Handling machine configured to issue an alert in case of tipping and corresponding alert procedure

Abstract

The invention relates to a handling machine comprising a rolling chassis (2); and a sensor system comprising a lateral tilt sensor (121) and a longitudinal tilt sensor (122); a processing unit (10) to which the sensor system is connected; and a radio communication device (110) connected to the processing unit (10). The processing unit (10) comprises a module (11) for determining the overturning state of the machine based on at least some of the data provided by the sensor system; and an alert control module (12) that commands the transmission, via the radio communication device (110), of an alert signal to a remote device. The invention also relates to a corresponding alert method. Figure for the abstract: Fig. 6

Description

Title of the invention: Handling machine configured to issue an alert in case of tipping and corresponding alert method FIELD OF INVENTION

[0001] The present invention relates generally to handling machines and the sending of an alert in the event of the machine tipping over.

[0002] Such a machine can in particular be made in the form of a telescopic arm truck, mechanical excavator, bucket loader or other. EARLIER ART

[0003] It is observed that handling machine accidents generally result from an overturning, or tipping, of the machine.

[0004] The response time for first aid can be very long, particularly when the machine operator is alone on the worksite. The risk of death or worsening of the operator's injuries is then significant.

[0005] The present invention aims to provide a new handling machine and a corresponding alerting method to overcome all or part of the problems described above. Summary of the invention

[0006] To this end, the invention relates to a handling machine comprising a rolling chassis and a load or person handling system, carried by the rolling chassis; characterized in that the machine further comprises: a sensor system comprising a lateral tilt sensor, configured to determine a lateral tilt angle of the machine chassis; and a longitudinal tilt sensor, configured to determine a longitudinal tilt angle of the machine chassis; a processing unit to which the sensor system is connected; and a radio communication device connected to the processing unit; the processing unit comprising: a machine rollover state determination module configured to determine a machine rollover state based on at least some of the data provided by the sensor system; an alert control module configured to command the sending of an alert signal to a remote device, via the radio communication device, when a machine overturning state is determined.

[0007] The use of at least part of the data provided by the lateral tilt sensor and the longitudinal tilt sensor makes it possible to efficiently detect a state of overturning of the machine.

[0008] The handling machine's alert control module then makes it possible to automatically alert a third party, for example a person from a rescue service, of a machine overturning in order to allow for a rapid intervention at the site of the machine overturning.

[0009] When the machine detects a tip-over, the alert can thus be automatically sent to one or more devices, for example, those associated with an emergency service or other external parties, without any action required from the operator or anyone nearby. In particular, the handling machine can alert a specified, i.e., predefined contact, to the machine's tip-over status by activating a telecommunications system to make a call or send a message.

[0010] Emergency services can thus be notified quickly and automatically in order to limit intervention time.

[0011] According to one embodiment, the detection of the overturned state of a first handling machine can also trigger the sending of a message to a second handling machine, either directly or indirectly (for example, via a GSM network), for example, one located on the worksite, to inform the operator of this second handling machine of the overturned machine and / or allow the second handling machine to relay (repeat) the message to another handling machine or to another remote system, such as a backup control station. The handling machines can thus form a communication network in which the overturned machine emits the warning signal and the other handling machine(s) act as repeaters of the warning signal.

[0012] The detection of the overturned state of the handling machine can also trigger the activation of an audio and / or visual warning device, such as a siren or a flashing light, for the immediate or nearby environment of the machine, for example to warn a person present on the site where the machine is located or to warn the environment outside the site or the neighborhood of an accident involving a lone worker.

[0013] The alert control module can also be used to inform a third party, for example a fleet manager, of the machine's status in real time and remotely. Thus, for a plurality of machines managed by a fleet manager, the manager of these machines can be reliably informed in real time of the status of their fleet of machines.

[0014] The machine may also include one or more of the following features taken in any technically permissible combination.

[0015] According to one embodiment of the invention, the machine tilt state determination module is configured to determine a machine tilt state based at least on data from the lateral tilt sensor and the longitudinal tilt sensor.

