Patent Publication Number: US-2021164195-A1

Title: Machine and method of moving upper structure of machine

Description:
TECHNICAL FIELD 
     The present disclosure relates to machines, such as those used at mining worksites, and a method of moving an upper structure of such machines. 
     BACKGROUND 
     A machine, such as a drilling machine operating at a mining worksite, includes a movable carrier, a boom member, and a feed assembly. The movable carrier includes an upper structure and a lower structure. In situations where the machine is moving on a rough terrain or a slope, it is desirable to move the upper structure relative to the lower structure so that the operator may be seated in an upright condition within an operator cabin on the machine. Typically, oscillation cylinders are disposed on the machine to move, and more particularly, oscillate the upper structure relative to the lower structure. 
     Currently, the upper structure is adjusted using the oscillation cylinders based on inputs from an operator of the machine. The inputs are provided using one or more buttons in the operator cabin. More particularly, during tramming of the machine, the operator may press the oscillation buttons to provide the inputs for adjustment of the upper structure. Moreover, the operator may have to repeatedly provide the inputs by pressing the oscillation buttons when the machine is tramming on uneven surfaces. Such a technique of adjusting the upper structure based on manual inputs is prone to errors as the operator may forget to provide the inputs. This conventional technique of adjusting the upper structure may also cause operator fatigue. 
     Further, during a drilling operation, it is desirable to lock the oscillation cylinders to ensure that the machine is stable during the drilling operation. Thus, the operator needs to manually switch on an oscillation locking feature associated with the machine using a button provided in the operator cabin to ensure machine stability. In a situation wherein the operator does not switch on the oscillation locking feature, a quality of a drilling operation being performed by the machine may be compromised and it may also lead to operator discomfort while the drilling operation is in progress. 
     U.S. Publication Application No. 2017/0234119, hereinafter referred to as &#39;119 application, describes 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. However, the &#39;119 application does not describe an automated control system that uses components present on the machine for levelling the industrial machine on a real time basis. Instead, the &#39;119 application describes use of externally mounted jacks that extend or retract in order to level the industrial machine. 
     SUMMARY OF THE DISCLOSURE 
     In an aspect of the present disclosure, a machine operating on a work surface is provided. The machine includes a boom member. The machine also includes a feed assembly movably coupled to the boom member. The machine further includes a work device coupled at a distal portion of the feed assembly. The machine includes a movable carrier coupled to the boom member. The movable carrier includes a lower structure and an upper structure movably coupled with the lower structure. The machine further includes an actuator assembly adapted to move the upper structure relative to the lower structure. The machine also includes a sensor module mounted on the machine. The sensor module is configured to generate a first signal indicative of a first pitch angle of the machine relative to a non-inclined surface. The machine further includes a control module communicably coupled to the sensor module and the actuator assembly. The control module is configured to receive the first signal indicative of the first pitch angle of the machine from the sensor module. The control module is also configured to generate a second signal for controlling a movement of the actuator assembly based on the first signal. The control module is further configured to transmit the second signal to the actuator assembly in order to move the upper structure by a second pitch angle, such that a plane defined by an operator cabin of the machine is substantially parallel to the non-inclined surface. Further, the second pitch angle is opposite in direction to the first pitch angle. 
     In another aspect of the present disclosure, a method of moving an upper structure of a machine operating on a work surface is provided. The machine includes a lower structure and an actuator assembly adapted to move the upper structure relative to the lower structure. The method includes generating a first signal, by sensor module mounted on the machine, indicative of a first pitch angle of the machine relative to a non-inclined surface. The method also includes receiving, by a control module associated with the machine, the first signal from the sensor module. The method further includes generating, by the control module, a second signal for controlling a movement of the actuator assembly based on the first signal. The method includes transmitting, by the control module, the second signal to the actuator assembly in order to move the upper structure by a second pitch angle, such that a plane defined by an operator cabin of the machine is substantially parallel to the non-inclined surface. Further, the second pitch angle is opposite in direction to the first pitch angle. 
     In yet another aspect of the present disclosure, a computer program is provided. The computer program includes a program code means that is configured to cause a machine operating on a work surface to execute a method step of generating a first signal, by sensor module mounted on the machine, indicative of a first pitch angle of the machine relative to a non-inclined surface. The program code means is also configured to execute a method step of receiving, by a control module associated with the machine, the first signal from the sensor module. The program code means is further configured to execute a method step of generating, by the control module, a second signal for controlling a movement of an actuator assembly of the machine based on the first signal. The actuator assembly is adapted to move an upper structure of the machine relative to a lower structure of the machine. The program code means is also configured to execute a method step of transmitting, by the control module, the second signal to the actuator assembly in order to move the upper structure by a second pitch angle, such that a plane defined by an operator cabin of the machine is substantially parallel to the non-inclined surface. Further, the second pitch angle is opposite in direction to the first pitch angle. 
     Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a side view of a machine, according to one embodiment of the present disclosure; 
         FIG. 1A  is a perspective view of the machine of  FIG. 1  illustrating axes defined by the machine about which an upper structure of the machine is adapted to move; 
         FIG. 2  is a block diagram illustrating a system for moving the upper structure of the machine shown in  FIG. 1 ; 
         FIG. 3  is a side view of the machine shown in  FIG. 1  illustrating operation of the machine on a rough terrain; 
         FIG. 4  is a side view of the machine shown in  FIG. 1  illustrating operation of the machine on a slope; 
         FIG. 5  is a flowchart for a program code means that executes various method steps in order to move the upper structure of the machine shown in  FIG. 1 ; and 
         FIG. 6  is a flowchart for a method of moving the upper structure of the machine shown in  FIG. 1  operating on the work surface. 
     
    
    
     DETAILED DESCRIPTION 
     Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Referring to  FIG. 1 , a side view of an exemplary machine  100  is illustrated. The machine  100  operates on a work surface  102 . As illustrated, the work surface  102  is embodied as a rocky terrain. The work surface  102  is embodied as an uneven surface including a number of undulations, such as, bumps  302  (shown in  FIG. 3 ), depressions  304  (shown in  FIG. 3 ), and slopes (shown in  FIG. 4 ) present thereon. 
     Further, when the machine  100  is operating on uneven surfaces or a slope, such as the slope  402 , the machine  100  may be disposed at a first pitch angle “I 1 ” (shown in  FIG. 4 ) relative to a non-inclined surface  148 . It should be noted that the term “non-inclined surface” as used herein may be defined as a surface having zero slope or inclination. For example, when the machine  100  is ascending or descending the slope  402 , the machine  100  may be disposed at the first pitch angle “I 1 ”. The first pitch angle “I 1 ” may be defined between the machine  100  and the non-inclined surface  148 . The term “first pitch angle” as used herein may refer to an angle by which the machine  100  may be inclined relative to the non-inclined surface  148 . 
     The machine  100  is embodied as a drilling machine. More specifically, the machine  100  is a boom mounted drilling machine. In other embodiments, the machine  100  may be any other drilling machine, such as a surface drilling machine, a rotary blasthole type drilling machine, and so on, based on application requirements. The machine  100  performs various drilling related operations, such as sub-surface mineral extraction, mineral exploration, environmental exploration, hydraulic fracturing, oil, gas, and/or water extraction wells, rock cut drilling for mining and/or quarrying operations, and the like, based on application requirements. 
     The machine  100  includes a movable carrier  104  coupled to a boom member  106 . The movable carrier  104  defines a front end  105  and a rear end  107 . The movable carrier  104  includes a lower structure  108  and an upper structure  110  movably coupled with the lower structure  108 . Further, the upper structure  110  defines a chassis  112 . The chassis  112  supports one or more components of the machine  100  thereon. The machine  100  also includes an operator cabin  114  mounted on the chassis  112 . The operator cabin  114  may include one or more controls, such as one or more operator consoles, joysticks, pedals, levers, buttons, switches, steering, and so on. The controls are used to control an operation of the machine  100  on the work surface  102 . Further, the operator cabin  114  defines a plane  115 . The plane  115  is generally parallel to a floor of the operator cabin  114 . Moreover, when the machine  100  is operating on a flat surface, the plane  115  defined by the operator cabin  114  is substantially parallel to the non-inclined surface  148 . 
     As shown in  FIG. 1A , the upper structure  110  defines a first axis “A 1 ”. The upper structure  110  may move about the axis “A 1 ”. This movement may be referred to as a yaw movement “A 2 ” of the machine  100 . Further, the machine  100  defines a second axis “X 1 ”. The upper structure  110  may move about the axis “X 1 ”. This movement may be referred to as a roll movement “X 2 ” of the machine  100 . 
     Further, the machine  100  defines an axis “Y 1 ” about which the upper structure  110  oscillates in a clockwise direction “C 1 ” or an anti-clockwise direction “C 2 ”, about a pivot point “P” (shown in  FIG. 1 ). This movement may be referred to as a pitch movement “Y 2 ” of the machine  100 . The machine  100  defines an axis “Z 1 ” (shown in  FIGS. 1, 3, and 4 ). When the upper structure  110  oscillates, the axis “Z 1 ” is disposed at a second pitch angle “I 2 ” (shown in  FIGS. 1, 3, and 4 ) with respect to the second axis “X 1 ”. The second pitch angle “I 2 ” may be defined between the axis “Z 1 ” and the second axis “X 1 ”. It should be noted that the term “second pitch angle” as referred to herein may be defined as an angle corresponding to the pitch movement “Y 2 ” of the machine  100 . Further, the axis “Z 1 ” may correspond to the second axis “X 1 ” when the machine  100  is operating on a flat surface. 
     The machine  100  also includes an enclosure  116  provided on the chassis  112 . The enclosure  116  encloses a power source (not shown) mounted on the chassis  112 . The power source provides power to the machine  100  for mobility and operational requirements. The power source may include, but not limited to, a diesel engine, a gasoline engine, a gaseous fuel powered engine, a dual fuel powered engine, an electric motor, a fuel cell, a battery, and/or a combination thereof, based on application requirements. Additionally, the machine  100  may include components and/or systems (not shown), such as a fuel delivery system, an air delivery system, a lubrication system, a propulsion system, a drivetrain, a drive control system, a machine control system, and so on, based on application requirements. 
