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RELATED APPLICATIONS 
       [0001]    This application claims priority to U.S. Provisional Application No. 62/295,319 filed Feb. 15, 2016, the entire content of which is incorporated by reference herein. 
     
    
     BACKGROUND 
       [0002]    Embodiments described herein relate to mining machines and, more particularly, relate to blasthole drill rigs and leveling control systems and methods for blasthole drill rigs. 
       SUMMARY 
       [0003]    Blasthole drill rigs are commonly used in the mining industry to drill through hard rock. Blasthole drill rigs may be found, for example, in coal, copper, and diamond mines throughout the world. A blasthole drill rig may include a base, a drill tower extending vertically from the base, and one or more drill pipes that are coupled to and supported by the drill tower. The drill pipes extend into a borehole. A blasthole drill rig may also include one or more jacks that extend from the base to the surface (for example, the ground) supporting the blasthole drill rig. 
         [0004]    In some embodiments, prior to starting a drilling operation, a blasthole drill rig is leveled. An operator may manually level the blasthole drill by manually moving each jack to a desired position (for example, using a joystick or a pushbutton). Alternatively or in addition, an operator may manually initiate an automatic leveling system that performs a sequence of predetermined operations to level the blasthole drill rig. 
         [0005]    During operation, blasthole drill rigs may become unlevel or imbalanced, such as when there is jack drift, jack leakage, or when the ground supporting a jack softens, slips, or compacts. Accordingly, despite leveling a blasthole drill rig prior to operation the drill rig may nevertheless become unlevel during operation. The operator must identify that the blasthole drill rig is unlevel and either manually re-level the rig or manually initiate an automatic leveling process. In other words, when the blasthole drill rig becomes unlevel, manual intervention is required to correct the blasthole drill rig. However, it may be difficult or even impossible for an operator to manually identify when the blasthole drill rig has become unlevel. Furthermore, it may take an operator time to recognize that the blasthole drill rig is unlevel and to correct the issue. In the meantime, problems may occur during the time when the blasthole drill rig is unlevel. For example, an unlevel blasthole drill rig may compromise the quality of the drill hole and may damage or compromise components of the blasthole drill (for example, may cause bending of the drill pipe, damage to the drill bit, or excessive vibration that may lead to premature machinery wear). 
         [0006]    Accordingly, embodiments described herein provide methods and systems for leveling an industrial machine, such as a blasthole drill rig. For example, one embodiment provides a method includes leveling the industrial machine through operation of at least one jack included in a plurality of jacks extending from the industrial machine to a surface supporting the industrial machine. The method also includes monitoring a current position of each of the plurality of jacks through a linear position transducer, monitoring a current inclination of the industrial machine using a level inclinometer, and monitoring a current pressure associated with each of the plurality of jacks with a pressure transducer. In addition, the method includes autonomously re-leveling the industrial machine based on the monitored current position of each of the plurality of jacks, the monitored current inclination of the industrial machine, and the monitored current pressure of each of the plurality of jacks. 
         [0007]    For example, one embodiment described herein provides a method of operating an industrial machine including a base and a plurality of jacks coupled to the base, wherein each of the plurality of jacks extendable and retractable relative to the base to contact a surface supporting the industrial machine. The method includes receiving, with an electronic processor, a current value of a parameter of the industrial machine during operation of the industrial machine and comparing, with the electronic processor, the current value of the parameter to a stored value of the parameter to determine whether the industrial machine is unlevel. The method also includes, when the industrial machine is unlevel, autonomously, with the electronic processor, changing a position of at least one of the plurality of jacks to level the industrial machine, wherein autonomously changing the position of at least one of the plurality of jacks includes at least one selected from a group consisting of extending the at least one of the plurality of jacks and retracting the at least one of the plurality of jacks. 
         [0008]    Another embodiment provides an industrial machine including a base, a plurality of jacks coupled to the base, a sensor configured to sense a value of a parameter of the industrial machine, and a controller in communication with the sensor. Each of the plurality of jacks is extendable and retractable relative to the base to contact a surface supporting the industrial machine. The controller is configured to receive, from the sensor, a current value of the parameter of the industrial machine during operation of the industrial machine, and compare the current value of the parameter to a stored value of the parameter to determine whether the industrial machine is unlevel. The controller is also configured to, when the industrial machine is unlevel, autonomously change a position of at least one of the plurality of jacks to level the industrial machine, wherein autonomously changing the position of the at least one of the plurality of jacks includes at least one selected from a group consisting of extending the at least one of the plurality of jacks and retracting the at least one of the plurality of jacks. 
         [0009]    Other aspects will become apparent by consideration of the detailed description and accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]      FIG. 1  is a side view of a blasthole drill rig according to one embodiment. 
           [0011]      FIG. 2  schematically illustrates a controller providing leveling control for the blasthole drill rig of  FIG. 1 . 
           [0012]      FIG. 3  is a flowchart illustrating a method of operating the blasthole drill rig of  FIG. 1  in an autonomous mode of operation according to one embodiment. 
           [0013]      FIG. 4  is a flowchart illustrating a method of calibrating the blasthole drill rig of  FIG. 1  according to one embodiment. 
           [0014]      FIG. 5  is a flowchart illustrating a method of leveling the blasthole drill rig of  FIG. 1  from side-to-side according to one embodiment. 
           [0015]      FIG. 6  is a flowchart illustrating a method of leveling the blasthole drill rig of  FIG. 1  from front-to-back according to one embodiment. 
           [0016]      FIG. 7  is a flowchart illustrating a method of storing parameters of the blasthole drill rig of  FIG. 1  according to one embodiment. 
           [0017]      FIG. 8  is a flowchart illustrating a method of monitoring a current value of one or more parameters of the blasthole drill rig of  FIG. 1  in parallel according to one embodiment. 
           [0018]      FIG. 9  is a flowchart illustrating a method of monitoring a current value of one or more parameters of the blasthole drill rig of  FIG. 1  in series according to one embodiment. 
