Automatic retraction system

Abstract

This invention relates to an automatic retraction system for armored excavator loader (backhoe loader) vehicles, which allows the operator to retract the front boom, rear boom, stick, bucket, rotation mechanism, and stabilizing legs with a single button once the digging operation is completed and / or in emergency situations.

Description

[0001] AUTOMATIC RETRACTION SYSTEM

[0002] Technical Field

[0003] This invention relates to an automatic retraction system that allows the operator of armored excavator loaders (backhoe loaders) to gather the front boom, rear boom, stick, front bucket, rear bucket, rotation and stabilization legs with a single button press when the excavation process is completed and / or in emergency situations.

[0004] Prior Art

[0005] Excavator loader, commonly referred to as a backhoe loader, is a type of construction equipment mounted on a tractor body, equipped with a bucket at the front and a small excavator at the rear. It is used for tasks such as loading, transporting and excavating various materials. In backhoe loaders, the movement of the loader and excavator sections is carried out using a hydraulic system. These machines are among the most commonly used vehicles amongst the construction vehicles. The front bucket, known as the loader part, is used to pick up materials from one location and load them into another location over short distances. It is not suitable for longdistance material transportation. The excavator part is used for trench excavations, channel excavations, building foundations, and digging and loading operations.

[0006] Backhoe loaders, especially those used in border regions or operational areas and preferred for their armor, are manually brought to the travel position by the operator during terrorist attacks. In this process, the operator first manually (using a joystick or lever) brings the excavator part to the travel position, raises the stabilizer legs, then turns the seat forward forthe travel position, adjusts the front boom and bucket to the appropriate position and finally moves the vehicle away from the area. Generally, due to the lengthy sequence of operations for armored backhoe loaders, this process poses a safety risk to the operator and also leads to significant financial loss by causing damage to high-cost backhoe loaders.

[0007] In the state of the art:

[0008] - In the document US5446980A, an automatic control system with an electrohydraulic system including a microprocessor for the operating cycle of the boom, stick, and bucket is disclosed. This application discloses a control system for automatically controlling an excavator through a machine work cycle. For a tool comprising a boom, stick, and bucket, each of which is controllably operated by by at least one hydraulic cylinder, the positions of the parts are detected by a position sensor while the position signals are processed by a microprocessor. Additionally, the pressure information detected by pressure sensors (of the hydraulic cylinders of the boom, stick, and bucket) is also processed by the microprocessor. However, the system described in this document is designed for automatic use, not for retracting the parts of the backhoe loader.

[0009] The document US9458597B2 relates to a system and method for the hydraulic control of construction machines. The use of components such as pressure sensors, hydraulic cylinders, control valves, a data acquisition unit and a control unit to provide a control system for the operation of the machine is described in the specification. According to the disclosed method, a hydraulic control system based on the behavior requests of the machine received via an HMI (Human Machine Interface) by the operator is used. This system, which ensures the control of the cylinders through the opening and closing of valves according to the information provided by the operator, does not offer an automatic system as it is dependent on the operator and only controls the cylinders via valves.

[0010] The document US2020087893A1 discloses a method and system for measuring the operator’s performance and efficiency using boom, bucket, and stick data detected by various sensors and machine parameter data. While the primary aim of the study is not automatic control, it is mentioned that knowing the load amount can be used as a feedback value in automatic control systems. In this context, the study mentions the potential use of weight and volume sensors. It also explains that by measuring the hydraulic pressure of the bucket-carrying system using pressure sensors, the pressure caused by the load in the bucket can be determined by subtracting the known hydraulic pressure effect of the machine’s relevant parts from the value measured by the pressure sensor. Based on this pressure, it is possible to calculate the weight of the load. Additionally, it is shown in this study that the weight of the load in the bucket can be calculated by visualizing the bucket using a camera. However, the invention in question does not introduce an automatic retraction system for backhoe loaders.