     As illustrated, the lower structure  108  includes an undercarriage structure. The lower structure  108  includes a set of ground engaging members  118  (only one ground engaging member shown in the accompanying figure). In the illustrated embodiment, the ground engaging members  118  are embodied as tracks. In other embodiments, the ground engaging members  118  may embody wheels. The ground engaging members  118  support and provide mobility to the machine  100  on the work surface  102 . As such, the ground engaging members  118  provide movement, turning, positioning, and travel of the machine  100  on the work surface  102 . 
     Further, the machine  100  includes an actuator assembly  117  to move the upper structure  110  relative to the lower structure  108 . In the illustrated example, the actuator assembly  117  moves the upper structure  110  about the axis “Z 1 ”. The actuator assembly  117  allows the upper structure  110  to oscillate or move in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ” relative to the lower structure  108 . Further, the actuator assembly  117  moves the upper structure  110  in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. The upper structure  110  is movable by the actuator assembly  117 , about the axis “Z 1 ” by the second pitch angle “I 2 ”, so that the operator can be seated upright within the operator cabin  114 , such as during tramming or drilling operations. In some examples, the second pitch angle “I 2 ” is equal in magnitude to the first pitch angle “I 1 ”. More particularly, in some examples, the actuator assembly  117  may tilt the upper structure  110  by the same amount as the first pitch angle “I 1 ” of the machine  100 . 
     Further, the second pitch angle “I 2 ” is opposite in direction with respect to the first pitch angle “I 1 ”. More particularly, a direction of movement of the upper structure  110  may be based on the terrain of the work surface  102 . Accordingly, the upper structure  110  may tilt in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ” based on undulations such as bumps/depressions or various slopes present at the work surface  102 . For example, if the machine  100  tilts in the clockwise direction “C 1 ”, the upper structure  110  may tilt by the second pitch angle “I 2 ” in the anti-clockwise direction “C 2 ”. Further, if the machine  100  tilts in the anti-clockwise direction “C 2 ”, the upper structure  110  may tilt by the second pitch angle “I 2 ” in the clockwise direction “C 1 ”. It should be noted that the work surface  102  is shown generally parallel to the non-inclined surface  148  in  FIGS. 1 &amp; 3 . 
     Further, the machine  100  also includes an oscillation locking feature that allows locking of the actuator assembly  117  so that any movement of the upper structure  110  is restricted during drilling operations. The actuator assembly  117  includes one or more first actuators  120  mounted proximate to the front end  105  of the movable carrier  102  and one or more second actuators  123  mounted proximate to the rear end  107  of the movable carrier  102 . In the illustrated example, the actuator assembly  117  includes a first pair of actuators  119  disposed at a right side of the machine  100  and a second pair of actuators  121  (see  FIG. 2 ) disposed at a left side of the machine  100 . Further, each of the pair of actuators  119 ,  121  includes the first actuator  120  mounted proximate to the front end  105  of the movable carrier  104  and the second actuator  123  mounted proximate to the rear end  107  of the movable carrier  104 . 
     The first and second pair of actuators  119 ,  121  are paired together such that when the respective first actuators  120  extend by a desired amount, the respective second actuators  123  retract by the amount that is same as the extension of the first actuator  120 , and vice versa. Alternatively, the machine  100  may include a single pair of first actuators  120  mounted proximate to the front end  105  of the movable carrier  104 , without any limitations. 
     The first and second actuators  120 ,  123  may include a hydraulic actuator or a pneumatic actuator. Each of the actuators  120 ,  123  includes a cylinder, a piston, and a rod. In an example, the cylinder is connected to the upper structure  110  and the rod is connected to the lower structure  108 . A movement of the rod of the actuators  120 ,  123  causes the upper structure  110  to move relative to the lower structure  108 . More particularly, the extension of each of the actuators  120  and the retraction of each of the actuators  123  causes the upper structure  110  to move in the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. Whereas, the retraction of each of the actuators  120  and the extension of each of the actuators  123  causes the upper structure  110  to move in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. 
     The machine  100  also includes a deck frame  124  disposed on the chassis  112 . The deck frame  124  provides an operating surface on the machine  100 . As such, the deck frame  124  may provide the operating surface for the operator to move around the machine  100  or be stationed on the machine  100 , to support one or more components of the machine  100 , and so on. The machine  100  also include the boom member  106 . The boom member  106  is movably coupled to the chassis  112  using a shift cylinder  126 . The machine  100  also includes a feed assembly  128 . The feed assembly  128  is movably coupled to the boom member  106 . The feed assembly  128  includes a feed table  130  disposed on the chassis  112 . The feed table  130  is a linearly extending structure, and in the accompanying figure, is upright. The feed table  130  supports one or more drilling components of the machine  100 . The feed table  130  allows a drill string  140  to move relative to the feed table  130 . The feed table  130  includes a drive motor not shown) for moving the drill string  140 . The feed table  130  is pivotally coupled to the chassis  112  by the boom member  106 . 
