Automatic leveling of work machine

Abstract

A method of adjusting a first plane of a work machine includes a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer and a fourth adjustable stabilizer each extendable between a minimum extension and a maximum extension. For each adjustable stabilizer, the length difference between the minimum extension and the maximum extension is the same. The first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are configured to support the work machine when the distal end of each adjustable stabilizer is in contact with the ground surface. The first stabilizer pair includes a first adjustable stabilizer and a second adjustable stabilizer. The second stabilizer pair includes a second adjustable stabilizer and a third adjustable stabilizer. The method comprises: a. Extending a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer, and a fourth adjustable stabilizer to a first configuration in which each adjustable stabilizer is in a calibrated extension, the first plane is parallel to a reference plane defined by contact points of the distal ends of the first, second, third and fourth adjustable stabilizers with the ground surface; b. Adjusting the first stabilizer pair such that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a second configuration in which: the tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached the maximum extension; c. Adjusting the second stabilizer pair such that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer make a third configuration in which: the tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or the second adjustable stabilizer and the third adjustable stabilizer have reached the maximum extension.

Description

Technical Field

[0001] The present invention relates to the field of work machines. Background Art

[0002] Known working machines such as wheeled excavators or material handling machines are equipped with stabilizers mounted to the lower bracket. These stabilizers can be arranged in pairs at the front and / or rear of the lower bracket.

[0003] Typically, stabilizers are used to support a work machine while a machine tool is operating (e.g., digging or moving materials) to provide a wider and more stable surface than wheels, without the damping effect of wheels. When in use, the operator can extend all stabilizers to their maximum length. If the work machine is not level, the operator can adjust each stabilizer one by one to correct the slope, which requires the operator to have good skills in adjusting the stabilizers individually and a good understanding of the ground topography. Summary of the invention

[0004] In this context, a method for adjusting a first plane of a work machine is provided, wherein the work machine includes a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer, a fourth adjustable stabilizer and a tilt sensor. The first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer can each extend between a minimum extension and a maximum extension, wherein for each adjustable stabilizer, the length difference between the minimum extension and the maximum extension is the same. The first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured to support the work machine when the distal end of each adjustable stabilizer contacts the ground surface. The first stabilizer pair includes a first adjustable stabilizer and a second adjustable stabilizer. The second stabilizer pair includes a second adjustable stabilizer and a third adjustable stabilizer. The method includes:

[0005] a. extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to a first configuration, wherein in the first configuration, each adjustable stabilizer is in a nominal extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with a ground surface;

[0006] b. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a second configuration, wherein in the second configuration:

[0007] The tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or

[0008] The first adjustable stabilizer and the second adjustable stabilizer have reached maximum extension;

[0009] c. Adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a third configuration, wherein in the third configuration:

[0010] The tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or

[0011] The second adjustable stabilizer and the third adjustable stabilizer have reached their maximum extension.

[0012] In this way, even if the surface of the load-bearing ground is not parallel to the target plane, the first plane of the working machine can be adjusted so as to be nearly parallel to the target plane.

[0013] A device for adjusting a first plane of a working machine is also provided, wherein the device includes a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer, and a fourth adjustable stabilizer. The first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer can each extend between a minimum extension and a maximum extension, wherein for each adjustable stabilizer, the length difference between the minimum extension and the maximum extension is the same. The first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are configured to support the working machine when the distal end of each adjustable stabilizer contacts the ground surface. The first stabilizer pair includes a first adjustable stabilizer and a second adjustable stabilizer. The second stabilizer pair includes a second adjustable stabilizer and a third adjustable stabilizer. The device further includes a tilt sensor and a controller, which is configured to:

[0014] a. extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to a first configuration, wherein in the first configuration, each adjustable stabilizer is in a nominal extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with a ground surface;

[0015] b. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a second configuration, wherein in the second configuration:

[0016] The tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or

[0017] The first adjustable stabilizer and the second adjustable stabilizer have reached maximum extension;

[0018] c. Adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a third configuration, wherein in the third configuration:

[0019] The tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or

[0020] The second adjustable stabilizer and the third adjustable stabilizer have reached their maximum extension. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Specific embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram showing a perspective view of a work machine including an apparatus for adjusting a first plane of the work machine according to an embodiment of the present invention.

[0023] Figure 2 A schematic diagram showing a top view of a work machine including an apparatus for adjusting a first plane of the work machine according to an embodiment of the present invention.

[0024] Figure 3 A flow chart illustrating a method of adjusting a first plane of a work machine according to an embodiment of the present invention is shown.

[0025] Figure 4 A flow chart illustrating a method of adjusting a first plane of a work machine according to an embodiment of the present invention is shown.

