Method for operating work vehicle according to maximum permissible swing speed

Abstract

A method of operating a work vehicle (10) is provided. The work vehicle (10) comprises a swing device (11) rotatable about a swing axis (33). The swing device (11) includes: an arm structure (14) including a boom (16) and an arm (17); a boom actuator (18) for controlling the boom (16); and at least one boom head pressure sensor (77) for generating boom head pressure data indicative of a boom head pressure of the boom actuator (18). The method includes determining, by a control system (50), a maximum permissible swing speed at which the swing device (11) rotates about the swing axis (33) to account for a moment of inertia of the swing device (11) based on boom head pressure data and a mapping relating the boom head pressure data to the maximum permissible swing speed. The method further comprises limiting a maximum operating swing speed of the swing device (11) to a maximum permissible swing speed.

Description

Technical Field

[0001] The present disclosure relates to a method for operating a work vehicle according to a maximum allowable swing speed, a controller configured to perform such a method, and a work vehicle configured to operate according to such a method. Background Art

[0002] Work vehicles or machines such as excavators or backhoe loaders have various degrees of freedom. One such degree of freedom is swing, which refers to the rotation of the body relative to its undercarriage, or the rotation of the arm structure relative to the body. Various characteristics affect the swing characteristics, including the swing speed and swing acceleration of the work vehicle. For example, the position of its components (e.g., the position of the arm structure and / or the tool) can change the moment of inertia. This can affect the rate at which the swing speed can increase or decrease. Additionally, the configuration of the work vehicle (e.g., the type of tool attached) may affect the moment of inertia and thus the rate at which the swing speed can increase or decrease.

[0003] Importantly, the swing speed can be reduced to zero within a certain distance or time to allow the operator to quickly stop the swing, for example when an obstacle or danger within a safe distance is detected.

[0004] In addition to this general requirement, European regulation EN 474 also requires that work vehicles, particularly excavators, must be able to stop from full speed within a safe distance. This requirement previously mandated that this be achieved through the most common configuration of the work vehicle. European regulation EN 474 has been updated to require that work vehicles must be able to stop within a safe distance in each available configuration. Summary of the Invention

[0005] An object of the present disclosure may be to provide a method for limiting the maximum operating swing speed of a work vehicle to allow the work vehicle to reduce its swing speed to zero within a safe distance. Another object is to ensure that such a method operates on different authorized configurations of the work vehicle. Additionally, another object is to ensure that such a method does not overly reduce the swing speed of the work vehicle. If the swing speed is overly reduced, the operator may notice this during single-function and some multi-function operations.

[0006] The present disclosure generally relates to limiting the maximum operating swing speed of a swing device (e.g., the body of an excavator) of a work vehicle such that it can stop within a safe distance and / or angle. Boom head pressure can be used to give an indication of the weight of the tool and / or the extension of the arm structure. Thus, this can give an indication of the moment of inertia of the current configuration of the work vehicle and / or the arm position. Therefore, boom head pressure data is used to directly determine an appropriate maximum swing speed of the swing device such that it can stop within a safe distance. A mapping associates the boom head pressure data with a maximum swing speed for limiting the maximum operating swing speed of the swing device.

[0007] The present disclosure provides a method of operating a work vehicle including a swing device rotatable about a swing axis. The swing device includes: an arm structure including a boom and a stick; a boom actuator for controlling the boom; and at least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator. The method includes determining, by a control system, a maximum allowable swing speed of the swing device about the swing axis in consideration of the moment of inertia of the swing device based on: the boom head pressure data, and a map associating the boom head pressure data with the maximum allowable swing speed. The method further includes limiting a maximum operating swing speed of the swing device to the maximum allowable swing speed.

[0008] There is also provided a controller for controlling a work vehicle including a swing device rotatable about a swing axis. The swing device includes: an arm structure including a boom and a stick; a boom actuator for controlling the boom; and at least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator. The controller is configured to determine a maximum allowable swing speed of the swing device about the swing axis in consideration of the moment of inertia of the swing device based on: the boom head pressure data, and a map associating the boom head pressure data with the maximum allowable swing speed. The controller is further configured to limit a maximum operating swing speed of the swing device to the maximum allowable swing speed.

[0009] There is also provided a work vehicle including a swing device rotatable about a swing axis. The swing device includes: an arm structure including a boom and a stick; a boom actuator for controlling the boom; and at least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator. The work vehicle further includes a control system including the above controller.

[0010] By way of example only, embodiments in accordance with the present disclosure will now be described with reference to the drawings and as shown in the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a side elevational view of an embodiment of the system of the present disclosure;

[0012] Figure 2 is Figure 1 a top elevational view of the system of

[0013] Figure 3 is Figure 1 a schematic diagram of a control system of a system;

[0014] Figure 4 is a flowchart showing a method of limiting a maximum operating swing speed of a swing device according to the present disclosure;

[0015] Figure 5A is Figure 1 a side elevation view of a system, which shows a schematic diagram of forces;

[0016] Figure 5B is Figure 1 another side elevation view of a system, which shows a schematic diagram of forces;

[0017] Figure 6 is a graph showing a change in a maximum allowable speed according to the present disclosure; and

[0018] Figure 7 is a flowchart showing a method of limiting a maximum operating swing speed of a swing device according to the present disclosure. Detailed Description

[0019] The following description provides only preferred exemplary embodiments and is not intended to limit the scope, applicability, or configuration of the present invention. On the contrary, the following description of the preferred exemplary embodiments will provide those skilled in the art with an enabling description for implementing the preferred exemplary embodiments of the present invention. It should be understood that various changes can be made to the functions and arrangements of the elements (including combinations of features from different embodiments) without departing from the scope of the present invention. Specific details are given in the following description to provide a thorough understanding of the embodiments. However, those of ordinary skill in the art will understand that the embodiments can be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques can be shown without unnecessary details to avoid obscuring the embodiments.