           [0019]      FIGS. 10-12  are flowcharts illustrating methods of adjusting the blasthole drill rig of  FIG. 1  according to embodiments of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0020]    Before any embodiments are explained in detail, it is to be understood that the embodiments described herein are not limited in application to the details of construction and the arrangement of components set forth in the following description or illustrated in the accompanying drawings and may be practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limited. The use of “including,” “comprising” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The terms “mounted,” “connected” and “coupled” are used broadly and encompass both direct and indirect mounting, connecting and coupling. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings, and may include electrical connections or couplings, whether direct or indirect. Also, electronic communications and notifications may be performed using any known means including direct or indirect connections, wireless connections, and the like. 
         [0021]    It should be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components may be utilized to implement embodiments described herein. In addition, it should be understood that embodiments described herein may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, one of ordinary skill in the art, and based on a reading of this detailed description, would recognize that, in at least one embodiment, the electronic based aspects of embodiments described herein may be implemented in software (for example, stored on non-transitory computer-readable medium) executable by one or more processors. As such, it should be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components may be utilized to implement the described embodiments. For example, “controller” and “control unit” described in the specification may include one or more electronic processors, one or more memory modules including non-transitory computer-readable medium, one or more input/output interfaces, and various connections (for example, a system bus) connecting the components. 
         [0022]      FIG. 1  illustrates a drill  10  according to one embodiment. Blasthole drill rigs  10  are commonly used in the mining industry to drill through hard rock. Prior to starting a drilling operation, the drill  10  is leveled. In addition, blasthole drill rigs  10  may become unlevel or imbalanced during operation. For example, blasthole drill rigs  10  may become unlevel when there is jack drift, jack leakage, or when the ground supporting a jack softens, slips, or compacts. Therefore, despite leveling a drill  10  prior to operation, the drill  10  may nevertheless become unlevel during operation. Problems may occur when the drill  10  is unlevel. For example, an unlevel drill  10  may compromise the quality of the drill hole and may damage or compromise components of the drill  10  (for example, may cause bending of the drill pipe, damage to the drill bit, or excessive vibration that may lead to premature machinery wear). 
         [0023]    Accordingly, embodiments described herein provide methods and systems for operating an industrial machine, such as the drill  10  and, in particular, methods and systems for leveling an industrial machine, such as the drill  10 . It should be understood that although embodiments are described herein for the drill  10 , embodiments may be applied to or used in conjunction with a variety of industrial machines. For example, in some embodiments, the methods and systems described herein may be used with any industrial machine that is leveled prior to operation and may become unlevel during operation. 
         [0024]    As illustrated in  FIG. 1 , the blasthole drill rig  10  (also referred to herein as drill  10 , blasthole drill  10 , drill rig  10 , or rig  10 ) includes a mast or drill tower  14 , a base  18  (for example, a machinery house) beneath the drill tower  14  that supports the drill tower  14 , an operator&#39;s cab  22  coupled to the base  18 , and crawlers  26  driven by a crawler drive  30  that move the drill  10  along a surface  34  (for example, the ground). The drill tower  14  is coupled to and supports a drill string  38  including a plurality of components such as, for example, drill pipes, a shock sub, a thread, a drill bit, and a bit stabilizer. The drill string  38  is configured to extend vertically downward through the surface  34  and into a borehole. 
         [0025]    The drill  10  also includes one or more leveling jacks  42  to support the drill  10  on the surface  34 . For example, in some embodiments, the drill  10  has four jacks  42  including a right front jack (RF), right rear jack (RR), left front jack (LF), and a left rear jack (LR). In other embodiments, the blasthole drill  10  has three jacks  42  including, for example, a right rear jack (RR), a left rear jack (LR), and a singular front jack (SF). Each jack  42  is movable relative to the base  18  and, in particular, is extendable and retractable to contact the surface  34 . In some embodiments, each jack  42  is independently movable between a fully extended position and a fully retracted position and may be set to one or more positions between such positions. In the fully extended position, a jack  42  may contact the surface  34  to support the drill  10 . When the drill  10  is not in use (for example, not drilling), the jacks  42  may be moved to the fully retracted position to allow the drill  10  to move via the crawlers  26 . In some embodiments, the jacks  42  may be hydraulically driven. In other embodiments, the jacks  42  may be electrically driven. The drill  10  may also include one or more actuators for driving or operating the jacks  42 . The one or more actuators may include one or more hydraulic actuators operated by hydraulic fluid pressure. For example, one or more hydraulic actuators may be used to extend or retract the jacks  42 . Similarly, one or more electric motors may be used to drive the jacks  42 . 
         [0026]    Each jack  42  may be independently adjusted (for example, extended or retracted) to various positions by the actuators to level the drill  10 . For example, when the surface  34  supporting the drill  10  is uneven or sloped, some of the jacks  42  may be extended further than other jacks  42  to accommodate for the uneven or sloped surface  34 . The jacks  42  may also be adjusted to accommodate for other factors that may lead to an unlevel drill  10 . For example, the jacks  42  may be adjusted to accommodate for factors such as jack drift, jack leakage, or when the surface  34  softens, slips, or compacts. 
         [0027]    The drill  10  includes one or more sensors for monitoring one or more operating parameters of the jacks  42 . For example, in the illustrated embodiment, each jack  42  includes a position sensor  50  and a pressure sensor  54 . Each position sensor  50  senses the position of a jack  42  between a fully extended and a fully retracted position. It should be understood, that in some embodiments, multiple position sensors  50  are used to detect the position of a jack  42  and, in other embodiments, a single position sensor  50  may be used to detect the position of one or more jacks  42 . The position sensors  50  may also monitor jack drift. In some embodiments, the position sensors  50  include linear transducers positioned within the jacks  42 , such as within jack cylinders. 
