operational parameters of the front loader available to the operator based upon the hours of experience. 7. The front loader vehicle of definition 1 , wherein the authorization input is provided by a source other than the operator.

8. A front loader vehicle comprising: a front loader configured to releasably attach to an end effector; a propulsion system to propel the front loader vehicle; and a controller to limit a maximum speed at which the front loader vehicle may be propelled based upon a height of the front loader.

9. A front loader vehicle comprising: a front loader configured to releasably attach to an end effector; at least one sensor to sense a pitch or roll of the front loader vehicle; and a controller to limit a maximum height of the front loader based upon the pitch or roll of the front loader vehicle.

10. A front loader vehicle comprising: a front loader configured to releasably attach to an end effector; a vision system to capture images forward of the front loader vehicle; and a controller configured to: determine a slope of upcoming terrain in front of the front loader vehicle based upon signals from the vision system; and output control signals to automatically adjust a height of the front loader based upon the slope of the upcoming terrain in front of the front loader vehicle.

11. A front loader vehicle comprising: a front loader comprising: a boom releasably coupled to an end effector; an actuator to selectively raise and lower the boom; at least one sensor to output load/environment signals indicating a characteristic of a current load being carried by the end effector and/or an environment proximate the front loader vehicle; and a controller configured to output control signals limiting at least one of a speed of the front loader vehicle, acceleration of the vehicle, and a height of the end effector based on the load/environment signals. The front loader vehicle of definition 11 , wherein the at least one sensor comprises a camera. The front loader vehicle of definition 11 , wherein the actuator comprises a hydraulic cylinder-piston assembly and wherein the at least one sensor comprises a pressure sensor fluidly coupled to the hydraulic cylinder-piston assembly. The front loader vehicle of definition 11 , wherein the actuator comprises a hydraulic cylinder-piston assembly and valves that controllably supply hydraulic fluid to the hydraulic cylinder-piston assembly and wherein the control signals control the valves to limit the height of the end effector. A front loader vehicle comprising: a front loader comprising: a boom releasably coupled to an end effector; an actuator to selectively raise and lower the boom; and a controller configured to determine a geographic location of the front loader vehicle and to automatically output control signals limiting at least one of a speed of the front loader vehicle, acceleration of the vehicle, and a height of the end effector based on the current geographic location. The front loader vehicle of definition 15 further comprising an operator interface, wherein the controller determines the current geographic location based on input from an operator using the operator interface. The front loader vehicle of definition 15 further comprising a geographic location sensor configure to output geographic location signals indicating the current geographic location, wherein the controller determines the current geographic location based on the geographic location signals. The front loader vehicle of definition 17, wherein the controller is configured to consult a map associating different maximum end effector heights and/or maximum speeds for different geographic locations with particular loads. The front loader vehicle of definition 15, further comprising at least one sensor to output load signals indicating a characteristic of a current load being carried by the end effector, wherein the control signals limiting at least one of a speed of the front loader vehicle, acceleration of the vehicle, and a height of the end effector are additionally based on the load signals. The front loader vehicle of definition 15, wherein the at least one sensor comprises a camera. The front loader vehicle of definition 15, wherein the actuator comprises a hydraulic cylinder-piston assembly and wherein the at least one sensor comprises a pressure sensor fluidly coupled to the hydraulic cylinder-piston assembly. The front loader vehicle of definition 15, wherein the actuator comprises a hydraulic cylinder-piston assembly and valves that controllably supply hydraulic fluid to the hydraulic cylinder-piston assembly and wherein the control signals control the valves to limit the height of the end effector. A front loader vehicle comprising: a front loader comprising: a boom releasably coupled to an end effector; an actuator to selectively raise and lower the boom; an operator interface configured to communicate information to an operator of the front loader vehicle; at least one sensor to output load signals indicating a characteristic of a current load being carried by the end effector; at least one sensor to output environment signals indicating an environment proximate to the front loader vehicle; and a controller configured to output notification signals based on the load signals and the environment signals, the notification signals causing a notification to be presented to the operator by the operator interface. The front loader vehicle of definition 23, wherein the environment signals indicate a roughness of a terrain. The front loader vehicle of definition 24, wherein the notification indicates a relationship between the current load being carried by the end effector and a predefined maximum load for the roughness of the terrain. The front loader vehicle of definition 23, wherein the notification is selected from a group of notifications consisting of: a percent of the maximum load for the roughness of the terrain with the current load; a warning that the maximum load for the roughness of the terrain is being exceeded; an indication that additional load may be added to the end effector. The front loader vehicle of definition 23, wherein the controller is configured to monitor a weight of the load carried by the end effector as portions of the load are being discharged by the end effector and wherein the notification is output in response to the weight of the load falling to at or below a predefined maximum load for an anticipated roughness of the terrain. 28. The front loader vehicle of definition 23, wherein the notification signals are additionally based upon a current speed of the front loader vehicle.