[0026] Figure 5 A flow chart illustrating a method of adjusting a first plane of a work machine according to an embodiment of the present invention is shown. Figure 5 A shows a method in which if after step 330 the first plane is not parallel to the target plane, the steps are repeated. Figure 5 B shows a method in which if after step 330 the first plane is not parallel to the target plane, further steps are performed.

[0027] Figure 6 A schematic diagram showing a top view of a work machine according to an embodiment of the invention, the work machine comprising a device for adjusting a first plane of the work machine, wherein a first axis and a second axis are illustrated by arrows.

[0028] Figure 7 A schematic diagram showing a top view of a work machine according to an embodiment of the invention, the work machine comprising a device for adjusting a first plane of the work machine, wherein a first axis and a second axis are illustrated by arrows.

[0029] Figure 8 A schematic diagram of a first adjustable stabilizer and a second adjustable stabilizer of an apparatus for adjusting a first plane of a work machine according to an embodiment of the present invention is shown.

[0030] Fig. 9 A schematic diagram illustrating a top view of a work machine including an apparatus for adjusting a first plane of the work machine wherein an upper bracket of the work machine is rotated relative to a lower bracket of the work machine according to an embodiment of the present invention.

[0031] Figures 10 to 16 A method of adjusting a first plane of a work machine according to an embodiment of the present invention is illustrated. Figures 10 to 16 A schematic diagram showing a top view of a work machine with arrows indicating which adjustable stabilizers are being adjusted. Arrows pointing outward from the work machine indicate that the stabilizers may be extended; arrows pointing toward the work machine indicate that the stabilizers may be retracted, and double-headed arrows indicate that the stabilizers may be extended or retracted.

[0032] Fig.10 The first, second, third, and fourth adjustable stabilizers are shown extending.

[0033] Fig.11 The first, second, third, and fourth adjustable stabilizers are shown being retracted.

[0034] Fig.12 The first stabilizer pair is shown extending.

[0035] Fig.13 The second stabilizer pair is shown extending.

[0036] Fig.14 A first stabilizer pair is shown being adjusted by extension or retraction.

[0037] Fig.15 A second stabilizer pair is shown being adjusted by extension or retraction.

[0038] Fig.16 The first, second, third, and fourth adjustable stabilizers are shown extending. DETAILED DESCRIPTION

[0039] According to an embodiment of the present invention, the device for adjusting the first plane of the working machine includes a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer, a fourth adjustable stabilizer and a tilt sensor. The working machine may include the device for adjusting the first plane of the working machine.

[0040] Reference Figure 1 and Figure 2 , shows a work machine 100 according to an embodiment of the present invention, which includes a device for adjusting a first plane of the work machine. Figure 1 A perspective view of a working machine 100 is shown. Figure 2 1 shows a top view of the working machine 100. The working machine 100 includes a first adjustable stabilizer 110, a second adjustable stabilizer 120, a third adjustable stabilizer 130 and a fourth adjustable stabilizer 140 (in Figure 1 The fourth adjustable stabilizer is not visible in the Figure 2 ). The first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 are configured to support the work machine 100 when the distal end of each adjustable stabilizer is in contact with the ground surface. Figure 1 In the example shown, the distal end of each of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 includes a first plate member 111, a second plate member 121, a third plate member 131, and a fourth plate member 141, respectively. The distal end of each of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 may include other geometric shapes.

[0041] The first adjustable stabilizer 110 , the second adjustable stabilizer 120 , the third adjustable stabilizer 130 , and the fourth adjustable stabilizer 140 are each extendable between a minimum extension and a maximum extension, wherein the length difference between the minimum extension and the maximum extension is the same for each adjustable stabilizer.

[0042] The first stabilizer pair may include any two of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140. The second stabilizer pair may include any two of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140, wherein one (but not both) of the stabilizers of the second stabilizer pair is the same as one of the stabilizers of the first stabilizer pair. In an embodiment, the first stabilizer pair may include the first adjustable stabilizer 110 and the second adjustable stabilizer 120, and the second stabilizer pair may include the second adjustable stabilizer 120 and the third adjustable stabilizer 130.

[0043] Reference Figure 3 , illustrates a method for adjusting a first plane of a work machine 100 according to an embodiment of the present invention. The apparatus for adjusting a first plane of a work machine 100 may be configured to perform any of the methods described herein.

[0044] At step 310, the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 are extended to a first configuration. In the first configuration, each adjustable stabilizer is in a nominal extension, and the first plane is parallel to a reference plane defined by the contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with the ground surface. In an embodiment, the nominal extension may include an extension between 80% and 95% of the maximum extension, or more preferably, an extension between 85% and 90% of the maximum extension. The nominal extension may include other percentages of the maximum extension.

