A working machine has a body, a ground-engaging propulsion structure supporting the body, an inclinable working arm pivotally connected to the body mounting a working implement at a distal end thereof, a drive arrangement configured to provide motive power, and a control system configured to determine a center of gravity of the working machine. The control system is configured to control or restrict a speed of movement of the working machine in response to the determined center of gravity.

A fork assembly can include multiple forks configured to surround a load. Multiple attachments can be made on the forks to couple to straps for support a load. The fork assembly can further include multiple fork extensions having end attachments to couple to straps for pulling on the load. Alternatively, the fork assembly can include multiple fork lifters having blades rotatable between a non-lift position and a lift position. The fork extensions can also have blades rotatable between a non-pullable position and a pullable position. The blade rotation can be performed by a remote rotate mechanism by an operator operating the fork assembly.

A fork assembly can include multiple forks configured to surround a load. Multiple attachments can be made on the forks to couple to straps for support a load. The fork assembly can further include multiple fork extensions having end attachments to couple to straps for pulling on the load. Alternatively, the fork assembly can include multiple fork lifters having blades rotatable between a non-lift position and a lift position. The fork extensions can also have blades rotatable between a non-pullable position and a pullable position. The blade rotation can be performed by a remote rotate mechanism by an operator operating the fork assembly.

A bale loading apparatus has a base frame mounted to a loader vehicle operative to move the base frame up and down. Right and left fork frames are connected to right and left portions of the base frame by corresponding right and left linkages, and right and left fork pairs extend away from the loader end of the base frame. A right actuator is operative to pivot the right fork pair with respect to the base frame upward and outward to the right of a path of the loader vehicle from a lowered right position to a raised right position, and a left actuator is operative to pivot the left fork pair with respect to the base frame upward and outward to the left of the path of the loader vehicle from a lowered left position to a raised left position.

A bale loading apparatus has a base frame mounted to a loader vehicle operative to move the base frame up and down. Right and left fork frames are connected to right and left portions of the base frame by corresponding right and left linkages, and right and left fork pairs extend away from the loader end of the base frame. A right actuator is operative to pivot the right fork pair with respect to the base frame upward and outward to the right of a path of the loader vehicle from a lowered right position to a raised right position, and a left actuator is operative to pivot the left fork pair with respect to the base frame upward and outward to the left of the path of the loader vehicle from a lowered left position to a raised left position.

An operation unit includes a lever shaft having an operating lever at one end thereof and orthogonal to the operating lever, a plate with a flange having a bearing of the lever shaft, the other end-side of the lever shaft being arranged with penetrating the plate with a flange from a front surface thereof, a rotation restraint part for the lever shaft fixed to the lever shaft behind the plate with a flange and having a self-return function of forward and reverse rotations of the lever shaft, a cover with a flange covered on a backside of the plate with a flange in a form of sandwiching the rotation restraint part, a tip end-side of the lever shaft penetrating the cover with a flange via a bearing, and a potentiometer provided on a backside of the cover with a flange, rotation of the lever shaft being transmitted to the potentiometer.

An autonomous mobile robot includes a placement part, an arm configured to extend from and retract into the placement part in a horizontal direction, and a control unit configured to control a movement of the arm. The control unit moves a tip of the arm into a groove formed in a bottom surface of an object supported from underneath thereof, and then the control unit returns the tip of the arm hooked in the groove to the placement part, or the control unit moves the tip of the arm hooked in a groove formed in a bottom surface of an object placed on the placement part toward a rack configured to support the object from underneath thereof.

An autonomous mobile robot includes a placement part, an arm configured to extend from and retract into the placement part in a horizontal direction, and a control unit configured to control a movement of the arm. The control unit moves a tip of the arm into a groove formed in a bottom surface of an object supported from underneath thereof, and then the control unit returns the tip of the arm hooked in the groove to the placement part, or the control unit moves the tip of the arm hooked in a groove formed in a bottom surface of an object placed on the placement part toward a rack configured to support the object from underneath thereof.

A safety control unit for controlling a lifting arm of a lifting arm machine is provided. The safety control unit comprises a safety control unit housing, a sensor input, a first processor and a second processor. The sensor input is configured to receive a first signal indicative of a toppling moment of the lifting arm about the lifting arm machine and a second signal indicative of the toppling moment of the lifting arm about the lifting arm machine, wherein the first and second signals are independent of each other. The first processor is provided within the safety control unit housing and configured: to receive the first signal, to determine a first toppling moment based on the first signal, and to output the first toppling moment. The second processor is independent of the first processor and provided within the safety control unit housing. The second processor is configured: to receive the second signal, to determine a second toppling moment based on the second signal, to receive the first toppling moment from the first processor, and to cross-check that first toppling moment and the second toppling moment are within a predetermined range of each other. Further, the safety control unit is configured: to determine whether the first toppling moment and the second toppling moment exceed a predetermined threshold, and to output a toppling safety command signal if the safety control unit determines the predetermined threshold or the predetermined range is exceeded. A display unit and a lifting arm safety system, each comprising the safety control unit is also provided.

A safety control unit for controlling a lifting arm of a lifting arm machine is provided. The safety control unit comprises a safety control unit housing, a sensor input, a first processor and a second processor. The sensor input is configured to receive a first signal indicative of a toppling moment of the lifting arm about the lifting arm machine and a second signal indicative of the toppling moment of the lifting arm about the lifting arm machine, wherein the first and second signals are independent of each other. The first processor is provided within the safety control unit housing and configured: to receive the first signal, to determine a first toppling moment based on the first signal, and to output the first toppling moment. The second processor is independent of the first processor and provided within the safety control unit housing. The second processor is configured: to receive the second signal, to determine a second toppling moment based on the second signal, to receive the first toppling moment from the first processor, and to cross-check that first toppling moment and the second toppling moment are within a predetermined range of each other. Further, the safety control unit is configured: to determine whether the first toppling moment and the second toppling moment exceed a predetermined threshold, and to output a toppling safety command signal if the safety control unit determines the predetermined threshold or the predetermined range is exceeded. A display unit and a lifting arm safety system, each comprising the safety control unit is also provided.