     As such, the feed assembly  128  is movable relative to the chassis  112  between a substantially vertical position (shown in the accompanying  FIG. 1 ) and a non-vertical position (shown in  FIGS. 3 and 4 ), also known as a rest position based on operation of the shift cylinder  126 . In the rest position, the boom member  106  rests on a feed rest  129 . The feed rest  129  is a generally embodied as a bar member that supports the feed assembly  128  when the feed assembly  128  is in the rest position. Further, the shift cylinder  126  provides alignment of the feed table  130  along a height and a width of the chassis  112 . 
     The machine  100  includes a work device  132  coupled at a distal portion  134  of the feed assembly  128 . The work device  132  is embodied as a drill assembly. The work device  132  is movably disposed on the feed table  130  via a mast  136 . The work device  132  may drill holes, channels, tunnels, openings, and so on into, within, and/or extending into, and/or below, the work surface  102 . Accordingly, the work device  132  includes a drill bit  138  and a drill string  140  removably coupled to the drill bit  138 . 
     The drill string  140  includes one or more columns or pipes  142  interlinked with each other and with the drill bit  138 . Each of the pipes  142  of the work device  132  have a hollow and generally cylindrical configuration. The pipes  142  provide extension of the drill bit  138  into a portion of the work surface  102 . For example, each pipe  142  may be coupled to another pipe  142  by way of a threaded connection (not shown). In other embodiments, the pipes  142  may be interlinked with each other by way of other similar connections, for example, by lock fittings, snap fittings, and so on, based on application requirements. The drill string  140  is slidably coupled with the feed table  130  via supporting rails  144  and may be driven by the drive motor to slidably move relative to the feed table  130  on the supporting rails  144 . 
     The feed assembly  128  also includes a carousel  146 . The carousel  146  is disposed on the feed table  130  via the mast  136 . The carousel  146  may store and support one or more pipes  142  of the work device  132  when the work device  132  is not in use. In one example, the carousel  146  includes a plurality of slots (not shown) for holding the pipes  142 . The carousel  146  may also be used to add pipes  142  to the work device  132  to form the drill string  140  when in use. Additionally, the feed assembly  128  may include one or more components and systems (not shown), such as a drive mechanism including a motor, a chain, a sprocket, etc., a rotary mechanism, actuators, adapters, guiding members, valves, sensors, controllers, and the like, based on application requirements. It should be noted that the boom member  106  and the feed assembly  128  can be moved to various angles based on movement of the shift cylinder  126  or other cylinders associated with the boom member  106  and the feed assembly  128 . Thus, the machine  100  can be used to perform drilling operations at various angles, as per application requirements. 
     The machine  100  includes a system  200  (shown in  FIG. 2 ) for moving the upper structure  110 . More particularly, the system  200  allows the upper structure  110  to move by the second pitch angle “I 2 ”. The system  200  initiates an auto cabin levelling feature in order to tilt the upper structure  110  so that the plane  115  defined by the operator cabin  114  is substantially parallel to the non-inclined surface  148 . In an example, the system  200  allows adjustment of the upper structure  110  during tramming of the machine  100 . In another example, the system  200  also allows adjustment of the upper structure  110  prior to an initiation of drilling operations by the machine  100 . 
     As shown in  FIG. 2 , the system  200  includes a sensor module  202 , a control module  204 , and an output module  206 . More particularly, the machine  100  (see  FIG. 1 ) includes the sensor module  202  mounted on the machine  100 . In the illustrated example, the sensor module  202  is mounted on the upper structure  110  (see  FIG. 1 ). It should be noted that a position of the sensor module  202  illustrated herein is exemplary in nature, and the sensor module  202  may be disposed at another location on the upper structure  110 , as per requirements. The sensor module  202  is hereinafter interchangeably referred to as the first sensor module  202 . The sensor module  202  generates a first signal indicative of the first pitch angle “I 1 ” of the machine  100  relative to the non-inclined surface  148  (see  FIG. 1 ). In an example, the sensor module  202  includes an inertial measurement unit. In another example, the sensor module  202  includes an inclinometer. Alternatively, the sensor module  202  may include another type of sensor, such as a position sensor, a tilt sensor, and the like, or a combination of sensors that realize the function of the sensor module  202 , as per requirements. 
     Further, the machine  100  also includes a second sensor module  208  and a third sensor module  210 . The second sensor module  208  is mounted on the boom member  106  (see  FIG. 1 ) and the third sensor module  210  is mounted on the feed assembly  128  (see  FIG. 1 ). In an example, the second and third sensor modules  208 ,  210  include an inertial measurement unit. The second sensor module  208  may be used to determine the position of the boom member  106 , whereas the third sensor module  210  may be used to determine the position of the feed assembly  128 . Further, the machine  100  includes a fourth sensor module  212 . The fourth sensor module  212  may include an in-cylinder position sensor for generating an indication corresponding to a position of the pipes  142  (see  FIG. 1 ). For example, the fourth sensor module  212  may generate an indication of extension or retraction of the pipes  142 . Further, the machine  100  may include another sensor module (not shown) that may include a depth sensor for generating an indication corresponding to a depth of penetration of one or more pipes  142  into the work surface  102  (see  FIG. 1 ). 