[0011] The document US2021395975A1 explains the necessity of having a sensor system for the precise control or automatic control of an excavator or similar machines. Additionally, when used with weight and volume sensors, the ability to measure the amount of load carried by the machine is mentioned. However, an automatic retraction system is not disclosed in the relevant document.

[0012] The document US5361211 A discloses a control system that automatically controls the operations of an excavator. The specification states that the aim is to provide a control system where the movement mode of the motors is automatically changed by using the control levers / pedals of the machine. The invention basically provides a solution to the safety problems caused by the excavator tiring the operator, breaking cylinders during operation etc. The objective is to reduce sudden loads on the cylinders during the operation of the excavator, thereby ensuring the longevity of the system. However, this invention does not address the same technical problem or provide the same technical solution as an automatic retraction system, such as preventing accidents by alerting the operator via an alarm when attempting to carry a load exceeding the excavator’s capacity.

[0013] For backhoe loaders, which are armored and preferred especially in border regions and / or operation zones, there is no system in the state of the art for the automatic retraction of the backhoe loader during terrorist attacks.

[0014] As a result, the invention subject to this application is needed to improve the solutions presented in the state of the art and eliminate the existing disadvantages.

[0015] Brief Description of the Invention

[0016] The aim of this invention is to provide a system for the automatic retraction of a backhoe loader during terrorist attacks, particularly for backhoe loaders that are armored and used in border regions and / or operation zones.

[0017] Another aim of the invention is to prevent high levels of loss of life and property by allowing the operator to quickly bring the backhoe loader into a travel position.

[0018] A further aim of the invention is to provide an automatic retraction system that enables the operator to retract the front boom, rear boom, stick, front bucket, rear bucket, swing and stabilization legs with a single button once the excavation process is completed and / or in emergency situations. Another aim of the invention is to reduce repair and maintenance costs by minimizing physical damage through rapid retraction for backhoe loaders used in border regions and / or operation zones.

[0019] Detailed Description of the Invention

[0020] The automatic retraction system implemented to achieve the objectives of this invention is shown in the attached figures.

[0021] From these figures:

[0022] Figure 1 is a general view of the backhoe loader with the automatic retraction system in the retracted position.

[0023] Figure 2 is a general view of the backhoe loader with the automatic retraction system, with sensor positions indicated on the loader bucket in moving position.

[0024] Figure 3 is a general view of the backhoe loader with the automatic retraction system, showing the loader and excavator buckets in moving position.

[0025] Figure 4 is a general view of the backhoe loader with the automatic retraction system, showing the loader and excavator buckets in moving position.

[0026] Figure 5 is a general view of the backhoe loader with the automatic retraction system, showing the loader and excavator buckets in moving position.

[0027] Figure 6 is a detailed cross-sectional view of the operator cabin of the backhoe loader with the automatic retraction system.

[0028] Figure 7 is a top view showing the positions of the valves of the backhoe loader with the automatic retraction system.

[0029] Figure 8 is a detailed view of the loader / front boom valve group of the automatic retraction system.

[0030] Figure 9 is a detailed view of the excavator / rear boom valve group of the automatic retraction system.

[0031] Figure 10 is a flow diagram illustrating the angle retraction method for the rear bucket, rear boom, and rear stick of the automatic retraction system. Figure 11 is a flow diagram illustrating the angle retraction method for the front boom and front bucket of the automatic retraction system.

[0032] Figure 12 is a flow diagram of the angle retraction control of the automatic retraction system.