         [0028]    Each pressure sensor  54  senses a work demand pressure of a jack  42 . As described in more detail below, the pressure sensors  54  may be used to detect whether a jack  42  is contacting the surface  34 . For example, decreasing pressure experienced by a jack  42  may indicate that the surface  34  is compacting or slipping. Alternatively, a pressure change experienced by a jack  42  may indicate a problem with a jack  42  (for example, a hydraulic cylinder of the jack  42 ) or an actuator driving a jack  42  (for example, a pressurized fluid supply). It should be understood that, in some embodiments, multiple pressure sensors  54  are used to detect the pressure of a jack  42  and, in other embodiments, a single pressure sensor  54  may be used to detect the pressure of one or more jacks  42 . In some embodiments, the pressure sensors  54  include demand pressure transducers. 
         [0029]    The drill  10  may also include one or more slope sensors or inclinometers  58 . The inclinometers  58  detect the incline or slope of the drill  10  and the direction of the slope. For example, in some embodiments, the drill  10  may include a first inclinometer that measures the slope of the drill  10  along an x-axis (a side-to-side slope of the drill  10 ) and a second inclinometer that measures the slope along a y-axis (a front-to-back slope of the drill  10 ). As described in more detail below, the slope detected by the inclinometer  58  may be used to determine what position, such as degree of extension, each jack  42  should be in to level the drill  10 . For example, when the inclinometers  58  indicate that the drill  10  is sloping downward to the left, the left front and left rear jacks  42  may be extended farther than the right front and right rear jacks  42 . In some embodiments, one or more of the inclinometers  58  may be mounted on the base  18 , such as the chassis, close to the drill tower  14 . In other embodiments, one or more of the inclinometers  58  may be mounted at other locations on the drill  10 , such as the drill tower  14 , the crawlers  26 , the cab  22 , and the like. 
         [0030]    To manage the levelness and improve the stability of the drill  10 , a controller  80  may be configured to monitor operations of the drill  10 , detect an unlevel condition of the drill  10 , and automatically modify operation of the drill  10  to maintain the drill  10  in a level state. For example,  FIG. 2  schematically illustrates a controller  80  according to one embodiment. The controller  80  may be installed on the drill  10  (see, for example,  FIG. 1 ) or may be remote from the drill  10 , such as included as part of a remote control device or station for the drill  10 . As illustrated in  FIG. 2 , the controller  80  may include an electronic processor  82 , a non-transitory computer-readable medium  84 , and an input/output interface  86 . The electronic processor  82 , the computer-readable medium  84 , and the input/output interface  86  are connected by and communicate through one or more control and/or data communication lines or buses  88 . It should be understood that in other constructions, the controller  80  includes additional, fewer, or different components. Also, it should be understood that controller  80  as described in the present application may perform additional functionality than the leveling functionality described in the present application. Also, the functionality of the controller  80  may be distributed among more than one controller. 
         [0031]    The computer-readable medium  84  stores program instructions and data. The electronic processor  82  is configured to retrieve instructions from the computer-readable medium  84  and execute, among other things, the instructions to perform the methods described herein. The electronic processor  82  may include a microprocessor, an application-specific integrated circuit, or other electronic processing device. The input/output interface  86  communicates with systems, networks, and devices located remote from the controller  80  (for example, over one or more wired and/or wireless connections). The input/output interface  86  may provide received data to the electronic processor  82  and, in some embodiments, may store received data to the computer-readable medium  84 . 
         [0032]    As illustrated in  FIG. 2 , the controller  80  may be configured to communicate with the one or more actuators  102 , which are used to operate the jacks  42  as described above. In a hydraulic drill  10 , the actuators  102  may include one or more hydraulic fluid systems. Similarly, in an electric drill  10 , the actuators  102  may include one or more electric motors. It should be understood that, in some embodiments, the controller  80  communicates with the actuators  102  directly and, in other embodiments, the controller  80  communicates with one or more of the actuator  102  through an actuator controller, such as a motor controller  103 . For example, as described in more detail below, when the controller  80  determines that operation of one of the actuators  102  needs to be modified to control levelness of the drill  10 , the controller  80  may send a signal to the actuator controller, which may communicate with the actuator  102  to implement the signal received from the controller  80 . 
         [0033]    As also illustrated in  FIG. 2 , the controller  80  may communicate with the sensors  50 ,  54 , and  58  associated with the drill  10 . For example, the controller  80  may communicate with the position sensors  50 , pressure sensors  54 , and the inclinometers  58 . Furthermore, in some embodiments, the controller  80  receives input from one or more operator control devices  106 , such as a joystick, a lever, a foot pedal, another actuator operated by the operator to control operation of the drill  10 , or a combination thereof. For example, the operator may use the operator control device  106  to issue commands, such as extension or retraction of a jack  42  or to initiate a leveling operation of the drill  10 . It should be understood that, in some embodiments, one or more of the user interface  90 , the actuators  102 , the actuator controller, and the operator control devices  106  may be included in the controller  80 . 
         [0034]    In some embodiments, the controller  80  communicates with a user interface  90  (for example, through the input/output interface  86 ). The user interface  90  may allow an operator to operate the drill  10  and, in some embodiments, displays feedback to an operator regarding whether the controller  80  has detected an unlevel condition (for example, by generating a warning or providing an indication when automatic leveling control is activated). For example, the user interface  90  may display information including a degree of incline of the drill  10  and a direction of the incline, a position (for example, a degree of extension) of each the jacks  42 , a demand pressure of each of the jacks  42 , notifications (for example, visual, audible, tactile, or combinations thereof), such as when an unstable condition has been detected for the drill  10  and, consequently, when automatic leveling control is being provided by the controller  80 , or a combination thereof. In some embodiments, the user interface  90  also allows a user to change a mode of operation of the controller  80 , such as whether the controller  80  should operate in an autonomous mode, an automatic mode, or a manual mode. Accordingly, the user interface  90  may be configured to receive a change of mode from an operator and automatically change the mode of operation of the controller  80  accordingly. 