[0045] At step 320, the first pair of stabilizers is adjusted so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are in a second configuration. In the second configuration, the tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached a maximum extension. The first adjustable stabilizer and the second adjustable stabilizer may be extended from the nominal extension until the first plane is parallel to the first axis, or until the first stabilizer and the second stabilizer have reached their maximum extension. The first stabilizer and the second stabilizer may be extended simultaneously and at the same rate.

[0046] At step 330, the second pair of stabilizers is adjusted so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are configured in a third configuration. In the third configuration, the tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or the second adjustable stabilizer and the third adjustable stabilizer have reached their maximum extension. The second adjustable stabilizer and the third adjustable stabilizer may be extended from the nominal extension until the first plane is parallel to the second axis, or until the second stabilizer and the third stabilizer have reached their maximum extension. The second stabilizer and the third stabilizer may be extended simultaneously and at the same rate.

[0047] The work machine 100 may further include a first wheel assembly 151, a second wheel assembly 152, a third wheel assembly 153, and a fourth wheel assembly 154. The first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154 may be configured to support the work machine 100. In an embodiment, the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154 may be configured to support the work machine 100 when the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 are not in use or extended to an extension below a threshold extension. The nominal extension of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130 and the fourth adjustable stabilizer 140 may include an extension in which the work machine 100 is supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130 and the fourth adjustable stabilizer 140 rather than by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153 and the fourth wheel assembly 154.

[0048] In the implementation scheme, refer to Figure 4 , the step 310 of adjusting and extending the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 to the first configuration may include a first stage 410 and a second stage 420. The first stage 410 may include extending the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 to an initial configuration. In the initial configuration, each adjustable stabilizer is at maximum extension, and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 with the ground surface. The second stage 420 may include retracting the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 to the first configuration. As previously described, in the first configuration, each adjustable stabilizer is at a nominal extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first, second, third, and fourth adjustable stabilizers with the ground surface. The second stage 420 may include retracting the stabilizer by a percentage of the stroke or maximum extension, such as a percentage between 5% and 20% of the stroke or maximum extension, or more preferably a percentage between 10% and 15% of the stroke or maximum extension. The second stage 420 may include retracting the stabilizer for a predetermined amount of time, such as a predetermined time between 0.5 seconds and 2 seconds.

[0049] Reference Figure 5, Figure 3 or Figure 4 The method illustrated in the figure may further include step 510 of determining whether the first plane is parallel to the target plane using a tilt sensor. If the tilt sensor indicates that the first plane is parallel to the target plane, the method ends. If the tilt sensor indicates that the first plane is not parallel to the target plane, the method may include further adjusting the first stabilizer pair and the second stabilizer pair. In an embodiment, referring to Figure 5 A, if the tilt sensor indicates that the first plane is not parallel to the target plane, the method can repeat steps 320 and 330. Then, the method can continue (e.g., the method can end), or step 510 of using the tilt sensor to determine whether the first plane is parallel to the target plane can be performed again, and if the tilt sensor indicates that the first plane is not parallel to the target plane, the method can repeat steps 320 and 330 again. In an embodiment, reference is made to Figure 5 B. If the tilt sensor indicates that the first plane is not parallel to the target plane, the method may further include steps 520 and 530. Step 520 may include adjusting the first stabilizer pair so that the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 make a fourth configuration. In the fourth configuration, the tilt sensor may indicate that the first plane is parallel to the first axis; or the first adjustable stabilizer and the second adjustable stabilizer may have reached a calibrated or maximum extension. In the fourth configuration, the first adjustable stabilizer 110 and the second adjustable stabilizer 120 may be between the calibrated extension and the maximum extension, or may be at the calibrated extension or at the maximum extension. Step 530 may include adjusting the second stabilizer pair so that the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 make a fifth configuration. In a fifth configuration, the tilt sensor may indicate that the first plane is parallel to the second axis; or the second adjustable stabilizer and the third adjustable stabilizer may have reached a minimum calibrated or maximum extension. In the fifth configuration, the second adjustable stabilizer and the third adjustable stabilizer may be between a calibrated extension and a maximum extension, or may be at a calibrated extension or at a maximum extension. Steps 520 and 530 may include adjusting the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer by extending and / or retracting the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer.