     The machine  100  also includes the control module  204 . The control module  204  is communicably coupled to the sensor module  202  and the actuator assembly  117 . Further, the control module  204  is also communicably coupled to the second, third, and fourth sensor modules  208 ,  210 ,  212 . The control module  204  receives the first signal indicative of the first pitch angle “I 1 ” (see  FIG. 4 ) of the machine  100  from the sensor module  202 . Further, the control module  204  determines the second pitch angle “I 2 ” (see  FIGS. 3, and 4 ) based on the first signal. The second pitch angle “I 2 ” is opposite in direction with respect to the first pitch angle “I 1 ”. When the upper structure  110  is moved by the determined second pitch angle “I 2 ”, the plane  115  (see  FIG. 1 ) defined by the operator cabin  114  (see  FIG. 1 ) is substantially parallel to the non-inclined surface  148 . 
     Further, the actuator assembly  117  moves the upper structure  110  in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ”. More particularly, the actuator assembly  117  moves the upper structure  110  by the second pitch angle “I 2 ” in the clockwise or anti-clockwise directions “C 1 ”, “C 2 ” based on the tilting of the machine  100  in the clockwise or anti-clockwise directions “C 1 ”, “C 2 ”. It should be noted that the first signal is analyzed to conclude if the upper structure  110  needs to be moved in the clockwise direction “C 1 ” (see  FIG. 1 ) or the anti-clockwise direction “C 2 ” (see  FIG. 1 ). When the machine  100  encounters the bump  302  (see  FIG. 3 ) on the work surface  102  or the machine  100  is ascending/descending the slope  402  (see  FIG. 4 ), the control module  204  concludes that the upper structure  110  needs to be moved in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. Further, when the machine  100  encounters the depression  304  (see  FIG. 3 ) in the work surface  102 , the control module  204  concludes that the upper structure  110  needs to be moved in the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ” 
     Further, the control module  204  compares the second pitch angle “I 2 ” with a predetermined threshold range of the second pitch angle “I 2 ”. More particularly, the control module  204  determines if the determined second pitch angle “I 2 ” lies within the predetermined threshold range of the second pitch angle “I 2 ”. The predetermined threshold range defines a minimum threshold value and a maximum threshold value by which the upper structure  110  can be moved. 
     The control module  204  compares the determined second pitch angle “I 2 ” with the minimum threshold value and the maximum threshold value. In an example, the minimum threshold value may be approximately equal to 2 Degrees, such that the auto cabin levelling feature is triggered only when the second pitch angle “I 2 ” is greater than 2 Degrees. Further, the maximum threshold value may be approximately equal to 10 Degrees. Accordingly, the auto cabin levelling feature may cause the oscillation of the upper structure  110  only when the second pitch angle “I 2 ” is between 2 Degrees and 10 Degrees. Further, if the second pitch angle “I 2 ” is greater than 10 Degrees, the auto cabin levelling feature may cause the upper structure  110  to oscillate by 10 Degrees. Accordingly, the predetermined threshold range of the second pitch angle “I 2 ” may be approximately equal to 2 Degrees and 10 Degrees, without any limitations. It should be noted that values of the predetermined threshold range, the minimum threshold value, and the maximum threshold value as mentioned herein are exemplary in nature, and the values may vary as per application requirements. The minimum and maximum threshold values may be prestored within a memory of the control module  204 . 
     Further, the control module  204  generates a second signal for controlling the movement of the actuator assembly  117  based on the first signal. More particularly, the second signal may be indicative of an amount by which the respective actuators  120 ,  123  need to extend or retract in order to tilt the upper structure  110  by the second pitch angle “I 2 ” in the clockwise or anti-clockwise directions “C 1 ”, “C 2 ”. Further, the control module  204  transmits the second signal to the actuator assembly  117  in order to move the upper structure  110  by the second pitch angle “I 2 ”, such that the plane  115  defined by the operator cabin  114  of the machine  100  is substantially parallel to the non-inclined surface  148 . 
     Further, if the determined second pitch angle “I 2 ” is within the predetermined threshold range of the second pitch angle “I 2 ”, the control module  204  generates the second signal for controlling the movement of the actuator assembly  117 . Accordingly, the control module  204  transmits the second signal to the actuator assembly  117  for moving the upper structure  110  such that the second pitch angle “I 2 ” is within the predetermined threshold range of the second pitch angle “I 2 ”. However, if the determined second pitch angle “I 2 ” is more than the maximum threshold value, the control module  204  moves the upper structure  110  by the maximum threshold value of the second pitch angle “I 2 ”. 