[0016] According to one embodiment of the invention, the sensor system also includes a sensor for measuring a parameter representative of the longitudinal stability of the machine, such as a strain gauge located on a rear axle of the machine so as to measure a value representative of the weight exerted on the rear of the machine, and the module for determining the overturning state of the machine is configured to determine an overturning state of the machine also as a function of the data from the sensor for measuring a parameter representative of the longitudinal stability of the machine.

[0017] According to one embodiment of the invention, the machine also includes a location sensor for at least a part of the machine in the terrestrial reference frame or in a local reference frame, such as a warehouse; and the alert control module is configured to control the sending to a remote device, by the radio communication device, of said alert signal associating therewith a location data of the machine determined from the location sensor.

[0018] According to one embodiment of the invention, the load or person handling system includes a lifting arm, preferably articulated to the chassis, and equipped with a handling device, such as a tool holder suitable for receiving a tool.

[0019] According to one embodiment of the invention, the machine includes a voice and / or video communication device for communicating with a remote device, and the alert control module is configured to, in the detected state of a machine rollover, automatically establish communication with the remote device, for example to allow a user of the remote device to establish voice and / or visual contact with the driver.

[0020] According to one embodiment of the invention, the machine's overturning state determination system is configured to determine an overturning state when: - the measured longitudinal inclination angle is greater than a threshold value, for example 12°, and, over a given period, the inclination angle has increased by a value greater than a given value, for example 6°, exceeding said threshold value; and / or - the measured lateral tilt angle is greater than a threshold value, for example 7° and, for a given period, the tilt angle has increased by a value greater than a given value, for example 6°, by exceeding said threshold value.

[0021] According to one embodiment of the invention, the machine's overturning state determination module is configured to determine an overturning state when the processing unit determines a sudden change in the lateral tilt angle of the lateral tilt sensor in one direction and / or in the opposite direction, said sudden change corresponding to a change in the lateral tilt angle value greater than a given threshold value in a given time.

[0022] According to one embodiment of the invention, the machine's overturning state determination module is configured to determine an overturning state when, in addition to the value measured by the measuring sensor of a parameter representative of the machine's longitudinal stability, it is greater than a threshold value.

[0023] According to one embodiment of the invention, the machine comprises a front rolling axle and a rear rolling axle which support the chassis of the machine, the handling system preferably comprising a lifting arm articulated on an area of ​​the chassis closer to the rear axle of the machine than to the front axle.

[0024] According to one embodiment of the invention, the lateral tilt sensor is also configured to determine the lateral angular acceleration of the chassis, and the machine rollover state determination module is configured to determine a machine rollover state based also on at least the lateral angular acceleration of the chassis.

[0025] According to one embodiment of the invention, the load or person handling system comprising a lifting arm articulated to the chassis, the sensor system also includes a sensor for an angle of the lifting arm, and the machine tipping state determination module is configured to determine a tipping state of the machine based also on at least the angle of the lifting arm.

[0026] According to one embodiment of the invention, the alert control module is configured to also control the activation of an audio and / or visual warning device, such as a siren or a flashing light, of the machine, intended for the immediate or nearby environment of the machine.

[0027] The invention also relates to an assembly comprising a handling machine according to any one of the embodiments of the invention, and an apparatus comprising a device for repeating the warning signal emitted by the handling machine in the event of overturning, said apparatus being able to be another handling machine according to any one of the embodiments of the invention.

[0028] The invention also relates to an alerting method implemented using a handling machine according to any one of the embodiments of the invention or with an assembly as proposed above, said method comprising the following steps: - measurement of the lateral tilt angle and / or the longitudinal tilt angle of the machine; - determination of a reversal state of the machine based on at least some of the data provided by the sensor system; - command to send an alert signal to a remote device, via the radio communication device, when a machine overturning state is detected. Brief description of the drawings

[0029] Other features and advantages of the invention will become apparent from the following description, which is purely illustrative and not limiting and should be read in conjunction with the accompanying drawings, on which:

[0030] - [Fig. 1] [Fig. 1] is a schematic side view of a material handling machine lifting arm including an alert system according to an embodiment;

[0031] - [Fig.2] [Fig.2] is a schematic front view of a handling machine lifting arm, such as the machine in [Fig.1], the handling machine being inclined laterally at an angle α with respect to the horizontal;