         [0035]    As noted above, the electronic processor  82  is configured to retrieve instructions from the computer-readable medium  84  and execute, among other things, the instructions to control the drill  10 . For example, as noted above, the controller  80  may be configured to perform leveling control for the drill  10 . In some embodiments, the drill  10  may be operated in three different modes: a manual mode, an automatic mode, and an autonomous mode. The drill  10  may be leveled using each of these modes. When the drill  10  is in manual mode, an operator uses the user interface  90  and the operator control devices  106  to manually level the drill  10 . For example, based on input received from the operator, the controller  80  executes instructions to perform desired leveling tasks. In the manual mode, none of the tasks are automatically initiated. Rather, the operator must level the blasthole drill by adjusting the jacks  42  manually. 
         [0036]    In contrast, when the drill  10  is in automatic mode, the operator may select a selection mechanism (for example, a mechanical or virtual button) on the user interface  90  to initiate an automatic leveling process. In this mode, the controller  80  executes instructions to carry out a predetermined leveling process. In other words, in automatic mode, the operator initiates the leveling process and the controller  80  automatically performs the process based on a set of predetermined operations. 
         [0037]    When the drill  10  is in autonomous mode, the operator is not required to initiate the leveling process. Rather, the controller  80  monitors the drill  10  and automatically initiates leveling sequences when the controller  80  detects that the drill  10  is no longer level. In this mode, the controller  80  may monitor and adjust operation of the drill  10  in approximately a continuous manner, such as in real-time. In some embodiments, the autonomous mode also performs an initial leveling of the blasthole drill, which may be performed manually or automatically as noted above for the manual mode and the automatic mode. 
         [0038]      FIG. 3  illustrates a method  200  of operating the drill  10  in an autonomous mode of operation. The method  200  may be described herein as being performed by the controller  80  and, in particular, the electronic processor  82  included in the controller  80  executing instructions (for example, stored in the computer-readable medium  84 ). As illustrated in  FIG. 3 , the controller  80  may repeatedly monitor and maintain the levelness of the drill  10 . Specifically, the controller  80  may be configured to calibrate the drill  10  (at block  204 ) and perform one or more leveling operations on the drill  10  (at block  208 ) to initially level the drill  10 . After the drill  10  is initially leveled, the controller  80  stores a value of one or more parameters of the drill  10  (at block  212 ). Drilling with the drill  10  may be started after the drill  10  is initially leveled (at block  216 ). Thereafter, the controller  80  monitors the current value of the one or more parameters of the drill  10  during operation (at block  220 ) and takes one or more automatic actions to maintain the drill  10  at a level state based on monitored current parameters and the stored parameters of the drill  10  (at block  220 ). For example, as described in more detail below, the controller  80  may monitor current operating parameters of the drill  10  and compare the monitored, current operating parameters to the stored reference parameters. When one of the monitored parameters falls outside of an allowable range of a stored parameter, the controller  80  may automatically adjust the drill  10  (for example, may automatically change the position of one or more of the jacks  42 ) to bring the drill  10  back to a level state. For example, when a monitored parameter falls outside of an allowable range of a stored parameter, the controller  80  may extend or retract one or more of the jacks  42  until the monitored operating parameter falls within the allowable range. 
         [0039]    To calibrate the drill  10 , the controller  80  may extend all of the jacks  42  until each jack  42  reaches the surface  34 .  FIG. 4  illustrates a method  400  of calibrating the drill  10  according to one embodiment. The controller  80  may perform the method  400  illustrated in  FIG. 4  at block  204  of  FIG. 3 . As part of the method  400 , the controller  80  determines a sequence for extending the jacks  42  based on an orientation of the drill  10 . For example, the controller  80  may determine a side-to-side slope of the drill  10  (in the x-direction and represented by the variable X° in the following equations) and a front-to-back slope of the drill  10  (in the y-direction and represented by the variable Y° in the following equations) based on data received from the one or more inclinometers  58  installed in the drill  10 . As illustrated in  FIG. 3 , the controller  80  may then compare the side-to-side slope of the drill  10  and the front-to-back slope of the drill  10  to determine in which direction the slope is greater as illustrated in Equation (1) (at block  402 ): 
         [0000]      | X°|&gt;|Y °|  Equation (1)
 
         [0040]    When the side-to-side slope is greater than the front-to-back slope, the controller  80  adjusts the level of the drill  10  from side-to-side. For example, the controller  80  may determine whether the side-to-side slope is right-side-sloping (the right side is lower than the left side) or left-side-sloping (the left side is lower than the right side). In particular, when X°&gt;0 (at block  404 ), the drill  10  is right-side-sloping, and the controller  80  extends the right front jack (RF) and the right rear jack (RR) (at block  406 ) prior to extending the left front jack (LF) and the left rear jack (LR) (at block  408 ). Similarly, when X°&lt;0 (at block  404 ), the drill  10  is left-side-sloping, and the controller  80  extends the left front jack (LF) and the left rear jack (LR) (at block  410 ) prior to extending the right front jack (RF) and the right rear jack (RR) (at block  412 ). 
         [0041]    Alternatively, when the front-to-back slope is greater than the side-to-side slope (at block  402 ), the controller  80  adjusts the level of the drill  10  from front-to-back. For example, the controller  80  may determine whether the slope is rear-sloping (the rear is lower than the front) or front-sloping (the front is lower than the rear). In particular, when Y°&gt;0 (at block  414 ), the drill  10  is rear-sloping, and the controller  80  extends the right rear jack (RR) and the left rear jack (LR) (at block  416 ) prior to extending the right front jack (RF) and the left front jack (LF) (at block  418 ). Similarly, when Y°&lt;0 (at block  414 ), the drill  10  is front-sloping, and the controller  80  extends the right front jack (RF) and the left front jack (LF) (at block  420 ) prior to extending the right rear jack (RR) and the left rear jack (LR) (at block  422 ). 