     As shown in  FIG. 3 , when the machine  100  is operating on the work surface  102  having an uneven surface, the system  200  (see  FIG. 2 ) operates so that the upper structure  110  is movable by the second pitch angle “I 2 ”. Accordingly, when the machine encounters the bump  302 , the machine  100  tilts in the anti-clockwise direction “C 2 ”. The control module  204  (see  FIG. 2 ) transmits the control signals to tilt the upper structure  110  in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. Further, the control module  204  controls the movement of the actuators  120 ,  123  so that the upper structure  110  is movable by the second pitch angle “I 2 ” in the clockwise direction “C 1 ”. More particularly, the control module  204  transmits control signals to retract the actuators  120  and to extend the actuators  123  such that the upper structure  110  moves in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. 
     Further, when the machine  100  encounters the depression  304 , the machine  100  tilts in the clockwise direction “C 1 ”. Accordingly, the control module  204  transmits the control signals to tilt the upper structure  110  in the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. Further, the control module  204  controls the movement of the actuators  120 ,  123  so that the upper structure  110  is movable by the second pitch angle “I 2 ” in the anti-clockwise direction “C 2 ”. More particularly, the control module  204  transmits control signals to extend the actuators  120  and to retract the actuators  123  such that the upper structure  110  moves in the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. 
     Referring now to  FIG. 4 , the machine  100  is disposed at the first pitch angle “I 1 ” as the machine  100  is ascending the slope  402 . The accompanying figure illustrates the upper structure  110  moved by the second pitch angle “I 2 ” so that the plane  115  defined by the operator cabin  114  is substantially parallel to the non-inclined surface  128 . More particularly, when the machine  100  starts ascending the slope  402 , the slope  402  causes the machine  100  to tilt in the anti-clockwise direction “C 2 ”. Further, the control module  204  (see  FIG. 2 ) transmits the control signals to tilt the upper structure  110  in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. Moreover, the control module  204  controls the movement of the actuators  120 ,  123  to move the upper structure  110  by the second pitch angle “I 2 ”. More particularly, the control module  204  transmits control signals to retract the actuators  120  and to extend the actuators  123  such that the upper structure  110  moves in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. 
     Further, when the machine  100  is about to descend the slope  402 , the slope  402  causes the machine  100  to tilt in the anti-clockwise direction “C 2 ”. Accordingly, the control module  204  transmits the control signals to tilt the upper structure  110  in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. More particularly, the control module  204  controls the movement of the actuators  120 ,  123  to move the upper structure  110  by the second pitch angle “I 2 ”. It should be noted that the control module  204  transmits control signals to retract the actuators  120  and to extend the actuators  123  such that the upper structure  110  moves in the clockwise direction “C 1 ” by the second pitch angle “I 2 ”. However, when the slope  402  is oriented in such a way that the machine  100  tilts in the clockwise direction “C 1 ”, the control module  204  may transmits control signals to tilt the upper structure  110  in the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. 
     The machine  100  includes the output module  206  (shown in  FIG. 2 ). The output module  206  is communicably coupled with the control module  204 . The output module  206  presents the first pitch angle “I 1 ” or the second pitch angle “I 2 ” thereon. In other examples, the output module  206  may provide other notifications, without any limitations. The output module  206  is located in the operator cabin  114 . In an example, the output module  206  may be embodied as a display device that may be present in the operator cabin  114 . Additionally, or alternatively, the output module  206  may provide audio notifications. In such an example, the output module  206  may generate a voice alert. For example, the output module  206  may embody a speaker that provides the audio notifications to the operator. 
     In some examples, the output module  206  may be handheld by the operator such that the handheld device displays notifications corresponding to the first and second pitch angles “I 1 ”, “I 2 ” thereon. The output module  206  may display the notifications via a Short Message Service (SMS), a Multimedia Message Service (MMS), a poll notification, an Electronic Mail (e-mail), etc. In an example, the output module  206  may be a portable computing device that operates using a portable power source such as a battery. Examples of the portable computing device may include, but are not limited to, a mobile phone, a smart phone, a palm top, a tablet, a laptop, and the like. 
     Further, the movement of the upper structure  110  of the machine  100  is carried out by executing a computer program designed for the purpose. The computer program is stored and executed by the control module  204 . The computer program includes a program code means  500  to cause the machine  100  operating on the work surface  102  to execute a number of method steps. The program code means  500  may be defined as an algorithm that is implemented by the control module  204 . 
       FIG. 5  illustrates a flowchart for the program code means  500 . In the illustrated example, the program code means  500  implemented during a tramming mode of the machine  100  is explained. However, the program code means  500  can be implemented when the machine  100  is operating in a drilling mode with some modifications to the method steps, without any limitations. The program code means  500  is implemented by the control module  204  and may be stored in the memory of the control module  204 . Alternatively, the program code means  500  may be stored and implemented by an Electronic Control module (ECM) present on-board the machine  100 , without any limitations. 
     At block  502  the operator may activate the auto cabin levelling feature. The program code means  500  starts or begins operation. In an example, the program code means  500  may be activated by operator input. Alternatively, the program code means  500  may begin operation as soon as the machine  100  is switched to the tramming mode. Further, at block  504 , the control module  204  determines if one or more pipes  142  are present in a hole present at the work surface  102 . At the block  504 , the control module  204  performs a check to ensure that none of the pipes  142  are present in the hole and the machine  100  is not performing the drilling operation. However, if the control module  204  determines that one or more pipes  142  are present in the hole, the program code means  500  moves to block  506 . At the block  506 , the control module  204  provides a notification to remove the pipes  142  from the hole. In an example, the notification may be displayed on the output module  206 . Accordingly, the pipes  142  may be removed from the hole manually or using an automatic pipe handling system. 