[0033] In order to better describe the invention, the automatic retraction system is numbered as follows in the attached figures:

[0034] 1. Loader / Front Bucket

[0035] 1.1. Loader / Front Bucket Angle Sensor

[0036] 2. Loader / Front Boom

[0037] 2.1. Loader / Front Boom Angle Sensor

[0038] 2.2. Loader / Front Boom Valve Group

[0039] 2.2.1. Optional Additional Valve Opening

[0040] 2.2.2. Loader / Front Boom Lifting Valve

[0041] 2.2.3. Loader / Front Bucket Dumping Valve

[0042] 2.2.4. Loader / Front Boom Lowering Valve

[0043] 2.2.5. Loader / Front Bucket Retracting Valve

[0044] 2.2.6. Optional Additional Valve Closing

[0045] 3. Excavator / Rear Boom

[0046] 3.1. Excavator / Rear Boom Angle Sensor

[0047] 3.2. Excavator / Rear Boom Valve Group

[0048] 3.2.1. Right Stabilizing Leg Lifting Valve

[0049] 3.2.2. Right Stabilizing Leg Lowering Valve

[0050] 3.2.3. Excavator / Rear Boom Lifting Valve

[0051] 3.2.4. Excavator / Rear Boom Lowering Valve

[0052] 3.2.5. Excavator / Rear Boom Left Rotation Valve

[0053] 3.2.6. Excavator / Rear Boom Right Rotation Valve

[0054] 3.2.7. Excavator / Rear Bucket Retracting Valve

[0055] 3.2.8. Excavator / Rear Bucket Dumping Valve

[0056] 3.2.9. Stick Lowering Valve

[0057] 3.2.10. Stick Lifting Valve

[0058] 3.2.11. Left Stabilizing Leg Lifting Valve

[0059] 3.2.12. Left Stabilizing Leg Lowering Valve 4. Stick

[0060] 4.1. Stick Angle Sensor

[0061] 5. Excavator / Rear Bucket

[0062] 5.1. Excavator / Rear Bucket Angle Sensor

[0063] 6. Rotating Mechanism

[0064] 6.1. Rotating Mechanism Angle Sensor

[0065] 7. Stabilizing Leg

[0066] 7.1. Leg Switch

[0067] 8. Scale

[0068] 9. Electronic Control Unit

[0069] 10. Pump

[0070] 11. Indicator / Display

[0071] 12. Automatic Retraction Switch

[0072] 13. Loader / Front Boom Control Lever

[0073] 14. Excavator / Rear Boom Left Control Lever

[0074] 15. Excavator / Rear Boom Right Control Lever

[0075] 16. Leg Control Panel

[0076] The automatic retraction system, which is the subject of the invention, is primarily used in excavators and loaders, and includes the following components:

[0077] • Loader / Front Bucket Angle Sensor (1.1) for determining the angle of the loader / front bucket (1),

[0078] • Loader / Front Boom Angle Sensor (2.1) for determining the angle of the loader / front boom (2),

[0079] • Loader / Front Boom Valve Group (2.2),

[0080] • Excavator / Rear Boom Angle Sensor (3.1) for determining the angle of the excavator / rear boom (3),

[0081] • Excavator / Rear Boom Valve Group (3.2),

[0082] • Stick Angle Sensor (4.1) for determining the angle of the stick (4),

[0083] • Excavator / Rear Bucket Angle Sensor (5.1) for determining the angle of the excavator / rear bucket (5),

[0084] • Rotating Mechanism Angle Sensor (6.1) for determining the angle of the rotating mechanism(6), • Stabilizing Legs (7) and Leg Switch (7.1),

[0085] • Scale (8),

[0086] • Electronic Control Unit (9),

[0087] • Pump (10),

[0088] • Indicator / Display (11),

[0089] • Automatic Retraction Switch (12),

[0090] • Leg Control Panel (16).

[0091] The automatic retraction system is developed to allow the operator to retract the excavator / loader with a single button in emergency situations by bringing the excavator / loader parts to the default values programmed into the programmable controller card. The programmable controller used is designed for use in mobile applications, with a high number of input / output channels and compliance with global safety standards. The controller can be programmed using the “C” language. The selected controller’s memory can store data received from the machine and when required, the data can be analyzed and processed, then sent to the appropriate outputs.