[0050] The method described above may further include after the last step (e.g., Figure 3 or Figure 4 After step 330, or in Figure 5 After step 510 of A or Figure 5 B) after step 530 of step B) using a tilt sensor to determine whether the first plane is parallel to the first axis and the second axis. If the first tilt sensor indicates that the first plane is parallel to the first axis and the second axis, the method ends. If the first tilt sensor indicates that the first plane is not parallel to the first axis and the second axis, the method may further include extending the first stabilizer pair and the second stabilizer pair to a maximum extension.

[0051] In the methods described above, determining whether the first plane is parallel to the first axis or the second axis may include comparing the tilt angle to a threshold angle. In an embodiment, the threshold angle may include a predetermined threshold angle. In another embodiment, the threshold angle may include a tolerance of the tilt sensor. In an embodiment, the threshold angle may include ±0.01°, ±0.05°, ±0.1°, ±0.5°, ±1°, or another angle.

[0052] In an embodiment, a user can select a leveling mode from a predetermined list of leveling modes, wherein each leveling mode is configured to execute a method for adjusting a first plane. Each leveling mode may include a threshold angle. For example, a user can choose between a "fast leveling mode" and a "fine leveling mode", wherein the threshold angle of the "fine leveling mode" is smaller than that of the "fast leveling mode". For the fast leveling mode, the method for adjusting the first plane can be completed in a shorter time than the fine leveling mode. For the fine leveling mode, the method for adjusting the first plane can adjust the first plane to be closer to being parallel to the target plane than the fast leveling mode. Therefore, the user can choose whether to adjust the first plane faster or more accurately. If the user selects the fine leveling mode but does not achieve leveling (i.e., at the end of the method, the first plane is not parallel to the target plane so that it is within the threshold angle, so the adjustable stabilizer is extended to the maximum extension), the user can then select the fast leveling mode. Compared with adjusting all adjustable stabilizers to their maximum extension to make the first plane parallel to the reference plane, this can make the first plane closer to being parallel to the target plane. Alternatively, in an embodiment, this can be performed automatically: the method can be performed a first time at a first threshold angle, and if after the last step the first plane is not parallel to the target plane (so as to be within the first threshold angle), the method can be performed a second time at a second threshold angle. The second threshold angle can be greater than the first threshold angle.

[0053] Figure 6 and Figure 7 The Figure 1 and Figure 2 Examples of a first axis and a second axis of a working machine. Figure 6A first axis parallel to the length of the work machine 100 is shown, indicated by arrow 610 (i.e., the first axis includes a front-to-rear axis). A second axis is indicated by arrow 620 and is perpendicular to the first axis 610 (i.e., the second axis includes a side-to-side axis). In an embodiment, the first stabilizer pair may include a first adjustable stabilizer 110 and a second adjustable stabilizer 120, and the second stabilizer pair may include a second adjustable stabilizer 120 and a third adjustable stabilizer 130. The first axis may be illustrated by arrow 610, and the second axis may be illustrated by arrow 620. Step 320 may include adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are configured in a second configuration. In the second configuration, the tilt sensor indicates that the first plane is parallel to the first axis 610 of the target plane; or the first adjustable stabilizer 110 and the second adjustable stabilizer 120 have reached maximum extension. Step 330 may include adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are in a third configuration. In the third configuration, the tilt sensor indicates that the first plane is parallel to the second axis 620 of the target plane; or the second adjustable stabilizer 120 and the third adjustable stabilizer 130 have reached maximum extension. In this way, the stabilizers are first adjusted by adjusting the front stabilizers (the first adjustable stabilizer 110 and the second adjustable stabilizer 120) to level the front of the work machine 100 relative to the rear of the work machine 100. Secondly, the stabilizers are adjusted by adjusting the stabilizers on one side of the work machine 100 (the second adjustable stabilizer 120 and the third adjustable stabilizer 130) to level one side of the work machine 100 relative to the other side.

[0054] Figure 7A first axis perpendicular to the length of the work machine 100 is shown, indicated by arrow 710 (i.e., the first axis includes a side-to-side axis). A second axis is indicated by arrow 720 and is parallel to the length of the work machine (i.e., the second axis includes a front-to-rear axis). In an embodiment, the first stabilizer pair may include a second adjustable stabilizer 120 and a third adjustable stabilizer 130, and the second stabilizer pair may include a first adjustable stabilizer 110 and a second adjustable stabilizer 120. The first axis may be illustrated by arrow 710, and the second axis may be illustrated by arrow 720. Step 320 may include adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are configured in a second configuration. In the second configuration, the tilt sensor indicates that the first plane is parallel to the first axis 710 of the target plane; or the second adjustable stabilizer 120 and the third adjustable stabilizer 130 have reached maximum extension. Step 330 may include adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are in a third configuration. In the third configuration, the tilt sensor indicates that the first plane is parallel to the second axis 720 of the target plane; or the first adjustable stabilizer 110 and the second adjustable stabilizer 120 have reached maximum extension. In this way, the stabilizers are first adjusted by adjusting the stabilizers on one side of the work machine 100 (the second adjustable stabilizer 120 and the third adjustable stabilizer 13) to level one side of the work machine 100 relative to the other side. Secondly, the stabilizers are adjusted by adjusting the front stabilizers (the first adjustable stabilizer 110 and the second adjustable stabilizer 120) to level the front of the work machine 100 relative to the rear of the work machine 100.