[0032] - [Fig.3] [Fig.3] is a schematic side view of a material handling machine lifting arm, such as the machine in [Fig.1], the handling machine being inclined longitudinally at an angle [3] with respect to the horizontal;

[0033] - [Fig.4] [Fig.4] is a schematic view of a handling machine, such as the machine of [Fig.1], which includes a handling arm inclined longitudinally at an angle y relative to the chassis (alternatively the angle y can be defined relative to the horizontal);

[0034] - [Fig.5] [Fig.5] is a schematic side view of a material handling machine lifting arm, such as the machine in [Fig.1], including an alert system according to one embodiment;

[0035] - [Fig.6] [Fig.6] is a schematic view of a processing unit of a machine handling equipment, such as the machine in [Fig.1], according to one embodiment, to which sensors and control equipment are connected;

[0036] - [Fig.7] [Fig.7] is a schematic view of a handling machine, such as the machine in [Fig.1], communicating with a remote device according to one embodiment;

[0037] - [Fig.8] [Fig.8] is a flowchart comprising steps of an alerting process implementation using a handling machine, such as the machine in [Fig.1], according to one embodiment. DETAILED DESCRIPTION

[0038] The concept of the invention is described more fully below with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the elements can be seen The numbers are exaggerated for clarity. Similar numbers refer to similar elements on all drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are offered so as to make this description complete and to communicate the scope of the concept of the invention to those skilled in the art.

[0039] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0040] With reference to the figures, a handling machine is proposed equipped with a machine tipping state detection system (also called the machine tipping state determination module) allowing the said tipping state to be determined reliably and quickly, and with an alert system (also called the alert control module) allowing an alert signal to be automatically emitted to a remote device, for example to automatically notify emergency services.

[0041] In [Fig. 5], an example of a material handling machine 1 with a handling arm has been shown. The material handling machine 1 comprises a rolling chassis 2 supported on the ground by means of a front axle 3 and a rear axle 4.

[0042] The handling machine 1 includes a motorized system for moving the machine on the ground. The motorized system for moving the machine includes, for example, an electric motor and / or an internal combustion engine, and a wheel transmission and steering control system for directing the movement of the machine.

[0043] The rolling chassis 2 carries a handling system 600 and an actuation system for moving said handling system relative to the chassis 2. The handling system 600 includes an arm 6, usually called a lifting arm, articulated to the rolling chassis 2 so that it can be moved between a lowered position and a raised position. The handling system 600 also includes a handling device 614 located at the end of the lifting arm. In one embodiment, the handling device 614 includes a tool holder and a tool 14 fixed (in a removable manner) to the tool holder. Alternatively, the tool may be permanently integrated into the tool holder or the tool may be di- fixed directly to the end of the arm.

[0044] The handling machine includes a processing unit 10 (also called a control unit), including for example a computer, which allows the operator, via a human-machine interface (which may include a control element, such as a joystick) to control the handling machine, and in particular to control the movement of the machine and / or the position of the arm 6.

[0045] The rolling chassis 2 includes a cab 20 having a door allowing an operator to get into the cab 20 to operate the machine.

[0046] The lifting arm 6 (or handling arm) is mounted on the chassis 2 and can be oriented about an axis of rotation 7. The axis of rotation extends parallel to the lateral direction of the machine. In particular, said axis of rotation 7 is horizontal when the rolling chassis 2 is resting on a horizontal surface. The arm 6 projects forward from the machine. In one embodiment, the axis 7 is closer to the rear axle than to the front axle of the machine.

[0047] The arm 6 is equipped with a load carrier 14, such as a fork or bucket system, articulated to the arm 6 by a linkage 15 and configured to carry a payload 9.

[0048] In the example illustrated in [Fig. 5], the arm 6 is of the telescopic type. The arm 6 thus comprises at least two segments that can be deployed by means of a deployment cylinder, not shown, arranged between the at least two segments. Alternatively, the arm may be a non-telescopic arm.

[0049] In the example of [Fig. 5], the arm actuation device includes, in particular, a lifting actuator, for example a hydraulic cylinder 8, which allows the arm 6 to be moved up and down around the horizontal axis 7, under the control of the piloting system. Alternatively, the lifting actuator may be an electric cylinder.