[0020] In addition, it should be noted that embodiments can be described as processes depicted as flowcharts, flow diagrams, data flow diagrams, structure diagrams, or block diagrams. Although a flowchart may describe operations as a sequential process, many operations can be performed in parallel or simultaneously. Additionally, the order of operations can be rearranged. A process terminates when its operations are completed, but it can have additional steps not included in the figure. A process can correspond to a method, function, program, subroutine, subprogram, etc. When a process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function. Further, as disclosed herein, the term "storage medium" can represent one or more devices for storing data, including read-only memory (ROM), random access memory (RAM), magnetic RAM, core memory, disk storage media, optical storage media, flash memory devices, and / or other machine-readable media for storing information. The term "computer-readable medium" includes, but is not limited to, portable or fixed storage devices, optical storage devices, wireless channels, and various other media capable of storing, containing, or carrying instructions and / or data.

[0021] In addition, embodiments can be implemented by hardware, software, firmware, middleware, microcode, a hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments for performing the necessary tasks can be stored in a machine-readable medium such as a storage medium. One or more processors can perform the necessary tasks. A code segment can represent any combination of a process, function, subroutine, program, routine, subroutine, module, software package, class, or instructions, data structures, or program statements. A code segment can be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. can be passed, forwarded, or transmitted by any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0022] It should be understood that the following disclosure provides many different embodiments or examples for implementing various features of the embodiments. To simplify the present disclosure, specific examples of components and structures are described below. Of course, these are merely examples and are not intended to be limiting. Additionally, the present disclosure may repeat reference numerals and / or letters in various examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or configurations discussed. Further, forming a first feature above or on top of a second feature in subsequent descriptions can include embodiments where the first and second features are formed in direct contact, and can also include embodiments where additional features can be formed between the first and second features such that the first and second features may not be in direct contact.

[0023] Figure 1An embodiment of a system 9 including a work vehicle 10, which is an excavator in this case, is shown. The work vehicle 10 can be any suitable type of work vehicle 10, including multi-purpose work vehicles such as excavators, backhoe loaders, loaders, bulldozers, scrapers, loggers, harvesters, material handlers, and other such work vehicles. The work vehicle 10 includes a swing device 11 and may include a swing base 13. The swing device 11 includes: an arm structure 14, which includes a boom 16 and an arm 17; and a boom hydraulic actuator 18 for controlling the boom 16. The swing device may include a body 12. The swing base 13 may include a chassis 32 and / or a platform. The chassis 32 may include wheels or tracks 20. The body 12 may include a cab 8 for the operator and a power unit (not shown) therein for providing power to the wheels or tracks 20.

[0024] The swing device 11 can be attached to the swing base 13 via a rotary mount 31. The rotary mount 31 can allow the swing device 11 to rotate relative to the swing base 13. The rotary mount 31 can include a slip ring or a slewing ring. The rotation of the swing device 11 relative to the swing base 13 can be actuated using a swing actuator 30. The swing actuator 30 can include a hydraulic motor or a hydraulic swivel.

[0025] The swing device 11 can rotate about a swing axis 33. The swing device 11 can be capable of rotating 360 degrees relative to the swing base 13 about the rotary mount 31 and / or the swing axis 33. When the work vehicle 10 is on a horizontal surface, the swing axis 33 can be perpendicular to the swing base 13 and / or can be perpendicular to the horizontal plane or the ground. The swing axis 33 can be the central axis of the rotary mount 31 and can be the axis of rotation of the swing device 11 relative to the swing base 13 at the rotary mount 31.

[0026] The boom 16 and the arm 17 can be pivotally attached to each other. The boom 16 can be pivotally attached to the body 12 at a first end of the boom 16 at a boom pivot 22. The arm 17 can be pivotally attached to the boom 16 at a second end of the boom 16 and a first end of the arm 17. A tool 15 can be connected to the arm structure 14. The tool 15 can be pivotally attached to the arm 17 at a second end of the arm 17. The arm structure 14 can include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm structure 14 can include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm structure 14 can include an arm hydraulic actuator 19 for controlling the orientation and movement of the arm 17. The arm structure 14 can include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[0027] The tool 15 can be of any suitable type. The tool 15 can be, for example, a bucket as shown in the figure, or can be a grapple, a tilt bucket, a tilt rotator, a hammer, a handling arm, a multi-processor, a shredder, a saw, a shear, a blower, a grinder, a tiller, a trencher, a winch, an auger, a broom, a cutter, a planer, a limbing machine, a log cutter, a mulcher or a rake. The tool 15 can include a sprinkler head or the like, which is used to provide water spraying during the operation of the work vehicle 10, for example, for dust suppression. The fluid can be pressurized hydraulic fluid, water, etc.

