A telehandler comprising: a chassis; an axle supporting the chassis; a pivotal connection between the axle and the chassis; and a chassis positioning system. The pivotal connection is configured to enable rotation of the chassis relative to the axle for varying a chassis-axle tilt angle defined between a longitudinal axis of the axle and the chassis. The chassis positioning system comprises: a chassis angle sensor configured to measure an angular position of the chassis relative to gravity; an actuator configured to rotate the chassis relative to the axle at the pivotal connection; and a control system configured, in a first mode, to control the actuator to thereby control the chassis-axle tilt angle based on the measured angular position of the chassis.

Motion can be induced at a vehicle, e.g., by actuating components of an active suspension system, and first sensor data and second sensor data representing an environment of the vehicle can be captured at a first position and a second position, respectively, resulting from the induced motion. A second sensor can determine motion information associated with the first position and the second position. Calibration information about the sensor, the first sensor data, and the motion information can be used to determine an expectation of sensor data at the second position. A calibration error can be the difference between the second sensor data and the expected sensor data.

A plurality of traveling wheels are supported via expandable/contractible tubular support members to a vehicle body frame. A hydraulic operation type vehicle height adjustment mechanism provided for each one of the traveling wheels, the vehicle height adjustment mechanism being capable of switching a relative height of the traveling wheel relative to the vehicle body frame within a predetermined length range by expanding/contracting the support member by a hydraulic cylinder. There are provided a hydraulic control valve capable of controlling feeding state of work oil to each one of the plurality of hydraulic cylinders, a controlling section for controlling an operation of the hydraulic control valve to bring the vehicle body to a target state via vehicle height adjustment by the hydraulic cylinder in response to a change in the posture of the vehicle body and a plurality of accumulators connected oil chambers of the respective plurality of hydraulic cylinders.

A method for pivoting a travel unit on a machine frame of a road milling machine between an outer end position and an inner end position offset toward a center of the machine relative to the outer end position, the road milling machine having a travel mechanism with multiple travel units, of which at least one travel unit is height-adjustable via a lifting column, comprising the steps of positioning a support foot mounted on the machine frame in a ground contact position to support the machine frame, lifting the travel unit, pivoting the travel unit between the outer end position and the inner end position, lowering the travel unit, and positioning the support foot in a stowed position.

The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.

The present invention relates to a construction machine, in particular a ground milling machine, with a drive motor, a machine frame supported by a traveling gear with traveling devices, and an operator platform arranged on the machine frame, wherein the traveling gear has a front and a rear traveling gear axle, and wherein at least one of the traveling gear axles is configured as a locking axle with two traveling devices which are height-adjustable relative to the machine frame independently of one another and can be locked in an operating position, and at least one further traveling gear axle is configured as a swing axle such that the traveling devices of the swing axle are jointly height-adjustable relative to the machine frame, and a height adjustment of one traveling device of the swing axle leads to an opposite height adjustment of another traveling device of the swing axle, wherein a control device is provided which is configured such that it detects the load on at least one of the traveling devices of the locking axle as a control variable and, when the load on the traveling device of the locking axle falls below or exceeds a threshold value, blocks the joint height adjustment of the traveling devices of the swing axle relative to the machine frame. Moreover, the present invention relates to increasing the stability of such a construction machine.

A central joint device for chassis components (2), particularly three-point link, is suggested. The central joint device comprises at least one housing unit (3), at least one joint pin unit (4) which is movably supported at least partially inside of the housing unit (3), and at least one sensor unit (5), particularly a magnetic sensor unit, which is provided for contactless detection of roll motions and pitch motions of the housing unit (3) and of the joint pin unit (4) relative to one another. The sensor unit (5) comprises at least one encoder element (6) and at least one sensor element (7). The encoder element (6) and the sensor element (7) are arranged to be spaced apart from one another and movable relative to one another.

A method of on-demand energy delivery to an active suspension system is disclosed. The suspension system includes an actuator body, a hydraulic pump, an electric motor, a plurality of sensors, an energy storage facility, and a controller. The method includes disposing an active suspension system in a vehicle between a wheel mount and a vehicle body, detecting a wheel event requiring control of the active suspension; and sourcing energy from the energy storage facility and delivering it to the electric motor in response to the wheel event.

The present invention relates to a construction machine, in particular a ground milling machine, with a drive motor, a machine frame supported by a traveling gear with traveling devices, and an operator platform arranged on the machine frame, wherein the traveling gear has a front and a rear traveling gear axle, and wherein at least one of the traveling gear axles is configured as a locking axle with two traveling devices which are height-adjustable relative to the machine frame independently of one another and can be locked in an operating position, and at least one further traveling gear axle is configured as a swing axle such that the traveling devices of the swing axle are jointly height-adjustable relative to the machine frame, and a height adjustment of one traveling device of the swing axle leads to an opposite height adjustment of another traveling device of the swing axle, wherein a control device is provided which is configured such that it detects the load on at least one of the traveling devices of the locking axle as a control variable and, when the load on the traveling device of the locking axle falls below or exceeds a threshold value, blocks the joint height adjustment of the traveling devices of the swing axle relative to the machine frame. Moreover, the present invention relates to increasing the stability of such a construction machine.

A method of on-demand energy delivery to an active suspension system is disclosed. The suspension system includes an actuator body, a hydraulic pump, an electric motor, a plurality of sensors, an energy storage facility, and a controller. The method includes disposing an active suspension system in a vehicle between a wheel mount and a vehicle body, detecting a wheel event requiring control of the active suspension; and sourcing energy from the energy storage facility and delivering it to the electric motor in response to the wheel event.