     However, if the control module  204  determines that all the pipes  142  are out of the hole, the program code means  500  directly moves to block  508 . At the block  508 , the control module  204  determines if the sensor modules  202 ,  208 ,  210 ,  212  mounted on the machine  100  are calibrated. Further, the control module  204  also determines if the sensor modules  202 ,  208 ,  210 ,  212  are operating accurately. If the control module  204  detects that the sensor modules  202 ,  208 ,  210 ,  212  are not calibrated, the program code means  500  moves to block  510 . At the block  510 , the control module  204  may send out a signal for calibration of the sensor modules  202 ,  208 ,  210 ,  212 . 
     If the control module  204  detects that the sensor modules  202 ,  208 ,  210 ,  212  are calibrated and working accurately at the block  508 , the program code means  500  moves to block  512 . At the block  512 , the control module  204  determines if the feed assembly  128  is in the rest position. The control module  204  determines the position of the feed assembly based on signals received from the second or third sensor modules  208 ,  210 . If the control module  204  determines that the feed assembly  128  is not in the rest position, the program code means  500  moves to block  514 . At the block  514 , the control module  204  sends out signals to control the boom member  106  and the feed assembly  128  to move the feed assembly  128  to the rest position. 
     However, if the control module  204  determines that the feed assembly  128  is in the rest position at the block  512 , the program code means  500  moves to block  516 . At the block  516 , the control module  204  determines if the oscillation locking feature of the machine  100  is activated. If the oscillation locking feature is activated, the program code means  500  moves to block  518 . At the block  518 , the control module  204  sends out a signal to deactivate the oscillation locking feature. However, if the oscillation locking feature is deactivated, the program code means  500  moves to block  520 . At the block  520 , the control module  204  associated with the machine  100  receives the first signal from the sensor module  202 . As mentioned earlier, the sensor module  202  mounted on the machine  100  generates the first signal that is indicative of the first pitch angle “I 1 ” of the machine  100  relative to the non-inclined surface  148 . In an example, the sensor module  202  includes the inertial measurement unit mounted on the machine  100 , such that the inertial measurement unit generates the first signal indicative of the first pitch angle “I 1 ”. At the block  520 , the control module  204  also determines the second pitch angle “I 2 ” based on the first signal. The second pitch angle “I 2 ” is opposite in direction to the first pitch angle “I 1 ”. Further, in some examples, the second pitch angle “I 2 ” is equal in magnitude to the first pitch angle “I 1 ”. 
     Further, the control module  204  compares the determined second pitch angle “I 2 ” with the predetermined threshold range of the second pitch angle “I 2 ”. If the second pitch angle “I 2 ” is less than the minimum threshold value of the second pitch angle “I 2 ”, the control module  204  directly moves to block  526 . The steps performed by the control module  204  at the block  526  will be explained later in this section. However, if the second pitch angle “I 2 ” is greater than the minimum threshold value of the second pitch angle “I 2 ”, the control module  204  proceeds operation. 
     Accordingly, the control module  204  generates the second signal for controlling the movement of the actuator assembly  117  of the machine  100  based on the first signal. Further, the control module  204  controls the movement of the actuator assembly  117  to move the upper structure  110  by the second pitch angle “I 2 ” determined by the control module  204 . More particularly, the control module  204  transmits the second signal to the actuator assembly  117  in order to move the upper structure  110  by the second pitch angle “I 2 ”, such that the plane  115  defined by the operator cabin  114  of the machine  100  is substantially parallel to the non-inclined surface  148 . Based on the second signal, the actuator assembly  117  moves the upper structure  110  of the machine  100  relative to the lower structure  108  of the machine  100 . It should be noted that the actuator assembly  117  may move the upper structure  110  in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. 
     Further, the program code means  500  moves to block  522 . At the block  522 , the control module  204  determines if the second pitch angle “I 2 ” is within the predetermined threshold range of the second pitch angle “I 2 ”. Further, the control module  204  transmits the second signal to the actuator assembly  117  for moving the upper structure  110  such that the second pitch angle “I 2 ” is within the predetermined threshold range of the second pitch angle “I 2 ”. More particularly, if the second pitch angle “I 2 ” is greater than the maximum threshold value of the second pitch angle “I 2 ”, the control module  204  generates the second signal such that the actuator assembly  177  moves the upper structure  110  by the maximum threshold value of the second pitch angle “I 2 ”. However, if the second pitch angle “I 2 ” lies within the predetermined threshold range of the second pitch angle “I 2 ”, the control module  204  directly moves to the block  526 . At the block  526 , the control module  204  sends the signal to display the first pitch angle “I 1 ” or the second pitch angle “I 2 ” on the output module  206 . 