         [0042]    After extending one or more of the jacks  42 , the controller  80  determines (for example, based on the pressure sensors  54 ) whether the jack  42  is contacting the surface  34  (at block  424 ). When a jack  42  is not contacting the surface  34 , the controller  80  further extends the jack  42  until the jack  42  contacts the surface  34  (at block  426 ). It should be understood that in some embodiments, the controller  80  may initially extend one or more of the jacks  42  a predetermined amount before conducting the testing and adjustment illustrated in  FIG. 4 . 
         [0043]    Returning to  FIG. 3 , after calibrating the drill  10  (at block  204 ), the drill  10  is leveled prior to beginning drilling operations (at block  208 ).  FIG. 5  illustrates a method  500  of leveling the drill  10  from side-to-side according to one embodiment, and  FIG. 6  illustrates a method  600  of leveling the drill  10  from front-to-back according to one embodiment. The controller  80  may perform one or both of the methods  500  and  600  illustrated in  FIGS. 5 and 6  at block  208  illustrated in  FIG. 3 . 
         [0044]    As illustrated in  FIG. 5 , when performing side-to-side leveling, the controller  80  determines whether the side-to-side slope of the drill  10  is outside of an allowable range (for example, based on data received from one or more of the inclinometers  58 ) (at block  502 ). For example, as illustrated in Equation (2), the controller  80  may determine whether the side-to-side slope is greater than a predetermined degree represented by the variable “X allowed.” 
         [0000]      | X°|&gt;X  Allowed   EQUATION (2)
 
         [0045]    In some embodiments, the variable “X allowed” has a value of approximately 0.15 degrees. When the drill  10  is not sloping outside of the allowed range (is within the allowed range) (at block  502 ), no side-to-side leveling is necessary. In contrast, when the drill  10  is sloping outside of the allowed range (at block  502 ), the controller  80  determines whether the drill  10  is right-side-sloping or left-side-sloping. For example, when X°&gt;0 (at block  504 ), the drill  10  is right-side-sloping, and the controller  80  further extends the right front jack (RF) and the right rear jack (RR) proportional to X° (at block  506 ). When X°&lt;0 (at block  507 ), the drill  10  is left-side-sloping, and the controller  80  further extends the left front jack (LF) and the left rear jack (LR) proportional to |X°| (at block  508 ). After each adjustment, the controller  80  may pause (at blocks  510 ,  512 ) and allow the drill  10  to settle from any bouncing or shaking that occurs during the movement of the jacks  42 . The length of the pause may be configured based on the drill  10 , the drilling environment, or other factors. After pausing (at blocks  510 ,  512 ), the controller  80  confirms whether the side-to-side slope of the drill  10  is within the allowable range (for example, based on data received from the inclinometer  58 ) (at blocks  514 ,  516 ). When the side-to-side slope is not within the allowable range (at blocks  514 ,  516 ), the controller  80  continues leveling the drill  10  from side-to-side (at blocks  506 ,  508 ). 
         [0046]    When the side-to-slope is within the allowable range, the controller  80  levels the drill  10  from front-to-back. As illustrated in  FIG. 6 , similar to the method of leveling from side-to-side described above with respect to  FIG. 5 , when performing front-to-back leveling, the controller  80  determines whether the front-to-back slope of the drill  10  is outside of an allowable range (for example, based on data received from one or more of the inclinometers  58 ) (at block  602 ). For example, as illustrated in Equation (3), the controller  80  may determine whether the front-to-back slope is greater than a predetermined degree represented by the variable “Y allowed.” 
         [0000]      | Y°|&gt;Y  Allowed   EQUATION (3)
 
         [0047]    In some embodiments, the variable “Y allowed” has a value of approximately 0.15 degrees. When the drill  10  is not sloping outside of the allowed range (is within the allowable range) (at block  602 ), no front-to-back leveling is necessary. When the drill  10  is sloping outside of the allowed range (at block  602 ), the controller  80  determines whether the drill  10  is front sloping or rear sloping. For example, when Y°&gt;0 (at block  604 ), the drill  10  is rear-sloping, and the controller  80  further extends the right rear (RR) and left rear (LR) jacks  42  proportional to Y° (at block  606 ). When Y°&lt;0 (at block  607 ), the drill  10  is front sloping, and the controller  80  further extends the right front (RF) and left front (LF) jacks  42  proportional to |Y°| (at block  608 ). After each adjustment, the controller  80  may pause (at blocks  610 ,  612 ) and allow the drill  10  to settle from any bouncing or shaking that occurs during the movement of the jacks  42 . The length of the pause may be configured based on the drill  10 , the drilling environment, or other factors. After pausing (at blocks  610 ,  612 ), the controller  80  confirms whether the front-to-back slope of the drill  10  is within the allowable range (for example, based on data received from the inclinometer  58 ) (at blocks  614 ,  616 ). When the front-to-back slope is not within the allowable range (at blocks  614 ,  616 ), the controller  80  continues leveling the drill  10  from front-to-back (at blocks  606 ,  608 ). 
         [0048]    In some embodiments, after the front-to-back slope is within the allowable range, the controller  80  may rerun the method  500  to make any needed additional side-to-side adjustments and may rerun the method  600  to make any needed additional front-to-back adjustments. These additional adjustments are sometimes referred to as leveling trim. It should be understood that, in some embodiments, no leveling trim is performed or leveling trim is only performed for one direction (side-to-side or front-to-back) and not both directions. 
         [0049]    As illustrated in  FIG. 3 , once the leveling is complete (at block  208 ), the controller  80  stores values of one or more parameters of the drill  10  when the drill  10  is level (at block  212 ). As described below, the stored data may be used as a bench mark for the position and pressure of the jacks  42  when the drill  10  is level. In other words, the controller  80  stores reference parameters that the controller  80  later compares to monitored parameters of the drill  10  when the drill  10  is in operation. 