29. A front loader comprising: a lift arm configured to raise and lower a tool; at least one light emitter supported by the lift arm and actuatable between at least a first state and a second state; and a controller configured to output control signals to controllably actuate the light emitter between the first state and the second state to communicate information to an operator residing on the front loader.

[00079] Although the present disclosure has been described with reference to example implementations, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the claimed subject matter. For example, although different example implementations may have been described as including features providing benefits, it is contemplated that the described features may be interchanged with one another or alternatively be combined with one another in the described example implementations or in other alternative implementations. Because the technology of the present disclosure is relatively complex, not all changes in the technology are foreseeable. The present disclosure described with reference to the example implementations and set forth in the following claims is manifestly intended to be as broad as possible. For example, unless specifically otherwise noted, the claims reciting a single particular element also encompass a plurality of such particular elements. The terms “first”, “second”, “third” and so on in the claims merely distinguish different elements and, unless otherwise stated, are not to be specifically associated with a particular order or particular numbering of elements in the disclosure.

Claims

WHAT IS CLAIMED IS:

1 . A front loader stabilization system comprising: a front loader comprising: a vehicle; a lift mechanism carried by the vehicle for raising and lowering a tool configured to carry a load; and a controller configured to: determine a stability risk based on tool height and at least one of vehicle pitch; vehicle roll; vehicle turning radius; vehicle speed; vehicle geographic location; vibration; operator skill level; load height; load weight, and load weight distribution; and output control signals based on the stability risk, the control signals configured to result in at least one of tool height; vehicle speed and turning radius being limited.

2. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based on at least one of vehicle pitch and vehicle roll.

3. The front loader stabilization system of claim 1 , wherein the mechanism comprises a lift arm and at least one light emitter carried by the lift arm, and wherein controller is configured to controllably actuate the light emitter based upon at least one of a current tool height status, a current vehicle speed status and/or a current turning radius status.

4. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based on the vehicle turning radius.

5. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based on the vehicle speed.

6. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based upon the vehicle geographic location.

7. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based upon the vibration.

8. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based upon the operator skill level.

9. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk based upon the load height.

10. The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk additionally based upon the load weight distribution.

11 . The front loader stabilization system of claim 1 , wherein the controller is configured to determine the stability risk additionally based upon a combination of at least two stability factors selected from a group of factors consisting of: the vehicle pitch; the vehicle roll; the vehicle speed; the vehicle geographic location; the vibration; the operator skill level; the load height; the load weight, and the load weight distribution.

12. The front loader stabilization system of any of claims 1-11 , wherein the controller is configured to determine the stability risk based upon a stability model for the vehicle and tool, the stability model being based on stability factors comprising tool height and at least one of vehicle pitch; vehicle turning radius; vehicle roll; vehicle speed; vehicle geographic location; vibration; operator skill level; load height; and load weight distribution and wherein the controller is configured to adjust values for at least one of the stability factors of the model based upon at least one of a sensed vehicle pitch and a sensed vehicle roll.

13. The front loader stabilization system of any of claims 1 -11 further comprising a display, wherein the control signals are configured to notify an operator of the determined stability risk.

14. The front loader stabilization system of any of claims 1 -11 further comprising a display, wherein the control signals are configured to present recommended limits for at least one of the tool height; the vehicle speed and the turning radius on the display based on the determined stability risk.

15. The front loader stabilization system of any of claims 1-11 , wherein the control signals are configured to automatically limit at least one of the tool height; the vehicle speed and the turning radius based on the determined stability risk.