[0055] In an embodiment, each of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 may include a hydraulic cylinder configured to extend; and

[0056] A support plate member configured to engage the ground (wherein the distal end of each stabilizer includes the support plate member). Each of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 may further include a mechanical arm member, wherein each of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer is stored in a raised position, and wherein the mechanical arm member is configured to lower each stabilizer to a lowered position prior to step a). Figure 8, shows a first adjustable stabilizer 110 and a second adjustable stabilizer 120 according to an embodiment of the present invention. The first adjustable stabilizer 110 and the second adjustable stabilizer 120 may each include a support plate member 111 and a support plate member 121, a hydraulic cylinder 112 and a hydraulic cylinder 122, and a mechanical arm member 113 and a mechanical arm member 123. The mechanical arm member 113 and the mechanical arm member 123 may be raised and lowered (e.g., around an axis 114 and an axis 124). The first adjustable stabilizer 110 and the second adjustable stabilizer 120 may be raised and lowered (e.g., around an axis 114 and an axis 124). Figure 8 is shown in an elevated position, Figure 1 In an embodiment, support plate members 111 and 121 may be configured to rotate to allow for better contact with the ground. For example, support plate members 111 and 121 may be configured to rotate in a plane parallel to mechanical arm members 113 and 123 (in Figure 8 In the embodiment, the support plate member 111 can rotate about the axis 115) or in a plane parallel to the vertical. The hydraulic cylinders 112 and 122 can be at an angle to the ground, so that the extension and retraction of the adjustable stabilizer are at an angle to the ground.

[0057] Return to refer to Figure 1 and Figure 2 The work machine 100 may further include a frame or machine body configured to be supported by a first adjustable stabilizer 110, a second adjustable stabilizer 120, a third adjustable stabilizer 130, and a fourth adjustable stabilizer 140. The frame may, for example, include a cab and a work tool. In an embodiment, the frame may include a lower bracket and an upper bracket. Figure 1 and Figure 2 In the example shown, the work machine 100 includes a lower frame 160 and an upper frame or cab 170. The work machine may further include a work tool 180 including an arm member. Figure 2 Shown in the extended position.

[0058] In embodiments where the frame comprises a lower bracket and an upper bracket, the upper bracket may be configured to be movable relative to the lower bracket. In embodiments, the upper bracket may be configured to be rotatable relative to the lower bracket about a third axis, wherein the third axis is perpendicular to the first axis and the second axis. Fig. 9 An example of a work machine is shown having an upper bracket 910 (including a cab 170 and a work tool 180) that rotates relative to a lower bracket (including a frame, a first adjustable stabilizer 110, a second adjustable stabilizer 120, a third adjustable stabilizer 130, and a fourth adjustable stabilizer 140, and a first wheel assembly 151, a second wheel assembly 152, a third wheel assembly 153, and a fourth wheel assembly 154).

[0059] In an embodiment, the upper bracket may include a tilt sensor and the lower bracket may include a first plane. The upper bracket may be configured to be able to rotate relative to the lower bracket around a third axis, wherein the third axis is perpendicular to the first axis and the second axis. The method step of using the tilt sensor to determine whether the first plane is parallel to the target plane may further include using the rotation angle of the upper bracket relative to the lower bracket to determine whether the first plane is parallel to the first axis or the second axis. In other words, when determining whether the first plane is parallel to the first axis or the second axis, the rotation of the upper bracket relative to the lower bracket can be compensated. The rotation angle can be measured by a tilt sensor or by another swing sensor.

[0060] The tilt sensor may be configured to detect tilt around an initial axis and around a secondary axis. In an embodiment, the tilt sensor may include a tilt sensor capable of detecting tilt around both the initial axis and the secondary axis. In another embodiment, the tilt sensor may include a first tilt sensor and a second tilt sensor, wherein the first tilt sensor is configured to detect tilt around the initial axis, and wherein the second tilt sensor is configured to detect tilt around the secondary axis. In an embodiment where the upper bracket cannot rotate relative to the lower bracket, the initial axis may be parallel to the first axis and the secondary axis may be parallel to the second axis. In an embodiment where the upper bracket can rotate relative to the lower bracket, the angle of the initial axis relative to the first axis and the angle of the secondary axis relative to the second axis may be determined and used to determine whether the first plane is parallel to the first axis or the second axis.