     Further, if the machine  100  is operating in the tramming mode, the control module  204  repeats all the method steps as applicable to dynamically move the upper structure  110  based on the terrain of the work surface  102 . It should be noted that the method steps executed by the program code means  500  is similar in both the tramming and drilling modes of operation of the machine  100 . However, if the machine  100  is operating in the drilling mode, the control module  204  also sends out signals to activate the oscillation locking feature to lock the actuator assembly  117  at the block  526 . The program code means  500  ends operation at block  528 . 
     In some examples, the ECM that is present on-board the machine  100  may perform the intended functions of the control module  204 , without any limitations. The control module  204  may embody a single microprocessor or multiple microprocessors for receiving signals from various components of the machine  100 . Numerous commercially available microprocessors may be configured to perform the functions of the control module  204 . It should be appreciated that the control module  204  may embody a machine microprocessor capable of controlling numerous machine functions. A person of ordinary skill in the art will appreciate that the control module  204  may additionally include other components and may also perform other functions not described herein. 
     It is to be understood that individual features shown or described for one embodiment may be combined with individual features shown or described for another embodiment. The above described implementation does not in any way limit the scope of the present disclosure. Therefore, it is to be understood although some features are shown or described to illustrate the use of the present disclosure in the context of functional segments, such features may be omitted from the scope of the present disclosure without departing from the spirit of the present disclosure as defined in the appended claims. 
     INDUSTRIAL APPLICABILITY 
     Referring to  FIG. 6 , a flowchart for a method  600  of moving the upper structure  110  of the machine  100  operating on the work surface  102  is illustrated. The machine  100  includes the lower structure  108  and the actuator assembly  117  to move the upper structure  110  relative to the lower structure  108 . At step  602 , the first signal indicative of the first pitch angle “I 1 ” of the machine  100  relative to the non-inclined surface  148  is generated by the sensor module  202  mounted on the machine  100 . 
     At step  604 , the control module  204  associated with the machine  100  receives the first signal from the sensor module  202 . Further, the step of receiving the first signal includes mounting the inertial measurement unit on the machine  100 , such that the inertial measurement unit generates the first signal indicative of the first pitch angle “I 1 ”. At step  606 , the control module  204  generates the second signal for controlling the movement of the actuator assembly  117  based on the first signal. 
     At step  608 , the control module  204  transmits the second signal to the actuator assembly  117  in order to move the upper structure  110  by the second pitch angle “I 2 ”, such that the plane  115  defined by the operator cabin  114  of the machine  100  is substantially parallel to the non-inclined surface  148 , wherein the second pitch angle “I 2 ” is opposite in direction to the first pitch angle “I 1 ”. It should be noted that the control module  204  controls the movement of the actuator assembly  117  to move the upper structure  110  by the second pitch angle “I 2 ”. The second pitch angle “I 2 ” is determined by the control module  204  based on the first signal. 
     Further, the upper structure  110  is moved by the actuator assembly  117  in the clockwise direction “C 1 ” or the anti-clockwise direction “C 2 ” by the second pitch angle “I 2 ”. Moreover, the control module  204  compares the second pitch angle “I 2 ” with the predetermined threshold range of the second pitch angle “I 2 ”. Further, the control module  204  transmits the second signal to the actuator assembly  117  for moving the upper structure  110  such that the second pitch angle “I 2 ” is within the predetermined threshold range of the second pitch angle “I 2 ”. Moreover, the first pitch angle “I 1 ” or the second pitch angle “I 2 ” is presented on the output module  206  of the machine  100  that is communicably coupled with the control module  204 . 
     The system  200  and the method  600  described herein provide a simple, effective, and cost-efficient solution for automating the movement of the upper structure  110  of the machine  100 . More particularly, the system  200  and the method  600  allow oscillation or movement of the upper structure  110  based on the inclination of the machine  100  so that the operator cabin  114  is disposed perpendicular to the non-inclined surface  148 . Further, during drilling operations, the system  200  and the method  600  allow locking of the actuator assembly  117 , thereby ensuring stability of the machine  100  during drilling operations. 
     The system  200  and the method  600  reduce manual intervention by automating the movement of the upper structure  110  thereby providing improved operator comfort while performing machine operations. It should be noted that the system  200  and the method  600  described herein allow the actuator assembly  117  to be dynamically controlled to move the upper structure  110  by the second pitch angle “I 2 ” so that the operator cabin  114  is disposed in an upright orientation. Thus, the system  200  and the method  600  ensure that the operator is comfortably seated within the operator cabin  114  in an upright manner even when the machine  100  operates on rough terrains or inclined surfaces. 
     Additionally, the control module  204  is designed to swiftly execute the movement of the upper structure  110  so that the operator is not subjected to sudden jerks or discomfort during the movement of the upper structure  110 . Thus, the system  200  and the method  600  described herein adhere to machine compliance regulations by further ensuring operator comfort. The system  200  and the method  600  employ easily available components on the machine  100 , such as the control module  204  and the sensor module  202 , which in turn reduces complexity and costs. The system  200  and the method  600  may be retrofitted on any machine  100  with limited modifications, in turn, providing flexibility and compatibility. 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of the disclosure. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.