[0092] Thanks to the analog inputs and CAN-bus inputs on the controller, data exchange can occur with the machine’s sensors (1.1, 2.1, 3.1, 4.1, 5.1, and 6.1), valves (2.2.1, 2.2.2, 2.2.3, 2.2.4, 2.2.5, 2.2.6, 3.2.1, 3.2.2, 3.2.3, 3.2.4, 3.2.5, 3.2.6, 3.2.7, 3.2.8, 3.2.9, 3.2.10, 3.2.11, 3.2.12), indicator / display (11), and other instruments. As a result, the user can write the appropriate software to ensure that the machine operates under the desired conditions based on the chosen configuration.

[0093] To perform its function, the system starts working when the operator presses a single button, namely the automatic retraction switch (12), in an emergency. The default values are already saved in the system. After that, data from the angle sensors (1.1, 2.1, 3.1, 4.1, 5.1, and 6.1) is read by the system. These values, referred to as actual angle values are sent to the indicator / display (11) and the operation process begins.

[0094] After the process begins, the controller first checks whether the hand throttle is at 1500 RPM. If the RPM is not at the desired level, energy is supplied to the hand throttle until the desired RPM is reached.

[0095] Then, the controller compares the excavator / rear boom (3) angle value with the default value. The angle measurement is made by the excavator / rear boom angle sensor (3.1). If the angle value equals the default value, the process moves to the next stage. If the angle value is smaller than the default value, energy is supplied to the excavator / rear boom lifting valve (3.2.3).

[0096] At this point, a two-step control algorithm is used. The excavator / rear boom lifting valve (3.2.3) is fully opened until the difference between the angle value and the default value reaches 10°. This allows the excavator / rear boom (3) to move at maximum speed, depending on the load. When the difference between the angles reaches 10°, the valve’s opening speed is reduced by half and the speed of the excavator / rear boom (3) is slowed down. In this way, proportional control is applied to equalize the angle value to the default value.

[0097] If the angle value is greater than the default value, energy is supplied to the excavator / rear boom lowering valve (3.2.4) to make the angle value equal to the default value.

[0098] The excavator / rear boom valve group (3.2) includes the following function modules: right stabilizing leg lifting valve (3.2.1), right stabilizing leg lowering valve (3.2.2), excavator / rear boom lifting valve (3.2.3), excavator / rear boom lowering valve (3.2.4), excavator / rear boom left rotation valve (3.2.5), excavator / rear boom right rotation valve (3.2.6), excavator bucket / rear bucket retracting valve (3.2.7), excavator / rear bucket dumping valve (3.2.8), stick lowering valve (3.2.9), stick lifting valve (3.2.10), left stabilizing leg lifting valve (3.2.11), and left stabilizing leg lowering valve (3.2.12).

[0099] The angle value of the loader / front boom (2) is compared with the default value. The angle measurement is made via the loader / front boom angle sensor (2.1). If the angle value is equal to the default value, the next stage is passed. If the angle value is smaller than the default value, the loader / front boom lifting valve (2.2.2) is fully opened at maximum speed until the difference between the angle value and the default value reaches 10°. Once the 10° value is reached, the valve opening speed is reduced by half, and the angle value is adjusted to match the default value. If the angle value is greater than the default value, energy is supplied to the loader / front boom lowering valve (2.2.4) to adjust the angle value to match the default value.

[0100] The loader / front boom valve group (2.2) includes the following function modules: optional additional valve opening (2.2.1), loader / front boom lifting valve (2.2.2), loader / front bucket dumping valve (2.2.3), loader / front boom lowering valve (2.2.4), loader / front bucket retracting valve (2.2.5), and optional additional valve closing (2.2.6). Next, the loader / front bucket (1) angle value is compared with the default value. The angle measurement is made via the loader / front bucket angle sensor (1.1). If the angle value is equal to the default value, the next stage is passed. If the angle value is smaller than the default value, the loader / front bucket retracting valve (2.2.5) is fully opened at maximum speed until the difference between the angle value and the default value reaches 10°. Once the 10° value is reached, the valve opening speed is reduced by half, and the angle value is adjusted to match the default value. If the angle value is greater than the default value, energy is supplied to the loader / front bucket dumping valve (2.2.3) to adjust the angle value to match the default value.