         [0050]      FIG. 7  illustrates a method  700  of storing parameters of the drill  10  accordingly to one embodiment. The controller  80  may perform the method  700  at block  212  illustrated in  FIG. 3 . As illustrated in  FIG. 7 , the method  700  may include reading and storing the slope of the drill  10  (for example, as measured by the one or more inclinometers  58 , including, for example, the side-to-side slope and the front-to-back slope) (at block  702 ), reading and storing the position of each of the jacks  42  (for example, as measured by the position sensors  50 ) (at block  704 ), and reading and storing the pressure of each of the jacks  42  (for example, as measured by the pressure sensors  54 ) (at block  706 ). It should be understood that, in some embodiments, the controller  80  stores reference values of additional or fewer parameters. 
         [0051]    Returning to  FIG. 3 , after the drill  10  is leveled (at block  208 ) and the reference parameters are stored (at block  212 ), the drill  10  is ready for operation (block  216 ). While the drill  10  is in operation, the controller  80  monitors the drill  10  and maintains the levelness of the drill  10  (block  220 ). 
         [0052]      FIGS. 8-12  illustrate methods of monitoring the drill  10  and maintaining a level condition of the drill  10 . The controller  80  may perform one or more of the methods illustrated in  FIGS. 8-12  at block  220  illustrated in  FIG. 3 . For example,  FIG. 8  illustrates a method  800  for monitoring a current value of one or more parameters of the drill  10  in parallel to identify when an adjustment to the drill  10  is needed. In contrast,  FIG. 9  illustrates a method  900  for monitoring a current value of one or more parameters of the drill  10  in sequence to identify when an adjustment to the drill  10  is needed.  FIGS. 10-12  illustrate methods for adjusting the drill  10  when the controller  80  identifies that an adjustment is needed. Accordingly, the methods of  FIGS. 10-12  may be used with the method  800  to provide an adjustment, may be used with the method  900  to provide an adjustment, or a combination thereof. 
         [0053]    For example, as illustrated in  FIG. 8 , the controller  80  may monitor current values of one or more parameters of the drill  10  in parallel. In this embodiment, the current values of multiple parameters are monitored simultaneously and adjustments based on such monitoring are performed simultaneously. For example, the current values of a first parameter (for example, the slope of the blasthole drill), a second parameter (for example, the position of the jacks  42 ), and a third parameter (for example, the pressure of the jacks  42 ) are monitored in parallel (at block  802 ). In particular, the controller  80  receives a current value of each parameter based on data sensed by one or more position sensors  50 , one or more pressure sensors  54 , one or more inclinometers  58 , or a combination thereof. The controller  80  compares the current values of the monitored parameters to corresponding stored reference values of the parameters in parallel (at block  804 ) to determine whether the drill  10  is unlevel. In particular, the controller  80  performs the comparison to determine, in parallel, whether the current value each monitored parameter is within an allowable range of the applicable stored reference value of the parameter (at blocks  806 ,  808 ,  810 ). For example, the allowable range for the monitored side-to-side slope of the drill  10  may be within approximately 0.1 percent from the stored slope, and the allowable range for the monitored position of a jack  42  may be within approximately 5.0 percent from the stored position. When the current value of a monitored parameter falls outside of the allowable range (at blocks  806 ,  808 ,  810 ), the controller  80  adjusts the jacks  42  until a subsequent current value of the monitored parameter falls within the allowable range (at blocks  812 ,  814 ,  816 ). It should be understood that, in some embodiments, the allowable range for a slope (side-to-side slope, front-to-back slope, or both) of the drill  10 , a position of a jack  42 , and a pressure of a jacks  42  may be different. Also, in some embodiments, each jack  42  may have a unique allowable range for the jack&#39;s position, pressure, or both. For example, the allowable range for the pressure of the right front jack  42  (RF) may be within approximately 5.0 percent from the stored pressure and the allowable range for the pressure of the right rear jack  42  (RR) may be within approximately 3.0 percent from the stored pressure. 
         [0054]    In  FIG. 9 , the controller  80  monitors the current values of one or more parameters in sequence. In this embodiment, the current value of one parameter at a time is compared to a reference value of the parameter and the drill  10  is adjusted as necessary. For example, the controller  80  may monitor the current values of one or more parameters (in parallel or sequentially) (at block  902 ) and compare the current values of the one or more parameters to applicable stored reference values for the one or more parameters (in parallel or sequentially) (at block  904 ). However, rather than adjusting the drill  10  based on each parameter in parallel as performed in the method  800 , the controller  80  initially determines whether a current value for a first parameter (for example, a slope of the drill  10 ) falls within the applicable allowable range (at block  906 ). When the current value of the first parameter falls outside of the allowable range (at block  906 ), the controller  80  adjusts the jacks  42  accordingly until a subsequent current value of the monitored first parameter falls within the allowable range (at block  908 ). After the current value for the monitored first parameter falls within the allowable range (for example, either initially or after adjustment), the controller  80  determines whether a current value of a second parameter (for example, the position of one or more of the jacks  42 ) falls within the applicable allowable range (at block  910 ). When the current value of the monitored second parameter falls outside of the allowable range (at block  910 ), the controller  80  adjusts the jacks  42  until a subsequent current value of the monitored second parameter falls within the allowable range (at block  912 ). Similarly, after a subsequent current value of the monitored second parameter falls within the allowable range (for example, either initially or after adjustment), the controller  80  determines whether a current value of a third parameter (for example, the pressure of one or more of the jacks  42 ) falls within the applicable allowable range (at block  914 ). When the current value of the monitored third parameter falls outside of the allowable range (at block  914 ), the controller  80  adjusts the jacks  42  until a subsequent current value of the monitored third parameter falls within the allowable range (at block  916 ). As illustrated in  FIG. 9 , the method  900  may repeat. For example, after a current value of the third parameter falls within the allowable range, the controller  80  may determine whether a current value of the monitored first parameter falls within the allowable range again. Also, as noted above with respect to  FIG. 8 , it should be understood that the allowable ranges for the parameters may vary and may vary for individual jacks  42 . In addition, although  FIGS. 8 and 9  illustrate monitoring values of three parameters, the values of greater or fewer parameters may be monitored and corrected. Also, in some embodiments, the method  800  may monitor values of different parameters than the method  900 . 