[0028] The work vehicle 10 can be operated in at least one configuration, can be configured in at least one configuration and / or includes at least one configuration. The configuration can refer to one or more of the swing device 11 measurement; the swing base 13 measurement; the boom 16 measurement; the stick 17 measurement; the body 12 measurement; the cab 8 measurement; the tool 15 measurement; and / or the type of the tool 15. The above measurements can be dimensional measurements and / or weight measurements. The dimensional measurement can be length, width, depth, area and / or volume. The weight measurement can be weight or mass.

[0029] The work vehicle 10 can be operated in multiple configurations with different inertias, can be configured in multiple configurations with different inertias and / or includes multiple configurations with different inertias, and the multiple configurations include a configuration with the maximum moment of inertia. In the maximum inertia configuration, the type of the tool 15 can be a tool with a greater mass than other available tools, and / or the arm structure 14 can include components with greater length, weight and / or mass.

[0030] The work vehicle 10 can be oriented in component positions and / or includes component positions. The component positions can include the boom 16 position; the stick 17 position; and / or the tool 15 position. The position can be defined by component angles. The position can be defined by the extension of component cylinders. The component positions can include the arm structure 14 position or the linkage position. Each configuration of the work vehicle 10 can be capable of having multiple different component positions.

[0031] The boom 16 can include a boom axis 35. The boom axis 35 can be an axis parallel to the direction in which the boom 16 extends for most of its length. The stick 17 can include a stick axis 37. The stick axis 37 can be an axis parallel to the direction in which the stick 17 extends for most of its length. The boom angle 39 can be the angle between the boom axis 35 and the swing axis 33. The stick angle 41 can be the angle between the boom axis 35 and the stick axis 37. The boom angle 39 and / or the stick angle 41 can be used to define the component positions. The global angles, where each axis is measured relative to the horizontal plane, can be used to define the component positions.

[0032] The boom, stick, and implement hydraulic actuators 18, 19, 21 may each include a hydraulic cylinder and a piston rod. Hydraulic fluid may be supplied to the actuator to displace the rod relative to the cylinder. The boom hydraulic actuator 18 may include a boom hydraulic piston rod (not shown). The stick hydraulic actuator 19 may include the stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 extends, the component position may change. The extension of the boom hydraulic piston rod and / or the extension of the stick hydraulic piston rod may be used to define the component position.

[0033] Figure 2 A diagram of the work vehicle 10 is provided in a plan view, where the swing axis 33 is shown as a point. The work vehicle may include a reference travel axis 43. The reference travel axis 43 may be substantially horizontal with respect to the ground 33, lie in the same plane as the horizontal plane, and may pass through and / or be perpendicular to the swing axis 33. When the tracks 20 are simultaneously actuated with the same input, the reference travel axis 43 may be parallel to the direction of travel of the work vehicle. When a forward command is given, the reference travel axis 43 may be parallel to the direction of travel of the work vehicle 10. Figure 1 The work vehicle 10 may include a swing device axis 45. The swing device axis 45 may lie in the same plane as the horizontal plane and / or may lie in the same plane as the reference travel axis 43. The swing device axis 45 may be parallel to the extension direction of the arm structure 14 (as

[0034] shown), and may pass through and / or be perpendicular to the swing axis 33. The swing device axis 45 may be parallel to the direction the operator faces when sitting in the cab 8. Figure 2 The work vehicle 10 may include a swing angle θ. The swing angle θ may be defined as the angle measured between the reference travel axis 43 and the swing device axis 45. When the swing angle θ increases or decreases, the swing device 11 may rotate about the swing axis 33 at a swing speed ω. The swing device 11 may rotate relative to the swing base 13 at a swing speed ω. The swing device 11 may rotate about the swing axis 33 in the swing direction (clockwise or counterclockwise). The swing speed ω may be a swing speed including the swing direction.

[0035] The work vehicle 10 may include a work vehicle fluid circuit (not shown) through which fluid may circulate. The work vehicle 10 may include a controller 51 for automatically or based on input from at least one input device 6 (

[0036] Figure 1 Figure 1shown) the received input controls the work vehicle fluid circuit. At least one input device 6 may include one or more of a joystick, a display 57, a touch screen, buttons, or any suitable input device. At least one input device 6 may be used to operate the work vehicle 10. The work vehicle 10 may be operated to change the component positions. The work vehicle fluid circuit may be connected to at least one of the hydraulic actuators 18, 19, 21. Changing the component positions may include controlling at least one of the hydraulic actuators 18, 19, 21 for pivoting of the arm structure 14 and the tool 15. The work vehicle 10 may be operated to increase or decrease the swing angle θ. The work vehicle fluid circuit may be connected to a swing actuator 30 and a swing brake 34, and the swing brake is used to control the swing of the swing device 11 relative to the swing base 13.

[0037] The swing speed ω may be controlled and / or affected by at least one input device 6. When the input to at least one input device 6 indicates an increase, the swing speed ω may increase. When the input to the input device 6 indicates a decrease, the swing speed ω may decrease. When a 100% speed input is provided to at least one input device 6, the swing speed ω may increase towards the maximum operating swing speed of the work vehicle. When a 0% speed input is provided to the at least one input device, the swing speed ω may decrease towards zero swing speed ω, or the swing speed ω may remain at zero.