[0101] In the next step, the stick (4) angle value is compared with the default value. The angle measurement is made via the stick angle sensor (4.1). If the angle value is equal to the default value, the next stage is passed. If the angle value is smaller than the default value, the stick lifting valve (3.2.10) is fully opened at maximum speed until the difference between the angle value and the default value reaches 10°. Once the 10° value is reached, the valve opening speed is reduced by half, and the angle value is adjusted to match the default value. If the angle value is greater than the default value, energy is supplied to the stick lowering valve (3.2.9) to adjust the angle value to match the default value.

[0102] Next, the excavator / rear bucket (5) angle value is compared with the default value. The angle measurement is made via the excavator / rear bucket angle sensor (5.1). If the angle value is equal to the default value, the next stage is passed. If the angle value is smaller than the default value, the excavator / rear bucket dumping valve (3.2.8) is fully opened at maximum speed until the difference between the angle value and the default value reaches 10°. Once the 10° value is reached, the valve opening speed is reduced by half, and the angle value is adjusted to match the default value. If the angle value is greater than the default value, energy is supplied to the excavator / rear bucket retracting valve (3.2.7) to adjust the angle value to match the default value.

[0103] The rear rotating mechanism (6) angle value is compared with the default value. The angle measurement is made via the rotating mechanism angle sensor (6.1). If the angle value is equal to the default value, the next stage is passed. If the angle value is smaller than the default value, energy is supplied to the excavator / rear boom right rotation valve (3.2.6), and if it is larger, energy is supplied to the excavator / rear boom left rotation valve (3.2.5) to adjust the angle value to match the default value. During this process, the information from the stabilizing leg (7) switch is checked. The switch information is obtained via the leg switch (7.1). If switch information from the leg switch (7.1) is received, the legs are up, and the next stage is passed. If no switch information from the leg switch (7.1) is received, energy is supplied to the right stabilizing leg lifting valve (3.2.1) and left stabilizing leg lifting valve (3.2.11) until the legs are fully raised (until the switch information is received).

[0104] All the above-mentioned processes occur as a result of the operator pressing a single button, the Automatic Retraction Switch (12).

[0105] The Automatic Retraction Switch (12), loader / front boom control lever (13), excavator / rear boom left control lever (14), excavator / rear boom right control lever (15), and leg control panel (16) are positioned inside the operator’s cabin.

[0106] In manual operation, the operator controls the loader / front boom (2), excavator / rear boom (3), stick (4), loader / front bucket (1), excavator / rear bucket (5), and stabilizing legs (7) using these control levers.

[0107] The loader / front boom control lever (13) controls the loader / front boom lifting valve (2.2.2), the loader / front bucket dumping valve (2.2.3), the loader / front boom lowering valve (2.2.4), and the loader / front bucket retracting valve (2.2.5).

[0108] The excavator / rear boom left control lever (14) controls the excavator / rear boom left rotation valve (3.2.5), the excavator / rear boom right rotation valve (3.2.6), the stick lowering valve (3.2.9), and the stick lifting valve (3.2.10)

[0109] The excavator / rear boom right control lever (15) controls the excavator / rear boom lifting valve (3.2.3), the excavator / rear boom lowering valve (3.2.4), the excavator / rear bucket retracting valve (3.2.7), and the excavator / rear bucket dumping valve (3.2.8).

[0110] The leg control panel (16) controls the right stabilizing leg lifting valve (3.2.1), the right stabilizing leg lowering valve (3.2.2), the left stabilizing leg lifting valve (3.2.11), and the left stabilizing leg lowering valve (3.2.12).

[0111] Around this fundamental concept, a wide range of applications for the automatic retraction system described in the invention can be developed, and the invention is not limited to the examples presented here, as specified primarily in the claims.