         [0055]      FIGS. 10-12  illustrate methods  1000 ,  1100 ,  1200  of adjusting the drill  10  to maintain the levelness of the drill  10 . For example,  FIG. 10  illustrates a method  1000  of adjusting a slope of the drill  10  (for example, the side-to-side slope and the front-to-back slope).  FIG. 11  illustrates a method  1100  of adjusting the positions of the jacks  42 , and  FIG. 12  illustrates a method  1200  of adjusting the pressure of the jacks  42 . Again, one or more of these methods  1000 ,  1100 , and  1200  may be performed by the controller  80  at block  220  of  FIG. 3  (for example, individually or in combination with methods  800 ,  900 , or both). For example, these methods  1000 ,  1100 , and  1200  may be combined and arranged according to the methods  800  and  900  of  FIGS. 8 and 9  to monitor and adjust the drill  10 . In particular, one or more of the methods  1000 ,  1100 , and  1200  may be combined as in method  800  to monitor the drill  10  and make adjustments in parallel. In this case, one or more of the methods  1000 ,  1100 , and  1200  would be performed in parallel. Likewise, one or more of the methods  1000 ,  1100 , and  1200  may be combined as in method  900  to monitor the drill  10  and make adjustments in series. In this case, one or more of the methods  1000 ,  1100 , and  1200  would be performed sequentially. Also, although the methods  1000 ,  1100 , and  1200  are described below as occurring in a certain order, the methods  1000 ,  1100 , and  1200  may be performed in any order. 
         [0056]      FIG. 10  illustrates a method  1000  of adjusting a slope (or incline) of the drill  10 . As part of the method  1000 , the controller  80  monitors the current side-to-side slope of the drill  10  (for example, based on data from one or more of the inclinometers) and compares the current side-to-side slope with a reference side-to-side slope that was previously stored (at block  1002 ). In particular, the controller  80  calculates a difference between the reference slope and the current, monitored slope. When the difference is not outside an allowable range (for example, represented by the variable “X Allowed” in  FIG. 10 ) (at block  1002 ), no side-to-side adjustment of the jacks  42  is performed. However, when the difference is outside the allowable range (at block  1002 ), the controller  80  adjusts one or more of the jacks  42  to correct for the slope. For example, as illustrated in  FIG. 10 , the controller  80  may determines whether the slope is right-side sloping or left-side sloping. When X°&gt;0 (at block  1004 ), the drill  10  is right-side sloping, and the controller  80  extends the right front and right rear jacks  42  proportional to X° (at block  1006 ). When X° is &lt;0 (at block  1007 ), the drill  10  is left-side sloping, and the controller  80  extends the left front (LF) and left rear (LR) jacks  42  proportional to |X°| (at block  1008 ). After each adjustment (at blocks  1006 ,  1008 ), the controller  80  may pause (at blocks  1010 ,  1012 ) and allow the drill  10  to settle from any bouncing or shaking that occurs during the movement of the jacks  42 . The length of the pause may be configurable based on the drill  10 , the drilling environment, or other factors. After pausing (at blocks  1010 ,  1012 ), the controller  80  again determines whether the side-to-side slope of the drill  10  is outside of the allowable range (for example, based on data received from the inclinometer  58 ) (at block  1002 ). When the side-to-side slope is still outside of the allowable range (at block  1002 ), the controller  80  continues performing side-to-side levelling as described above. In some embodiments, the variable “X allowed,” as used in method  1000 , has a value of approximately 0.1 degrees. 
         [0057]    As illustrated in  FIG. 10 , the controller  80  similarly monitors and compares the current front-to-back slope with the stored, reference front-to-back slope. When the difference is not outside an allowable range (is within the allowable range) (represented by the variable “Y allowed” in  FIG. 10 ) (at block  1014 ), no front-to-back adjustment of the jacks  42  is performed. When the difference is outside of the allowable range (at block  1014 ), the controller  80  adjusts the jacks  42  to correct the front-to-back slope. In particular, the controller  80  determines whether the slope is front sloping or rear sloping. When Y°&gt;0 (at block  1016 ), the drill  10  is rear sloping, and the controller  80  extends the right rear and left rear jacks  42  proportional to Y° (at block  1018 ). When Y°&lt;0 (at block  1020 ), the drill  10  is front sloping, and the controller  80  extends the right front (RF) and left front (LF) jacks  42  proportional to |Y°| (at block  1022 ). After each adjustment (at blocks  1018 ,  1022 ), the controller  80  may pause (at blocks  1024 ,  1026 ) and allow the drill  10  to settle from any bouncing or shaking that occurs during the movement of the jacks  42 . The length of the pause may be configurable based on the drill  10 , the drilling environment, or other factors. After pausing (at blocks  1024 ,  1026 ), the controller  80  again determines whether the side-to-side slope of the drill  10  is outside of the allowable range (for example, based on data received from the inclinometer  58 ) (at block  1002 ) as described above. In other embodiments, after pausing (at blocks  1024 ,  1026 ), the controller  80  may again determine whether the front-to-back slope of the drill  10  is outside of the allowable range (at block  1014 ) before returning to side-to-side slope monitoring (at block  1002 ). In some embodiments, the variable “Y allowed,” as used in method  1000 , has a value of approximately 0.1 degrees. 