[0050] The processing unit 10 can be configured to control the lifting actuator, for example via a hydraulic circuit (not shown), depending on the operator's input of a control device 12, such as a joystick.

[0051] The hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a solenoid valve for controlling the hydraulic cylinder 8. The solenoid valve for controlling the hydraulic cylinder 8 may be controlled by the processing unit 10.

[0052] Sensor system

[0053] The handling machine includes a sensor system to provide signals enabling a processing unit 10 of the machine, which may be common in whole or in part to the processing unit shown above configured to control the machine, to analyze the sensor signals and determine the state of the machine, and in particular to determine the machine's inverted state and location.

[0054] The machine has a longitudinal direction (or axis) D122 corresponding to the forward and backward direction of travel of the machine in a straight line, i.e., a direction which, viewed from above, intersects the axis of the front wheels and the axis of the rear wheels, and which is perpendicular to each of these axes. The longitudinal direction, when the machine's wheels are in contact with the ground, is parallel to the plane of contact of the wheels. The lateral direction (or axis) of the machine is orthogonal to the longitudinal direction, preferably parallel to the axis of the front or rear wheels when the wheels are straight, i.e., when the wheels are not turned. The lateral direction, when the machine's wheels are in contact with the ground, is parallel to the plane of contact of the wheels.

[0055] The sensor system includes a sensor 121, for example an inclinometer or ac-celerometer, to determine the lateral angular position of the machine frame relative to the horizontal plane, i.e. the angle that the lateral direction D121 of the machine frame makes with respect to a lateral reference D121ref which may be the horizontal plane.

[0056] The sensor system also includes a sensor 122, for example an inclinometer or accelerometer, for determining the longitudinal angular position of the machine frame relative to a longitudinal reference D122ref, which may be the horizontal plane or the ground plane; i.e., the angle that the longitudinal direction D122 of the machine frame makes with respect to a longitudinal reference D122ref. The sensors 121 and 122 may be implemented as a single sensor.

[0057] According to one embodiment, the sensors 121, 122 are made in the form of a 3-axis inclinometer or a 3-axis accelerometer.

[0058] Preferably, each sensor measures an angle with respect to an absolute reference frame (for example, with respect to the horizontal). The sensor system may also be used to determine an absolute angle of a part of the machine that is mounted to move relative to the chassis, such as the lifting arm (or boom), by combining the absolute angle of lateral or longitudinal inclination of the chassis measured by the sensor system and a relative angle of lateral or longitudinal inclination measured by another sensor between said moving part and the chassis.

[0059] The sensor system may further include a sensor 120 for determining the longitudinal stability of the machine, the sensor 120 enabling the measurement of a longitudinal tipping moment, i.e., the moment of the machine about the horizontal lateral axis or the lateral axis of the machine. The lateral axis is an axis orthogonal to the longitudinal axis of the machine and parallel to the horizontal plane or the ground contact plane of the machine's wheels in the upright state. The sensor system may include a strain gauge positioned on the rear axle of the machine.

[0060] As mentioned above, the sensor system is connected to the processing unit 10 to allow the determination of values ​​of different parameters of the handling machine.

[0061] The machine also includes a radio communication module 110 (i.e., wireless) for communicating with a remote device 32, such as an Emergency Services terminal, for example ([Fig. 7]). The radio communication module 110 can be a communication module using a mobile telephony protocol, such as GSM, 3G, 4G, or 5G, or a Wi-Fi protocol, an Internet of Things protocol, such as LoRa, or a short-range communication protocol such as Bluetooth. The remote device can also be a server 31 on which data transmitted by the machine's radio communication module 110 is stored.

[0062] As schematically illustrated in [Fig. 6], the machine comprises the sensor system, for example sensors 120, 121, 122, and optionally a positioning system 150 connected, either wirelessly or via wire, to the processing unit 10 to provide input data. Electrical or electronic equipment is also connected to the processing unit so that it can be controlled by the processing unit. As explained below, the electrical or electronic equipment to be controlled may include, for example, an audio and / or video device 131 or a display screen, a sound device 192, such as a siren, a rotating beacon 191, or one or more indicator lights, and the radio communication module 110.

[0063] According to a particular aspect, the electronic and computer system of the machine includes, for example at the level of the computer (the processing unit), a processor which allows the execution of instructions of a computer program, such as an alert program presented below, and a memory in which said alert program can be stored.