[0038] To reduce the swing speed ω, the system 9 may apply the swing brake 34 and / or may stop applying torque by the swing actuator 30. The system 9 may apply the swing brake 34 to the rotary mount 31 and / or the swing actuator 30. The swing brake 34 may apply a braking torque τ in a direction opposite to the swing direction b . The swing brake 34 may reduce the swing speed ω. The swing brake 34 may reduce the swing speed ω to zero.

[0039] For safety reasons, it may be beneficial for the system 9 to be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ s In addition, there is a regulation requirement that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ s The predetermined maximum angular stop displacement θ s may be a 90-degree angular displacement. It may be required that the system 9 be able to reduce the swing speed ω from the maximum operating swing speed to zero within a predetermined angular displacement. It may be required that the system 9 be able to reduce the swing speed ω from the maximum operating swing speed to zero within a 90-degree angular displacement. It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ s regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ s, a different metric can be used, such as a predetermined maximum stop time.

[0040] The oscillating device 11 includes a moment of inertia J. The moment of inertia J is a physical quantity of a body that represents the resistance of the body to changes in angular velocity. The moment of inertia J affects the system 9 to stop displacement θ at a predetermined maximum angle. s The ability to reduce the swing speed ω to zero within a certain range. The larger moment of inertia J requires a larger angular displacement to reduce the swing speed ω to zero, and requires a lower swing speed so that the swing speed ω can stop the displacement θ at a predetermined maximum angle. s decreases to zero.

[0041] The inertia moment J can be calculated by the following formula: b Relative to the angular deceleration experienced during braking:

[0042] τ b =Jα

[0043] where α is the angular deceleration and ε is the rate of change of the swing velocity ∈.

[0044] The moment of inertia J about the axis may be defined as the sum of the products obtained by multiplying the mass of each particle of matter in a given body by the square of its distance from the axis. The moment of inertia J of the swing device 11 may be higher when a tool 15 having a larger mass is attached to the arm structure 14, and may be lower when a tool 15 having a smaller mass is attached to the arm structure 14. The moment of inertia J of the swing device 11 may be higher when the position of the components causes the arm structure 14 to extend a longer distance from the swing axis 33, and may be lower when the position of the components causes the arm structure 14 to extend a shorter distance from the swing axis 33. The moment of inertia J may constantly change when the work vehicle 10 is in use, and is therefore not a known design parameter of the work vehicle 10.

[0045] The system 9 may include a control system 50, which may be configured to perform the method of the present disclosure. Figure 3As shown, control system 50 may include a controller 51, which may include a memory 53 and a processing unit 55. The memory may store instructions or algorithms in the form of data, and the processing unit may be configured to perform operations based on the instructions. Controller 51 may be any suitable known type and may include an engine control unit (ECU), etc. Memory 53 may include any suitable computer-accessible or non-transitory storage medium for storing computer program instructions, such as RAM, SDRAM, DDR SDRAM, RDRAM, SRAM, ROM, magnetic media, optical media, etc. Processing unit 55 may include any suitable processor capable of executing the instructions stored in the memory, such as a microprocessor, a single processor, a multi-processor, etc. Controller 51 may also include a graphics processing unit for rendering objects for viewing on a display 57 of control system 50. Controller 51 may also communicate with at least one work vehicle communication module 59 to transmit data to an external computing system 61 via a wired or wireless network 63 (such as Ethernet, fiber optic, satellite communication network, broadband communication network, cellular, Bluetooth). External computing system 61 may include a computing system, a processor, a server, a memory, a database, a control system, etc.

[0046] As Figure 3 Outlined, system 9 includes at least one boom head pressure sensor 77. Boom head pressure sensor 77 may be a hydraulic pressure sensor for the boom cylinder. Boom head pressure sensor 77 may be on the valve output line leading to the boom cylinder. Boom head pressure sensor 77 may be on the boom cylinder. Boom head pressure sensor 77 is used to generate boom head pressure data indicating the boom head pressure of boom hydraulic actuator 18. System 9 may include at least one system actuator 4. At least one system actuator 4 may include one or more of boom, stick, and tool hydraulic actuators 18, 19, 21, swing actuator 30, and swing brake 34.

[0047] System 9 may include at least one sensor 7. At least one sensor 7 may include one or more of a swing angle sensor 71, at least one movement or acceleration sensor 73, at least one component position sensor 75, boom pressure sensor 77, an inertial measurement unit (IMU), an accelerometer, a gyroscope, a magnetometer, and a pressure sensor. To reduce the complexity of work vehicle 10, it may be beneficial to reduce the number of necessary sensors. For example, it may be beneficial for work vehicle 10 not to include swing angle sensor 71 if possible.

[0048] The controller 51 can be communicatively connected (via a wired or wireless connection) to the power unit and to any one of at least one system actuator 4 and / or at least one sensor 7 to provide control signals thereto and receive sensor signals therefrom to control the operation of the work vehicle 10. The controller 51 can communicate with the input device 6 to receive inputs and control the work vehicle 10. The input device 6 can communicate with the controller 51 to control the actuation of the swing actuator 30 and / or the swing brake 34 to adjust the swing speed ω and / or the swing angle θ of the swing device 11. The input device 6 can increase or decrease the swing speed ω of the swing device 11 relative to the swing base 13.