         [0058]      FIG. 11  illustrates a method  1100  of adjusting the position of the jacks  42 . As part of the method  1100 , the controller  80  monitors the position of each jack  42  (for example, based on data received from one or more of the position sensors  50 ). The controller  80  compares the monitored position to the stored, reference position of each of the jacks  42 . As will be understood, each jack  42  may have a different reference position and monitored position than the other jacks  42 . For example, the controller  80  may be configured to calculate the difference between the current position and stored reference position of each jack  42 . As an example, the controller  80  may calculate the difference between the current position and reference position of a first jack  42 , such as the left right (LR) jack  42  (at block  1102 ). When the difference between the current position and the reference position of the first jack  42  is outside of the allowed range (represented by the variable “Allowed Position Range” in  FIG. 11 ) (at block  1102 ), the controller  80  extends or retracts the first jack  42  proportional to the difference between the current position and reference position of the first jack  42  (at block  1104 ). When the difference between the current position and the reference position of the first jack  42  is not outside the allowed range (at block  1102 ), the controller  80  evaluates a second jack  42 , such as a right rear (RR) jack  42 . In some embodiments, the controller  80  performs a similar comparison and adjustment for the second jack  42  (at blocks  1106 ,  1108 ) as performed for the first jack  42 . The controller  80  may repeat this process until all of the jacks  42  are within the allowed range. For example, after the second jack  42 , the controller  80  may perform a similar comparison and adjustment for a third jack  42 , such as the left front (LR) jack  42 , (at blocks  1110 ,  1112 ) as performed for the first jack  42  and the second jack  42 , and, after the third jack  42 , the controller  80  may perform a similar comparison and adjustment for a fourth jack  42 , such as the right front (RF) jack  42 , (at blocks  1114 ,  1116 ) as performed for the first jack  42 , the second jack  42 , and the third jack  42 . In some embodiments, the allowed range of each jack  42  is approximately 5.0 percent of the reference position. Also, it should be understood that the order that the jacks  42  are monitored may be different than the order illustrated in  FIG. 11 . 
         [0059]      FIG. 12  illustrates a method  1200  of adjusting the pressure of the jacks  42 . As part of the method  1200 , the controller  80  monitors the demand pressure of each of the jacks  42  (for example, based on data received from one or more of the pressure sensors  54 ). The controller  80  compares the monitored pressure to the stored, reference pressure of each of the jacks  42 . Each jack  42  may have a different reference pressure and monitored pressure than the other jacks  42 . The controller  80  calculates the difference between the current pressure and reference pressure of each jack  42 . For example, controller  80  calculates the difference between the current pressure and reference pressure of a first jack  42 , such as the left rear (LR) jack  42  (at block  1202 ). When the difference between the current pressure and the reference pressure of the first jack  42  is outside of the allowed range (at block  1202 ) (represented by the variable “Allowed Pressure Range” in  FIG. 12 ), the controller  80  extends or retracts the first jack  42  proportional to the difference between the current pressure and reference pressure of the first jack  42  (at block  1204 ). When the difference between the current pressure and the reference pressure of a first jack  42  is within an allowed range (at block  1202 ), the controller  80  evaluates a second jack  42 , such as the right rear (RR) jack  42 . In some embodiments, the controller  80  performs a similar comparison and adjustment for the second jack  42  (at blocks  1206 ,  1208 ) as performed for the first jack  42 . The controller  80  may repeat this process until all of the jacks  42  are within the allowed range. For example, after the second jack  42 , the controller  80  may perform a similar comparison and adjustment for a third jack  42 , such as the left front (LF) jack  42 , (at blocks  1210 ,  1212 ) as performed for the first jack  42  and the second jack  42 , and after the third jack  42 , the controller  80  may perform a similar comparison and adjustment for a fourth jack  42 , such as the right front (RF) jack  42 , (at blocks  1214 ,  1216 ) as performed for the first jack  42 , the second jack  42 , and the third jack  42 . In some embodiments, the allowed range of each jack  42  is approximately 5.0 percent of the reference position. Also, it should be understood that the order that the jacks  42  are monitored may be different than the order illustrated in  FIG. 12 . 
         [0060]    Accordingly, embodiments described herein provide systems and methods for maintaining a mining machine, such as a drill  10 , level during operation to protect machine components and improve machine stability. As previously mentioned the methods and systems described herein may be used with different types of industrial machines and are not limited to blasthole drill rigs. Furthermore, when machines having greater or fewer jacks  42  are used, the methods may be adjusted to accommodate the correct number and configuration of the jacks  42 . For example, a mining machine having only a singular front jack may be adjusted from front to back using only one front jack  42  rather than two jacks  42 . 
         [0061]    In addition, although the method  200  described herein is described as performed automatically, in some embodiments, portions of the method  200  may be performed manually. For example, in some embodiments, the process of calibrating the drill  10  (block  204 ) or initially leveling the drill  10  (at block  208 ) is carried out manually by an operator. Thereafter, the reference parameters may be stored, the drill  10  may be operated, and the monitoring and adjustment may be automatically performed as described herein. 
         [0062]    Also, in some embodiments, the method  200  may include additional steps or fewer elements than those provided in  FIG. 3 . For example, in some embodiments, the initial calibrating (block  204 ) and initial leveling sequences (block  208 ) may be removed. In this case, the drill  10  is leveled by monitoring the drill  10  and adjusting the drill  10  during operation according to block  220 . In another embodiment, an additional calibrating step may be added to the method  200 . For example, the calibration step (block  204 ) may include retracting the jacks  42  to a fully retracted position and storing the fully retracted position as a reference parameter. This reference parameter may be used to ensure that the jacks are properly retracted prior to moving the drill  10 . 
         [0063]    Various features and advantages of the embodiments described herein are set forth in the following claims.

Summary:
Industrial machines and methods of operating the same. One method includes receiving, with an electronic processor, a current value of a parameter of an industrial machine during operation of the industrial machine and comparing, with the electronic processor, the current value of the parameter to a stored value of the parameter to determine whether the industrial machine is unlevel. The method also includes, when the industrial machine is unlevel, autonomously, with the electronic processor, changing a position of at least one of a plurality of jacks to level the industrial machine, wherein autonomously changing the position of at least one of the plurality of jacks includes at least one selected from a group consisting of extending the at least one of the plurality of jacks and retracting the at least one of the plurality of jacks.