[0064] The alert program uses as input parameters the values ​​determined by the sensor system of the parameters to be monitored (such as angles) to compare them to threshold or state values, and then trigger one or more control actions of the machine's electrical or electronic equipment, depending on the result of the comparison.

[0065] According to one embodiment, it can be provided that the threshold or state values, associated with parameters to be monitored, are recorded in a memory, which may be separate or in whole or in part common with the program storage memory.

[0066] Location system

[0067] As schematically shown in Figures 1 and 5, the machine includes a system 150 for determining the machine's location in the Earth's reference frame or in real time. Localized positioning (in an enclosed environment such as a building, for example via a local area network within a building or outdoors). The positioning system includes an onboard positioning device, such as a GPS. In a particular embodiment, the positioning system may be located outside the machine.

[0068] Radio communication module

[0069] The radio communication module 110 can be configured to communicate with a radio (wireless) communication network to transmit an alert message corresponding to a machine rollover to a remote device 32, such as a terminal used, for example, by emergency services. The radio communication module 110 can communicate with the remote device 32 via one or more other devices, such as servers 31 and / or a telecommunications network.

[0070] When a machine overturned is detected, the data transmitted by the radio communication module 110 preferably includes machine location data. The data transmitted by the radio communication module 110 may also include a timestamp, and / or an identifier for the handling machine and optionally an identifier for the operator. It is understood that the remote server may consist of one or more servers.

[0071] The wireless communication network includes a wireless network, for example, a cellular type such as a mobile phone network (GSM, GPRS, 3G, 4G, 5G, etc.) and / or an Internet of Things network (LoRa, Sigfox, etc.). The wireless communication network may also include a network established between the machine and one or more other handling machines, for example using a communication protocol such as Wi-Fi, the other handling machine(s) preferably being configured to also transmit the alert message to a remote device, used for example by emergency services, via a wireless communication network.

[0072] Audio and / or video communication device

[0073] Advantageously, the handling machine includes an audio and / or video device 131 enabling audio and / or video communication with a remote device which may be common to or separate from the remote device which receives the alert message.

[0074] It can be foreseen that in the event of a rollover detection, the processing unit 10 is configured to automatically establish audio and / or video communication with a predefined remote device to allow a user of the remote device, such as a person from emergency services, to enter and remain in contact with the driver of the damaged machine.

[0075] Warning equipment

[0076] As schematically illustrated in [Fig. 1], the machine may include a light device 191, such as a rotating beacon, controlled to warn the surrounding environment when a rollover situation is detected by the processing unit. The machine may also include an audible device 192, such as a siren, which may be associated with the rotating beacon, controlled to warn the surrounding environment when a rollover situation is detected by the processing unit.

[0077] The machine may include a device 170 for stopping the alarm system configured to stop the emission of the alarm in the event of a false alarm or ongoing security intervention.

[0078] The system for determining the reversal state

[0079] The processing unit 10 includes a module 11 for determining the reversal state of the machine.

[0080] According to one embodiment, module 11 allows for the determination of several reversal cases, including: - a first case in which the machine is overturned by lateral tipping, that is to say when the machine has fallen laterally so that the machine ends up supported on one of its sides by an element of the external environment, such as the ground or a building, and / or - a second case in which the machine is overturned by longitudinal tilting, that is to say if the machine is supported on an element of the external environment, such as the ground or a building by its handling system and if one or more rear wheels no longer touch or are no longer in contact with the ground (which can be detected using a strain gauge located on the rear axle), and is immobile; - a third case in which the machine is overturned by longitudinal tilting forwards and then rapidly backwards, for example due to a loss of charge during the forward tilting; - a fourth case in which the machine is overturned by longitudinal tilting backwards, and remains stationary.

[0081] It can be foreseen that the system makes it possible to determine a combination of all or part of these cases.

[0082] According to one particular aspect, the machine overturning state determination module 11 is configured to determine an overturning state when: - the measured longitudinal inclination angle (|3) is greater than a threshold value, for example 12°, and, for a given period, the inclination angle has increased by a value greater than a given value, for example 6°, by exceeding said threshold value; and / or - the measured lateral tilt angle (a) is greater than a threshold value, for example 7° and, over a given period, the tilt angle has increased by a value greater than a given value, for example 6°, by exceeding said threshold value.