[0049] The controller 51 can receive operating state data indicative of at least one operating state of the work vehicle 10 by communicatively coupling with at least one sensor 7 and at least one system actuator 4. The controller 51 can process the received operating state data to determine additional operating state data and can store the operating state data on the memory 53. The at least one operating state and operating state data can include at least one of the following:

[0050] - The swing angle θ of the work vehicle 10 relative to the reference travel axis 43 (as Figure 2 shown). The control system 50 can include a swing angle sensor 71 for determining the swing angle θ of the work vehicle 10;

[0051] - The swing speed ∈ of the work vehicle 10. The control system 50 can include at least one movement or acceleration sensor 73 for determining the swing speed ω of the work vehicle 10;

[0052] - The component positions of the work vehicle 10. The control system 50 can include at least one component position sensor 75 for determining the component positions of the work vehicle 10. At least one component position sensor 75 can be mounted to the swing device 11. At least one component position sensor 75 can include at least one inertial measurement unit (IMU);

[0053] - The boom position, stick position, and / or tool position of the work vehicle 10. The control system 50 can include at least one component position sensor 75 attached to the boom 16, stick 17, and / or tool 15 for determining the positions of the boom 16, stick 17, and / or tool 15 of the work vehicle 10. At least one component position sensor 75 can include at least one inertial measurement unit (IMU) attached to the boom 16, stick 17, and / or tool 15;

[0054] - Movement and / or acceleration of components of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the movement and / or acceleration of components of the work vehicle 10. At least one movement or acceleration sensor 73 may be mounted to the swing device 11. At least one movement or acceleration sensor 73 may be at least one accelerometer;

[0055] - Boom movement and / or acceleration; stick movement and / or acceleration; and / or tool movement and / or acceleration. The control system 50 may include at least one movement or acceleration sensor 73 attached to the boom 16, stick 17, and / or tool 15 for determining the movement and / or acceleration of the boom 16, stick 17, and / or tool 15. At least one movement or acceleration sensor 73 may include at least one accelerometer attached to the boom 16, stick 17, and / or tool 15;

[0056] - Boom and / or stick angle of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU for determining the boom and / or stick angle of the work vehicle 10;

[0057] - Boom and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU for determining the boom and / or stick hydraulic piston rod extension of the work vehicle 10;

[0058] - Boom head end pressure of the work vehicle 10. The boom head end pressure may indicate the mass and / or extension of the boom structure 14. The boom head end pressure may indicate the moment of inertia J of the swing device 11. The control system 50 may include a boom pressure sensor 77 for determining the boom head end pressure of the work vehicle 10, and the boom pressure sensor may be within the boom hydraulic cylinder 18. The boom pressure sensor 77 may be located within the hydraulic line leading to the boom hydraulic cylinder 18. The boom head end pressure may be calculated based on information about the hydraulic fluid supplied to the boom hydraulic cylinder 18;

[0059] - Configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by the operator via at least one input device 6; stored on the memory 53; and / or automatically detected using work vehicle sensors;

[0060] - Braking torque τ of the swing brake 34 of the work vehicle 10 b . The braking torque τ b may be input by the operator via at least one input device 6, stored on the memory 53, and / or estimated based on changes in component movement and / or acceleration when applying the swing brake 34. The braking torque τ applied at any time bBased on the input to at least one input device 6, 0% input to at least one input device 6 can result in the maximum braking torque τ b，max applied by the swing brake 34;

[0061] - the actuation torque τ of the swing actuator 30 of the work vehicle 10 a . The actuation torque τ a can be input by the operator via at least one input device 6, stored on the memory 53, and / or estimated based on changes in component movement and / or acceleration when applying the swing actuator 30. The actuation torque τ a can be based on the input to at least one input device 6;

[0062] - the maximum operating swing speed of the work vehicle. The maximum operating swing speed of the work vehicle can be determined according to the method of the present disclosure;

[0063] - the maximum allowable swing speed ω of the work vehicle max . The maximum allowable swing speed ω of the work vehicle max can be determined according to the method of the present disclosure; and

[0064] - a predetermined maximum angular stop displacement θ s . The predetermined maximum angular stop displacement θ s can be input by the operator via at least one input device 6 and / or stored on the memory 53. The predetermined maximum angular stop displacement θ s can be set by regulatory and / or safety requirements.

[0065] The operating state data collected by the control system 50 can be transmitted to an external computing system 61 that can execute the method of the present disclosure. Thus, in the present disclosure, the control system 50 can be considered to include the external computing system 61, which can have instructions stored thereon for executing the method disclosed herein in a manner similar to the controller 51.

[0066] As Figure 4 shown, the method of operating the work vehicle 10 includes determining the maximum allowable swing speed ω of the swing device 11 rotating about the swing axis 33 max to account for the moment of inertia J of the swing device 11, and limiting the maximum operating swing speed of the swing device 11 to the maximum allowable swing speed ω max . The maximum allowable swing speed ω max is determined based on the boom head pressure data and a mapping that associates the boom head pressure data with the maximum allowable swing speed ω max . The method is executed by the control system 50.

[0067] The boom head pressure data can be used to account for the moment of inertia J of the swing device 11. As Figure 5AAnd 5B As shown in 5B , the weight of the arm structure 14 exerts a downward arm force 101. The arm force 101 generates an arm moment about the boom pivot 22, and the arm moment is equal to the arm force 101 multiplied by the arm force distance 103. The arm force distance 103 is the vertical distance from the boom pivot axis 105 to the position through which the arm force 101 acts. The boom pivot axis 105 is an axis passing through the boom pivot 22 and parallel to the swing axis 33. The boom pivot axis 105 can coincide with the swing axis 33.