[0061] When in use, when the work machine 100 is traveling, the first stabilizer 110, the second stabilizer 120, the third stabilizer 130, and the fourth stabilizer 140 can be raised, and the work machine can be supported by the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. When the work machine 100 is not moving, the first stabilizer 110, the second stabilizer 120, the third stabilizer 130, and the fourth stabilizer 140 can be lowered to support the work machine 100, providing a more stable support for the work machine 100 (for example, by providing a wider base than the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154, and by avoiding the damping effect of the wheel assembly supporting the work machine 100).

[0062] The first plane may be a plane of the working machine parallel to the ground when the working machine is supported by the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. The first plane may be horizontal when the working machine is supported on a horizontal surface by the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. In other words, when the working machine is supported by the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154, the first plane may be parallel to a wheel plane including the contact point of each wheel assembly with the ground. The first plane may also be parallel to a plane including the distal end of each adjustable stabilizer when the adjustable stabilizers are extended by the same amount.

[0063] The method for adjusting the first plane of the working machine 100 described above is intended to adjust the first plane of the working machine 100 to be nearly horizontal even if the bearing ground is not horizontal. The maximum slope compensation that can be achieved may depend more on the geometry of the machine (including the wheel assembly and the adjustable stabilizer) rather than the steps of the method itself. However, in an embodiment, the method can compensate for a slope of up to 4° of the bearing ground, or a slope between 1.5° and 3° of the bearing ground, or up to a larger slope angle. In addition, when the working machine 100 is supported by a stabilizer, if the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130 and the fourth adjustable stabilizer 140 support the working machine 100, and the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153 and the fourth wheel assembly 154 do not provide support, the stability of the working machine 100 is improved. The nominal extension may be an extension of the adjustable stabilizer at which the work machine 100 is supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 instead of by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. Thus, any extension greater than the nominal extension (i.e., between the nominal extension and the maximum extension, or the maximum extension) may be an extension of the adjustable stabilizer at which the work machine 100 may be supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 instead of by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. The method described above begins with adjusting the adjustable stabilizer to the nominal extension and then maintaining the adjustable stabilizer at the nominal extension or an extension greater than the nominal extension. In more detail, step 310 of the method described above includes adjusting the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 to a first configuration (where each adjustable stabilizer is at a nominal extension). With the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 in the first configuration, the work machine 100 is supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 and not by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. In the first configuration, each of the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 is at a nominal extension.In any of the subsequent method steps (e.g., step 320, step 330, step 520, or step 530), the adjustable stabilizer may remain between the nominal extension and the maximum extension, or may be at the nominal or maximum extension. Steps 320 and 330 may include extending the adjustable stabilizer (and not retracting the adjustable stabilizer) so that the work machine 100 is still supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 instead of by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. Steps 520 and 530 may include adjusting the adjustable stabilizers between the nominal extension and the maximum extension so that the work machine 100 is still supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 instead of by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154. If the first plane is not parallel to the target plane after steps 320 and 330 (or steps 520 and 530), the stabilizers are extended to the maximum extension to maximize the probability that the work machine 100 is supported by the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 instead of by any of the first wheel assembly 151, the second wheel assembly 152, the third wheel assembly 153, and the fourth wheel assembly 154.

[0064] In an embodiment, the extension of each adjustable stabilizer can be determined by a pressure sensor, wherein the pressure sensor is configured to detect the pressure of the hydraulic cylinder. In an embodiment, the pressure of the hydraulic cylinder can rise as the extension of the hydraulic cylinder increases. The maximum pressure can correspond to the maximum extension of the hydraulic cylinder (and therefore the maximum extension of the adjustable stabilizer).

[0065] In an embodiment, the upper bracket can be configured to rotate and move vertically relative to the lower bracket. For example, the arm member 190 (in Figure 1 center mark) can be used to raise and lower the upper bracket.

[0066] In use, an operator may initiate the method described above via a user interface in cab 170 .