[0083] According to one embodiment, the machine overturning state determination module 11 is configured to determine an overturning state when: - the processing unit determines a sudden change in the lateral tilt angle of the lateral tilt sensor (angle change greater than a given threshold value for a given time) in one direction and / or in the opposite direction, and, - preferably, the value measured by the sensor 120 measuring a parameter representative of the longitudinal stability of the machine, such as a strain gauge, is greater than a threshold value.

[0084] According to one embodiment, the machine's overturning state determination module 11 is configured to determine an overturning state based on the curve profile of the angle of inclination a and / or [3 as a function of time.

[0085] According to one embodiment, the lateral tilt sensor 121 is also configured to determine the lateral angular acceleration Acca of the chassis, and the module 11 for determining the overturned state of the machine is configured to determine an overturned state of the machine as a function of at least the lateral angular acceleration Acca of the chassis.

[0086] The processing unit 10 also includes an alert control module 12 configured to control the sending to a remote device 32, by the radio communication device 110, of an alert signal, preferably associated with a location data of the machine determined from the location determination system.

[0087] Electronic and / or computer system

[0088] The functions and steps described above can be implemented in the form of a computer program or via hardware components (e.g., programmable gate arrays). In particular, the functions and steps performed by the processing unit, or its modules, can be implemented by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components or components such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). It is possible to combine computer and electronic components.

[0089] The processing unit is thus an electronic and / or computer unit. When it is specified that said unit is configured to perform a given operation, this means that the unit includes computer instructions and the corresponding means of execution which enable said operation to be carried out and / or that the unit includes corresponding electronic components.

[0090] The handling machine thus makes it possible to identify an accident situation, then: - to send the accident alert via wireless communication to a third party; - and / or to send the accident alert to other machines or systems equipped to receive the alert; - and / or to alert the surrounding environment through light or sound alerts.

[0091] Alerting method

[0092] The handling machine presented above allows for the implementation of an alerting process described below in connection with [Fig.8].

[0093] In step 810, sensors 121, 122 connected to the processing unit 10 measure the lateral tilt angle and / or the longitudinal tilt angle of the machine. Sensor 120 may also be used to measure the load on the rear axle of the machine.

[0094] In step 820, the processing unit 10 determines, from the data of at least one, preferably a combination of the sensors, the reversed state of the machine.

[0095] In step 830, the processing unit 10 transmits an alert signal preferably associated with a machine location data to a remote device 32. The alert signal is an alert understandable by an external operator, such as an emergency service, to provide useful information to enable effective processing of the request and to react accordingly.

[0096] The remote device can be a terminal such as a telephone or computer used by emergency services, which can receive the accident alert through communication initiated between the machine and the terminal. The alert signal can include an SMS or a telephone call.

[0097] The invention is not limited to the embodiments illustrated in the drawings.

[0098] Furthermore, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the embodiments set out above may also be used in combination with other features or steps from other embodiments set out above.

Claims

Claims

1. Handling machine (1) comprising a rolling chassis (2) and a handling system (600) for a load (9) or a person, carried by the rolling chassis; characterized in that the machine further comprises: a sensor system comprising a lateral inclination sensor (121), configured to determine a lateral inclination angle (a) of the chassis of the machine; and a longitudinal inclination sensor (122), configured to determine a longitudinal inclination angle (|3) of the chassis of the machine; a processing unit (10) to which the sensor system is connected; and a radio communication device (110) connected to the processing unit (10); the processing unit (10) comprising: a module (11) for determining the overturning state of the machine, configured to determine a overturning state of the machine as a function of at least part of the data provided by the sensor system;an alert control module (12) configured to control the sending to a remote device (32), by the radio communication device (110), of an alert signal when a reversal state of the machine is determined.;

2. Handling machine according to claim 1, wherein the module (11) for determining the overturning state of the machine is configured to determine a overturning state of the machine based at least on the data from the lateral tilt sensor (121) and the longitudinal tilt sensor (122).