[0068] When the arm structure 14 is in the air (i.e., the tool 15 is not in contact with the ground), the arm structure 14 can be balanced by the boom actuator force 107 generated by the boom hydraulic actuator 18. The boom actuator force 107 generates a boom actuator moment about the boom pivot 22, and the boom actuator moment is equal to the boom actuator force 107 multiplied by the boom actuator force distance 109. The boom actuator force distance 109 is the vertical distance from the boom pivot axis 105 to the position through which the boom actuator force 107 acts. If the arm structure 14 is in balance and the arm structure 14 is in the air, the arm moment will be equal to the boom actuator moment. According to the present disclosure, the boom actuator force 107 can be used as an indicator of the arm moment.

[0069] The boom actuator force 107 is generated by the pressure in the boom hydraulic actuator 18. The boom head pressure data indicating the boom head pressure can be used to indicate the boom actuator force 107 and / or the arm moment.

[0070] As Figure 5B shown in Figure 5B , if the arm structure 14 extends (e.g., if the stick 17 extends), the arm force distance 103 increases, and thus the boom actuator force 107 increases to compensate and maintain balance. If a heavier tool 15 is used, the arm force 101 will increase, and thus the boom actuator force 107 will increase to compensate and maintain balance. According to the present disclosure, the boom head pressure data can be used to indicate the extension of the arm structure 14 and / or the mass of the tool 15.

[0071] The extension of the arm structure 14 and the mass of the tool 15 affect the moment of inertia J as explained above. According to the present disclosure, the boom head pressure data can be an indication of the moment of inertia J. Allowing the maximum allowable swing speed ω ma Based on the boom head pressure data can allow the moment of inertia ω to be considered when determining the maximum allowable swing speed J max .

[0072] Relating the boom head pressure data to the maximum allowable swing speed ω max can be a look-up table, an algorithm, a function, an equation, or used to determine the maximum allowable swing speed ω based on the boom head pressure data maxAny other suitable mapping. The mapping can be a simulation, computational model, and / or digital twin of the work vehicle 10. The control system 50 can input the boom head pressure data into the simulation, computational model, and / or digital twin and use it to calculate and / or model at least one operating state and / or maximum allowable swing speed ω of the work vehicle 10 max The mapping can be prepared by experimental and empirical methods to find the appropriate maximum allowable swing speed ω for the given boom head pressure data max .

[0073] As Figure 6 shown, in the mapping, the maximum allowable swing speed ω max can have an inverse relationship with the boom head pressure. As the boom head pressure increases, the maximum allowable swing speed ω max can decrease. When the boom head pressure is the first boom head pressure 121, the maximum allowable swing speed ω ma can be the first maximum allowable swing speed 111. When the boom head pressure is the second boom head pressure 123, the maximum allowable swing speed ω nax can be the second maximum allowable swing speed 113. The first maximum allowable swing speed 111 can be higher than the second maximum allowable swing speed 113, and the second boom head pressure 123 can be higher than the first boom head pressure 121

[0074] When the boom head pressure is lower than the first boom head pressure 121, the maximum allowable swing speed ω max can be equal to the first maximum allowable swing speed 111. The first maximum allowable swing speed 111 can be input by the operator via at least one input device 6 and / or stored on the memory 53. The first maximum allowable swing speed 111 can be set by safety considerations and / or vehicle limitations. By setting the maximum allowable swing speed ω max to be equal to the first maximum allowable swing speed 111 when the boom head pressure is lower than the first boom head pressure 121, a configuration with a low moment of inertia J (which corresponds to a boom head pressure lower than the first boom head pressure 121) will have improved performance because the maximum allowable swing speed ω max is higher

[0075] When the boom head pressure is higher than the second boom head pressure 123, the maximum allowable swing speed ω max can be equal to the second maximum allowable swing speed 113. The second maximum allowable swing speed 113 can be based on a predetermined maximum angular stop displacement θ sThe deceleration rate of the swing device in the configuration with the greatest inertia. The second maximum allowable swing speed 113 can be the deceleration rate of a given swing device in the configuration with the greatest inertia, and the swing device 11 can slow down to a swing speed ω of zero. The limitation of the second maximum allowable swing speed 113 can ensure that the work vehicle 10 can stop within a safe distance when in the maximum inertia configuration. By setting the maximum allowable swing speed ω max equal to the second maximum allowable swing speed 113 when the boom head pressure is higher than the second boom head pressure 123, the configuration with a high moment of inertia J (which corresponds to a boom head pressure higher than the second boom head pressure 123) will be able to stop within a safe distance.