Claims

CLAIMS1. The invention is an automatic retraction system for armored backhoe loader vehicles, allowing the operator to gather the loader / front boom (2), excavator / rear boom (3), stick (4), loader / front bucket (1), excavator / rear bucket (5), and stabilizing leg (7) with a single button press when the excavation process is completed and / or in emergency situations, characterized in that it includes:• A loader / front bucket angle sensor (1.1) for detecting the angle of the loader / front bucket (1),• A loader / front boom angle sensor (2.1) for detecting the angle of the loader / front boom (2),• A loader / front boom valve group (2.2),• An excavator / rear boom angle sensor (3.1) for detecting the angle of the excavator / rear boom (3),• An excavator / rear boom valve group (3.2),• A stick angle sensor (4.1) for detecting the angle of the stick (4),• An excavator / rear bucket angle sensor (5.1) for detecting the angle of the excavator / rear bucket (5),• A rotating mechanism angle sensor (6.1) for detecting the angle of the rotating mechanism (6),• Stabilizing leg (7) and leg switch (7.1),• A scale (8), electronic control unit (9), pump (10), indicator / display (11), automatic retraction switch (12), and leg control panel (16).

2. An automatic retraction system according to Claim 1, characterized in that the mentioned loader / front boom valve group (2.2) includes the following function modules: optional additional valve opening (2.2.1), loader / front boom lifting valve (2.2.2), loader / front bucket dumping valve (2.2.3), loader / front boom lowering valve (2.2.4), loader / front bucket retracting valve (2.2.5), and optional additional valve closing (2.2.6).

3. An automatic retraction system according to Claim 1, characterized in that the mentioned excavator / rear boom valve group (3.2) includes the following function modules: right stabilizing leg lifting valve (3.2.1), right stabilizing leg lowering valve (3.2.2), excavator / rear boom lifting valve (3.2.3), excavator / rear boom lowering valve (3.2.4), excavator / rear boom left rotation valve (3.2.5), excavator / rear boom right rotation valve (3.2.6),excavator bucket / rear bucket retracting valve (3.2.7), excavator / rear bucket dumping valve(3.2.8), stick lowering valve (3.2.9), stick lifting valve (3.2.10), excavator / rear boom (3) left stabilizing leg lifting valve (3.2.11), and excavator / rear boom valve left stabilizing leg lowering valve (3.2.12).

4. An automatic retraction system according to Claim 1, characterized in that it includes a programmable controller card that enables the loader / excavator parts, namely the loader / front boom (2), excavator / rear boom (3), stick (4), loader / front bucket (1), excavator / rear bucket (5), and stabilizing legs (7) to be set to default values.

5. An automatic retraction system according to Claim 4, characterized in that the mentioned programmable controller is a controller designed for use in mobile applications, with a high number of input / output channels, and complies with global safety standards.

6. An automatic retraction system according to Claim 4, characterized in that the mentioned programmable controller includes analog inputs and CAN-bus inputs to ensure data exchange with the sensors (1.1, 2.1, 3.1, 4.1, 5.1, and 6.1), valves (2.2.1, 2.2.2, 2.2.3, 2.2.4, 2.2.5, 2.2.6, 3.2.1, 3.2.2, 3.2.3, 3.2.4, 3.2.5, 3.2.6, 3.2.7, 3.2.8, 3.2.9, 3.2.10, 3.2.11, 3.2.12), indicator / display (11) and other instruments on the excavator / loader.

7. An automatic retraction system according to Claim 1, characterized in that it includes an automatic retraction switch (12) that enables the operator to retract the loader / front boom (2), excavator / rear boom (3), stick (4), loader / front bucket (1), excavator / rear bucket (5), and stabilizing legs (7) with a single button press when the excavation is completed and / or in emergency situations.