3. Handling machine according to claim 1 or 2, in which the sensor system also comprises a sensor (120) for measuring a parameter representative of the longitudinal stability of the machine, such as a strain gauge located on a rear axle of the machine so as to measure a value representative of the weight exerted on the rear of the machine, and the module (11) for determining the overturning state of the machine is configured to determine an overturning state of the machine also as a function of the data from the sensor (120) for measuring a parameter representative of the longitudinal stability tudinal of the machine.

4. Handling machine according to any one of the preceding claims, in which the machine also comprises a location sensor (150) for locating at least part of the machine in the terrestrial reference frame or in a local reference frame, such as a warehouse; and the alert control module (12) is configured to control the sending to a remote device (32), by the radio communication device (110), of said alert signal by associating therewith a location data item of the machine determined from the location sensor (150).

5. Handling machine according to any one of the preceding claims, in which the load or person handling system (600) comprises a lifting arm (6), preferably articulated to the chassis, and equipped with a handling device (614), such as a tool holder capable of receiving a tool.

6. A handling machine according to any preceding claim, wherein the machine comprises a voice and / or video communication device (131) for communicating with a remote apparatus (32), and the alert control module (12) is configured to, in the detected condition of a rollover of the machine, automatically establish communication with the remote apparatus (32), for example to enable a user of the remote apparatus to establish voice and / or visual contact with the driver.

7. Handling machine according to any one of the preceding claims, in which the system (11) for determining the overturning state of the machine is configured to determine an overturning state when: - the measured longitudinal inclination angle (|3) is greater than a threshold value, for example 12°, and, during a given duration, the inclination angle has increased by a value greater than a given value, for example 6°, by crossing said threshold value upwards; and / or - the measured lateral inclination angle (a) is greater than a threshold value, for example 7° and, during a given duration, the inclination angle has increased by a value greater than a given value, for example 6°, by crossing said threshold value upwards.

8. Handling machine according to any one of the preceding claims, the module (11) for determining the overturning state of the machine is configured to determine an overturning state when the processing unit (10) determines a variation, called sudden, of the angle (a) of lateral inclination of the lateral inclination sensor in one direction and / or in the opposite direction, said sudden variation corresponding to a variation in the value of the lateral inclination angle greater than a given threshold value in a given time.

9. Handling machine according to claim 8 taken in combination with claim 3, the module (11) for determining the overturning state of the machine is configured to determine a overturning state when, in addition to the value measured by the sensor (120) for measuring a parameter representative of the longitudinal stability of the machine, it is greater than a threshold value.

10. A handling machine according to any preceding claim, wherein the machine comprises a front rolling axle (3) and a rear rolling axle (4) which carry the chassis (2) of the machine, the handling system preferably comprising a lifting arm articulated on an area of ​​the chassis closer to the rear axle of the machine than to the front axle.

11. Handling machine according to any one of the preceding claims, in which the lateral tilt sensor (121) is also configured to determine the lateral angular acceleration (Acca) of the chassis, and the module (11) for determining the overturning state of the machine is configured to determine a overturning state of the machine also as a function of at least the lateral angular acceleration (Acca) of the chassis.

12. Handling machine according to any one of the preceding claims, in which, the load or person handling system (600) comprises a lifting arm (6) articulated to the chassis, the sensor system also comprises a sensor of an angle (y) of the lifting arm (6), and the module (11) for determining the overturning state of the machine is configured to determine a overturning state of the machine also as a function of at least the angle (y) of the lifting arm (6).

13. Handling machine according to any one of the preceding claims, in which the alert control module (12) is configured to also control the activation of an audio and / or visual warning device, such as a siren or a flashing light, of the machine, intended for the direct or close environment of the machine.

14. An assembly comprising a handling machine according to any one of the preceding claims, and an apparatus comprising a device for repeating the warning signal emitted by the handling machine in the event of overturning, said apparatus possibly being another handling machine according to any one of the preceding claims.

15. An alert method implemented using a handling machine according to any one of claims 1 to 13 or with an assembly according to claim 14, said method comprising the following steps: - measuring the lateral tilt angle and / or the longitudinal tilt angle of the machine; - determining a rollover state of the machine based on at least part of the data provided by the sensor system; and - controlling the sending to a remote device (32), by the radio communication device (110), of an alert signal when a rollover state of the machine is determined.

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