[0076] As Figure 7 shown, the method can also include a user-initiated calibration process. The boom head pressure for determining the maximum allowable swing speed ω max can be the maximum boom head pressure for the current configuration of the work vehicle. The user-initiated calibration process can include measuring the boom head pressure based on the boom head pressure data received from at least one boom head pressure sensor and setting it as the maximum boom head pressure after extending the arm structure 14 of the work vehicle 10 to its maximum extension and / or moving the tool 15 to the maximum distance from the swing axis 33. The user-initiated calibration process may require the user to input a calibration command into the control system 50, according to which the control system 50 will extend the arm structure 14 to its maximum extension and record the sensor data simultaneously. The user-initiated calibration process may require the user to follow the prompts to extend the arm structure 14 to its maximum extension while the control system 50 records the sensor data. The method can also include saving the maximum allowable swing speed ω max and / or the maximum boom head pressure to a data file in the memory 53 corresponding to the current configuration of the work vehicle 10.

[0077] The method can also include the control system 50 changing the configuration and / or component positions of the work vehicle 10, and causing the boom head pressure to change (as Figure 5A and 5B shown). The maximum allowable swing speed ω max can be updated based on the new boom head pressure data and the mapping associating the boom head pressure data with the maximum allowable swing speed. The maximum operating swing speed of the swing device 11 can be limited to the updated maximum allowable swing speed.

[0078] The method can include updating the maximum allowable swing speed ω max at a certain time interval. The maximum allowable swing speed ω max can be updated every 0.1 seconds, every 1 second, or every 10 seconds. After the controller 51 receives an input, the maximum allowable swing speed ωmax The maximum allowable swing speed ω max can be dynamically re - determined and / or updated.

[0079] As affected by the extension of the arm structure 14, the boom head pressure can be equally affected by an increase in the weight of the tool 15. The moment of inertia J may be more affected by the extension of the arm structure 14 than by the weight of the tool 15. This can be taken into account by using a user - initiated calibration process and then updating the maximum allowable swing speed ω based on new boom head pressure data when moving the arm structure 14. max The maximum boom head pressure can indicate the configuration of the work vehicle 10 and / or the weight of the tool 15. The maximum allowable swing speed ω when the arm structure 14 is at maximum extension max can be set such that for a given swing device, the deceleration rate in the configuration indicated by the maximum boom head pressure causes the swing device 11 to stop within a safe distance. The maximum allowable swing speed ω can be updated based on changes in the boom head pressure indicating changes in the component position. max When the boom head pressure decreases, the maximum allowable swing speed ω can be increased. max .

[0080] The maximum allowable swing speed ω max can also be based on work vehicle component position data from at least one component position sensor. The mapping can also associate the maximum allowable swing speed ω max with the component position data.

[0081] The work vehicle component position data can be used in conjunction with a user - initiated calibration process. When the arm structure 14 of the work vehicle 10 is at maximum extension and / or the tool 15 is at the maximum distance from the swing axis 33, the user - initiated calibration process can be used to measure the maximum boom head pressure. The maximum boom head pressure can indicate the configuration of the work vehicle 10 and / or the weight of the tool 15.

[0082] The maximum allowable swing speed ω when the component position data indicates the maximum extension of the arm structure 14 ma can be set such that for a given swing device, the deceleration rate in the configuration indicated by the maximum boom head pressure at the maximum extension of the arm structure 14 causes the swing device 11 to stop within a safe distance. The work vehicle component position data can be used to modify the maximum allowable swing speed ω max When the extension of the arm structure 14 decreases, the maximum allowable swing speed ω can be increased. max .

[0083] The work vehicle component position data can be used without a user - initiated calibration process. The boom head pressure data and the component position data can be used together to determine the maximum allowable swing speed ωmax A relatively low boom head pressure can indicate a tool 15 with a smaller mass, or the arm structure 14 is in a small extension. Component position data can be used to determine the extension of the arm structure 14 and thus figure out what the boom head pressure indicates. The mapping can use the boom head pressure data and the component position data to determine the maximum allowable swing speed ω max .

[0084] The method can further include the control system 50 causing the swing device 11 to rotate about the swing axis 33 at a swing speed ω that is equal to or less than the maximum operating swing speed. The method can further include the control system 50 overriding a user command to cause the swing device 11 to rotate about the swing axis 33 at a swing speed ω that is greater than the maximum operating swing speed. Overriding the user command can include receiving a user input to perform the rotation at a swing speed ω that is greater than the maximum operating swing speed, and outputting a command to the swing actuator 30 to perform the rotation at a swing speed ω that is equal to or less than the maximum operating swing speed.

[0085] Industrial applicability

[0086] Thus, the method can use the boom head pressure data to determine an appropriate maximum allowable swing speed ω max . By using the boom head pressure data of the current configuration of the work vehicle 10, an appropriate maximum allowable swing speed ω for this specific configuration is determined max . There will be no excessive restriction on the swing speed ω caused by the higher moment of inertia J of other configurations. The maximum allowable swing speed ω max Thus, based on the current configuration, and thus can be maximized. This ensures that the work vehicle 10 can reduce its swing speed ω to zero within a safe distance such as a predetermined maximum angular stop displacement θ s of the work vehicle 10 for different configurations of the work vehicle 10.

[0087] In addition, the swing performance of the work vehicle 11 is not overly affected because it is always at the maximum safe speed of the current configuration. This is achieved only with the boom head pressure sensor 77, and thus the number of sensors on the work vehicle 10 can be minimized.

[0088] If the method includes a user-initiated calibration process, the mapping can be improved because the maximum boom head pressure of the current configuration is known. This can be used to indicate the configuration of the work vehicle 10. This can improve the mapping because the boom head pressure can be equally affected by the configuration of the work vehicle 11 and the component position, while the moment of inertia J is more affected by the component position. Therefore, using a user-initiated calibration process to determine the maximum boom head pressure indicating the configuration of the work vehicle 10 can improve the mapping because the configuration is then known.