[0067] exist Figures 10 to 16An example of a method of adjusting a first plane of a work machine 100 is illustrated in FIG, wherein arrows indicate which stabilizers are adjusted in each step. Arrows pointing outward from the work machine indicate that the stabilizers may be extended; arrows pointing toward the work machine indicate that the stabilizers may be retracted, and double-headed arrows indicate that the stabilizers may be extended or retracted. The first stabilizer pair in this example includes a second adjustable stabilizer 120 and a third adjustable stabilizer 130. The second stabilizer pair in this example includes a first adjustable stabilizer 110 and a second adjustable stabilizer 120. Fig.10 Step 410 is shown in which the first adjustable stabilizer 110 , the second adjustable stabilizer 120 , the third adjustable stabilizer 130 , and the fourth adjustable stabilizer 140 are extended to a maximum extension. Fig.11 Step 420 is shown where the first adjustable stabilizer 110 , the second adjustable stabilizer 120 , the third adjustable stabilizer 130 , and the fourth adjustable stabilizer 140 are retracted to assume a first configuration. Fig.12 Step 320 is shown, in which the first stabilizer pair is adjusted by extending the second adjustable stabilizer 120 and the third adjustable stabilizer 130 so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer make a second configuration. In the second configuration, the tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached maximum extension. Fig.13 Step 330 is shown, in which the second stabilizer pair is adjusted by extending the first adjustable stabilizer 110 and the second adjustable stabilizer 120, so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer make a third configuration. In the third configuration, the tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or the second adjustable stabilizer and the third adjustable stabilizer have reached maximum extension.

[0068] In an embodiment, the method may end after step 330. In another embodiment, the method may further include a step 510 of determining whether the first plane is parallel to the target plane.

[0069] Fig.14 Step 520 is shown, where if the first plane is not parallel to the target plane at step 510, the first stabilizer pair is adjusted (by extending or retracting the second adjustable stabilizer 120 and the third adjustable stabilizer 130) so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer make a fourth configuration. In the fourth configuration, the tilt sensor indicates that the first plane is parallel to the first axis of the target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached a calibrated or maximum extension. As described above, in the fourth configuration, the first adjustable stabilizer and the second adjustable stabilizer can be between the calibrated extension and the maximum extension, or can be at the calibrated extension or at the maximum extension. Fig.15 Step 530 is shown, in which the second stabilizer pair is adjusted (by extending or retracting the first adjustable stabilizer 110 and the second adjustable stabilizer 120) so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer make a fifth configuration. In the fifth configuration, the tilt sensor indicates that the first plane is parallel to the second axis of the target plane; or the second adjustable stabilizer and the third adjustable stabilizer have reached a calibrated or maximum extension. As described above, in the fifth configuration, the second adjustable stabilizer and the third adjustable stabilizer can be between the calibrated extension and the maximum extension, or can be at the calibrated extension or at the maximum extension.

[0070] In an embodiment, the method may include (after step 330 or 530) a final step of determining whether the first plane is parallel to the target plane. If the first plane is not parallel to the target plane, the first adjustable stabilizer 110, the second adjustable stabilizer 120, the third adjustable stabilizer 130, and the fourth adjustable stabilizer 140 may be extended to a maximum extension (e.g., Fig.16 shown).

Claims

1. A method for adjusting a first plane of a work machine, wherein the work machine comprises a first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer, a fourth adjustable stabilizer and a tilt sensor, wherein: the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are each extendable between a minimum extension and a maximum extension, wherein the difference in length between the minimum extension and the maximum extension is the same for each adjustable stabilizer; the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer being configured to support the work machine when a distal end of each adjustable stabilizer is in contact with a ground surface; a first stabilizer pair including the first adjustable stabilizer and the second adjustable stabilizer; and a second stabilizer pair including the second adjustable stabilizer and the third adjustable stabilizer; The method comprises: a. extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to a first configuration, wherein in the first configuration, each adjustable stabilizer is in a nominal extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with the ground surface; b. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a second configuration, wherein in the second configuration: The tilt sensor indicates that the first plane is parallel to a first axis of a target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached the maximum extension; c. adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a third configuration, wherein in the third configuration: The tilt sensor indicates that the first plane is parallel to a second axis of the target plane; or The second adjustable stabilizer and the third adjustable stabilizer have reached the maximum extension.

2. The method according to claim 1, wherein step a) comprises a first stage and a second stage, wherein: The first stage includes extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to an initial configuration, wherein in the initial configuration, each adjustable stabilizer is at a maximum extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with the ground surface; and The second stage includes retracting the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to the first configuration.

3. The method according to claim 1 or 2, further comprising the step of using the tilt sensor to determine whether the first plane is parallel to the target plane after step d), and if the tilt sensor indicates that the first plane is not parallel to the target plane, then: d. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a fourth configuration, wherein in the fourth configuration: the tilt sensor indicates that the first plane is parallel to the first axis; or the first adjustable stabilizer and the second adjustable stabilizer have reached a rated or maximum extension; and e. adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a fifth configuration, wherein in the fifth configuration: the tilt sensor indicates that the first plane is parallel to the second axis; or The first adjustable stabilizer and the second adjustable stabilizer have reached the rated or maximum extension.