8. An automatic retraction system according to Claim 1, characterized in that it includes a loader / front boom control lever (13), excavator / rear boom left control lever (14), excavator / rear boom right control lever (15), and a leg control panel (16) positioned inside the operator’s cabin to allow for manual operation.

9. An automatic retraction system according to Claim 8, characterized in that the mentioned loader / front boom control lever (13) controls the loader / front boom lifting valve (2.2.2), loader / front bucket dumping valve (2.2.3), loader / front boom lowering valve (2.2.4), and loader / front bucket retracting valve (2.2.5).

10. An automatic retraction system according to Claim 8, characterized in that the mentioned excavator / rear boom left control lever (14) controls the excavator / rear boom left rotation valve (3.2.5), excavator / rear boom right rotation valve (3.2.6), stick lowering valve(3.2.9), and stick lifting valve (3.2.10).

11. An automatic retraction system according to Claim 8, characterized in that the mentioned excavator / rear boom right control lever (15) controls the excavator / rear boom lifting valve (3.2.3), excavator / rear boom lowering valve (3.2.4), excavator / rear bucket retracting valve (3.2.7), and excavator / rear bucket dumping valve (3.2.8).

12. An automatic retraction system according to Claim 8, characterized in that the mentioned leg control panel (16) controls the right stabilizing leg lifting valve (3.2.1), right stabilizing leg lowering valve (3.2.2), left stabilizing leg lifting valve (3.2.11), and left stabilizing leg lowering valve (3.2.12).

13. An automatic retraction system according to Claim 1, characterized in that the default values are already registered in the system.

14. A method of operation for an automatic retraction system that allows the operator to retract the loader / front boom (2), excavator / rear boom (3), stick (4), loader / front bucket (1), excavator / rear bucket (5), and stabilizing legs (7) with a single button press when the excavation task is completed and / or in emergency situations, characterized in that it comprises the following steps, after the operator presses the automatic retraction switch (12):• The system reads the data from the angle sensors (1.1, 2.1, 3.1, 4.1, 5.1, and 6.1) and sends these values, referred to as actual angle values, to the indicator / display (11),• The controller checks whether the hand throttle is at 1500 rpm, and if not, provides energy to the hand throttle until the desired rpm is achieved,• The excavator / rear boom angle value measured by the excavator / rear boom angle sensor (3.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The loader / front boom angle value measured by the loader / front boom angle sensor (2.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The loader / front bucket angle value measured by the loader / front bucket angle sensor (1.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The stick angle value measured by the stick angle sensor (4.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The excavator / rear bucket angle value measured by the excavator / rear bucket angle sensor (5.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The rear rotation mechanism (6) angle value measured by the rotating mechanism angle sensor (6.1) is compared with the default value, and if they are not equal, they are adjusted to be equal,• The leg switch (7.1) information from the stabilizing leg (7) is checked, and includes these steps.