[0089] If the method includes updating the maximum allowable swing speed ω of the swing device 11 based on the new boom head pressure data after changing the position of a component of the work vehicle 11 max , an appropriate maximum allowable swing speed ω for this particular configuration and component position can be determined max . There will be no excessive restriction of the swing speed ω caused by the possibly higher moment of inertia J of other component positions. The maximum allowable swing speed ω max is thus based on the current component position and can thus always be maximized. This ensures that the work vehicle 10 can reduce its swing speed ω to zero within a safety distance such as a predetermined maximum angular stop displacement θ s of the different component positions of the work vehicle 11. In addition, the swing performance of the work vehicle 10 is maximized because it is always at the maximum safe speed for the current component position.

[0090] If the maximum allowable swing speed ω is also determined based on work vehicle component position data max , the benefits described in the above paragraphs can be utilized to determine an appropriate maximum allowable swing speed ω for this particular configuration and component position max . Additionally, an appropriate maximum allowable swing speed ω for this particular configuration and component position can be determined without a user-initiated calibration process max . A user-initiated calibration process is not required to make the work vehicle 10 easier for the operator to use.

Claims

1. A method of operating a work vehicle, the work vehicle including a swing device rotatable about a swing axis, the swing device including: an arm structure including a boom and a stick; a boom actuator for controlling the boom; and at least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator, the method including, by a control system: determining a maximum allowable swing speed of the swing device rotating about the swing axis based on the following to account for the moment of inertia of the swing device: the boom head pressure data; and a mapping associating the boom head pressure data with the maximum allowable swing speed; and limiting a maximum operating swing speed of the swing device to the maximum allowable swing speed.

2. The method according to claim 1, wherein, In the mapping, when the boom head pressure is a first boom head pressure, the maximum allowable swing speed is a first maximum allowable swing speed, and when the boom head pressure is a second boom head pressure, the maximum allowable swing speed is a second maximum allowable swing speed, where the first maximum allowable swing speed is higher than the second maximum allowable swing speed, and the second boom head pressure is higher than the first boom head pressure.

3. The method according to claim 2, wherein In the mapping, when the boom head pressure is lower than the first boom head pressure, the maximum allowable swing speed is equal to the first maximum allowable swing speed.

4. The method according to claim 2 or 3, wherein In the mapping, when the boom head pressure is higher than the second boom head pressure, the maximum allowable swing speed is equal to the second maximum allowable swing speed.

5. The method according to claim 4, wherein the work vehicle can be configured with a plurality of different configurations having different moments of inertia, and the second maximum allowable swing speed is based on a predetermined maximum angular stop displacement and a deceleration rate of the swing device in the configuration having the maximum inertia.

6. The method according to any one of the preceding claims, wherein the boom head pressure used to determine the maximum allowable swing speed is the maximum boom head pressure for the current configuration of the work vehicle.

7. The method according to claim 6, wherein the method further includes a user-initiated calibration process, wherein the maximum boom head pressure is measured during the user-initiated calibration process.

8. The method according to claim 7, wherein the user-initiated calibration process includes measuring the boom head pressure based on boom head pressure data received from the at least one boom head pressure sensor after extending the arm structure of the work vehicle to a maximum extension and / or moving a tool of the work vehicle to a maximum distance from the swing axis.

9. The method according to claims 6 to 8, wherein the method further includes saving the maximum allowable swing speed to a data file corresponding to the current configuration of the work vehicle.

10. The method according to any one of the preceding claims, wherein the method further includes, by the control system: Changing the configuration and / or component positions of the work vehicle such that the boom head pressure changes; Updating the maximum allowable swing speed of the swing device based on: New boom head pressure data, and The map associating the boom head pressure data with the maximum allowable swing speed; and Limiting the maximum operating swing speed of the swing device to the updated maximum allowable swing speed.

11. The method according to any one of the preceding claims, wherein the work vehicle includes at least one component position sensor mounted to the swing device, and wherein the maximum allowable swing speed is further based on work vehicle component position data from the at least one component position sensor.

12. The method according to any one of the preceding claims, wherein the method further comprises, by the control system: Rotating the swing device about the swing axis at a swing speed equal to or less than the maximum operating swing speed; and / or Overriding a user command to rotate the swing device about the swing axis at a swing speed greater than the maximum operating swing speed.

13. A controller for controlling a work vehicle, the work vehicle including a swing device rotatable about a swing axis, the swing device including: An arm structure including a boom and a stick; A boom actuator for controlling the boom; And At least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator, The controller being configured to: Determine a maximum allowable swing speed of the swing device about the swing axis, taking into account the moment of inertia of the swing device, based on: Boom head pressure data; and The map associating the boom head pressure data with the maximum allowable swing speed; and Limiting the maximum operating swing speed of the swing device to the maximum allowable swing speed.

14. A work vehicle, comprising: A swing device rotatable about a swing axis, the swing device including: An arm structure including a boom and a stick; A boom actuator for controlling the boom; and At least one boom head pressure sensor for generating boom head pressure data indicative of the boom head pressure of the boom actuator, and A control system including the controller according to claim 13.

Images