4. A method according to any preceding claim, further comprising the step of using the tilt sensor to determine whether the first plane is parallel to the first axis and the second axis after step c) or e), and extending the first stabilizer pair and the second stabilizer pair to the maximum extension if the first tilt sensor indicates that the first plane is not parallel to the first axis and the second axis.

5. The method according to any one of claims 1 to 4, wherein the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer each comprise: a hydraulic cylinder configured to extend; and A support plate member is configured to engage the ground.

6. The method of claim 5, wherein the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer each further comprise a robotic arm assembly, wherein each of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer is stored in a raised position, and wherein the robotic arm assembly is configured to lower each stabilizer to a lowered position prior to step a).

7. A method according to any preceding claim, wherein determining whether the first plane is parallel to the first axis or the second axis comprises comparing an angle of inclination to a threshold angle. The method of claim 7 , wherein the threshold angle comprises a tolerance of the tilt sensor.

9. A method according to any preceding claim, wherein the work machine comprises an upper carriage and a lower carriage, the upper carriage comprising the tilt sensor, the lower carriage comprising the first plane, wherein: The upper bracket is configured to rotate relative to the lower bracket about a third axis; The third axis is perpendicular to the first axis and the second axis; and The method step of using the tilt sensor to determine whether the first plane is parallel to the target plane further includes using a rotation angle of the upper bracket relative to the lower bracket to determine whether the first plane is parallel to the first axis or the second axis.

10. A method according to any preceding claim, wherein the tilt sensor comprises a first tilt sensor and a second tilt sensor, wherein the first tilt sensor is configured to detect tilt about a primary axis, and wherein the second tilt sensor is configured to detect tilt about a secondary axis.

11. The method according to any one of claims 4 to 10, wherein the work machine further comprises a pressure sensor configured to detect a pressure of the hydraulic cylinder of each adjustable stabilizer, wherein the extension of each adjustable stabilizer is determined by using the pressure sensor.

12. A device for adjusting a first plane of a work machine, wherein the device comprises: A first adjustable stabilizer, a second adjustable stabilizer, a third adjustable stabilizer and a fourth adjustable stabilizer, wherein: the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer are each extendable between a minimum extension and a maximum extension, wherein the difference in length between the minimum extension and the maximum extension is the same for each adjustable stabilizer; the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer being configured to support the work machine when a distal end of each adjustable stabilizer is in contact with a ground surface; a first stabilizer pair comprising the first adjustable stabilizer and the second adjustable stabilizer; and a second stabilizer pair including the second adjustable stabilizer and the third adjustable stabilizer; Tilt sensor; and A controller, the controller being configured to: a. extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to a first configuration, wherein in the first configuration, each adjustable stabilizer is in a nominal extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with the ground surface; b. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer are configured in a second configuration, wherein in the second configuration: The tilt sensor indicates that the first plane is parallel to a first axis of the target plane; or the first adjustable stabilizer and the second adjustable stabilizer have reached the maximum extension; c. adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a third configuration, wherein in the third configuration: The tilt sensor indicates that the first plane is parallel to a second axis of the target plane; or The second adjustable stabilizer and the third adjustable stabilizer have reached the maximum extension.

13. The apparatus according to claim 12, wherein step a) comprises a first stage and a second stage, wherein: The first stage includes extending the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to an initial configuration, wherein in the initial configuration, each adjustable stabilizer is at a maximum extension and the first plane is parallel to a reference plane defined by contact points of the distal ends of the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer with the ground surface; and The second stage includes retracting the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer, and the fourth adjustable stabilizer to the first configuration.

14. The apparatus according to claim 12 or 13, wherein after step d), the controller is further configured to use the tilt sensor to determine whether the first plane is parallel to the target plane, and if the tilt sensor indicates that the first plane is not parallel to the target plane, the controller is configured to: e. adjusting the first stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a fourth configuration, wherein in the fourth configuration: the tilt sensor indicates that the first plane is parallel to the first axis; or the first adjustable stabilizer and the second adjustable stabilizer have reached the rated or maximum extension; and f. adjusting the second stabilizer pair so that the first adjustable stabilizer, the second adjustable stabilizer, the third adjustable stabilizer and the fourth adjustable stabilizer make a fifth configuration, wherein in the fifth configuration: the tilt sensor indicates that the first plane is parallel to the second axis; or The first adjustable stabilizer and the second adjustable stabilizer have reached the rated or maximum extension.

15. A working machine comprising the device according to any one of claims 12 to 14.

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