15. A method of operation for an automatic retraction system according to claim 14, characterized in that the excavator / rear boom (3) angle value measured by the excavator / rear boom angle sensor (3.1) is compared with the default value and based on the comparison result, characterized in that it comprises the following steps:• If the excavator / rear boom (3) angle value is equal to the default value, the process moves to the next step,• If the excavator / rear boom (3) angle value is smaller than the default value, energy is supplied to the excavator / rear boom lifting valve (3.2.3), and with a two-step control algorithm, the excavator / rear boom (3) angle value is adjusted by fully opening the excavator / rear boom lifting valve (3.2.3) until the difference between the current value and the default value reaches 10°. After that, the opening speed of the excavator / rear boom lifting valve (3.2.3) is halved, the movement speed of the excavator / rear boom (3) is reduced, and proportional control is used to adjust the angle value to match the default value,• If the excavator / rear boom (3) angle value is greater than the default value, energy is supplied to the excavator / rear boom lowering valve (3.2.4), and the angle value is adjusted to match the default value,16. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps; comparing the angle value of the loader / front boom (2) measured by the loader / front boom angle sensor (2.1) with the default value and depending on the comparison result, characterized in that it comprises the following steps:• If the loader / front boom (2) angle value is equal to the default value, proceed to the next step,• If the loader / front boom (2) angle value is smaller than the default value, the loader / front boom lifting valve (2.2.2) is opened at maximum speed until the difference between the default value and the measured angle reaches 10°, and after reaching 10°, thevalve opening speed is reduced by half, and the loader / front boom (2) angle value is equalized to the default value,• If the loader / front boom (2) angle value is greater than the default value, energy is applied to the loader / front boom lowering valve (2.2.4) to equalize the angle value to the default value,17. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps; comparing the angle value of the loader / front bucket (1) measured by the loader / front bucket angle sensor (1.1) with the default value, and depending on the comparison result, characterized in that it comprises the following steps:• If the loader / front bucket (1) angle value is equal to the default value, proceed to the next step,• If the loader / front bucket (1) angle value is smaller than the default value, the loader / front bucket retracting valve (2.2.5) is opened at maximum speed until the difference between the default value and the measured angle reaches 10°, and after reaching 10°, the valve opening speed is reduced by half, and the loader / front bucket (1) angle value is equalized to the default value,• If the loader / front bucket (1) angle value is greater than the default value, energy is applied to the loader / front bucket dumping valve (2.2.3) to equalize the angle value to the default value,18. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps; comparing the angle value of the stick (4) measured by the stick angle sensor (4.1) with the default value, and depending on the comparison result; characterized in that it comprises the following steps:• If the stick (4) angle value is equal to the default value, proceed to the next step,• If the stick (4) angle value is smaller than the default value, the stick lifting valve (3.2.10) is opened at maximum speed until the difference between the default value and the measured angle reaches 10°, and after reaching 10°, the valve opening speed is reduced by half, and the stick (4) angle value is equalized to the default value,• If the stick (4) angle value is greater than the default value, energy is applied to the stick lowering valve (3.2.9) to equalize the angle value to the default value,19. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps, comparing the angle value of the excavator / rear bucket (5) measured by the excavator / rear bucket angle sensor (5.1) with the default value, and depending on the comparison result; characterized in that it comprises the following steps:• If the excavator / rear bucket (5) angle value is equal to the default value, proceed to the next step,• If the excavator / rear bucket (5) angle value is smaller than the default value, the excavator / rear bucket dumping valve (3.2.8) is opened at maximum speed until the difference between the default value and the measured angle reaches 10°, and after reaching 10°, the valve opening speed is reduced by half, and the excavator / rear bucket (5) angle value is equalized to the default value,• If the excavator / rear bucket (5) angle value is greater than the default value, energy is applied to the excavator / rear bucket retracting valve (3.2.7) to equalize the angle value to the default value,20. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps; comparing the rear rotating mechanism (6) angle value measured by the rotating mechanism angle sensor (6.1) with the default value, and depending on the comparison result, characterized in that it comprises the following steps:• If the rotating mechanism (6) angle value is equal to the default value, proceed to the next step,• If the rotating mechanism (6) angle value is smaller than the default value, energy is applied to the excavator / rear boom right rotation valve (3.2.6) to equalize the rotating mechanism (6) angle value to the default value,• If the rotating mechanism (6) angle value is greater than the default value, energy is applied to the excavator / rear boom left rotation valve (3.2.5) to equalize the angle value to the default value,21. A method of operation for an automatic retraction system according to Claim 14, characterized by the following steps; checking the leg switch (7.1) information from the stabilizing leg (7), and depending on the comparison result, characterized in that it comprises the following steps:• If the leg switch (7.1) information is received, proceed to the next step,• If the leg switch (7.1) information is not received, energy is applied to the right stabilizing leg lifting valve (3.2.1) and left stabilizing leg lifting valve (3.

2. 11) to lift the stabilizing leg (7) until they are fully raised (until the switch information is received),

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