Method for operating work vehicle according to maximum permissible swing speed

Abstract

A method of operating a work vehicle (10) is disclosed. The work vehicle (10) comprises a swing device (11) rotatable about a swing axis (33). The swing device (11) comprises an arm structure (14) comprising an arm (17) and a boom (16). The work vehicle (10) further comprises at least one arm position sensor (75) mounted to the swing device (11) for generating arm position data indicative of the position of the arm (17) and / or of the boom (16). The method comprises determining, by the 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 the arm position data and a mapping relating the arm position 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 be increased or decreased. 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 be increased or decreased.

[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, e.g., when an obstacle or danger within a safety 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 safety distance. This requirement previously mandated that this be achieved through the most common configurations of the work vehicle. European regulation EN 474 has been updated to require that work vehicles must be able to stop within a safety distance in each available configuration. Summary of the Invention

[0005] An object of the present disclosure can 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 safety 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 the swing means (e.g., the body and arm structure of an excavator) of a work vehicle such that it can stop within a safety distance and / or angle. Data on the extension of the arm structure can give an indication of the moment of inertia of the work vehicle for its current arm position. Thus, the arm position data is used to directly determine an appropriate maximum swing speed for the swing means such that it can stop within a safety distance. A mapping associates the arm position data with the maximum swing speed used to limit the maximum operating swing speed of the swing means.

[0007] The present disclosure provides a method of operating a work vehicle, the work vehicle including a swing device rotatable about a swing axis. The swing device includes an arm structure, the arm structure including a dipper arm and a boom. The work vehicle further includes at least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper arm and / or the boom. The method includes determining, by a control system, a maximum allowable swing speed of the swing device rotating about the swing axis, taking into account the moment of inertia of the swing device, based on: the arm position data, and a mapping associating the arm position 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, the work vehicle including a swing device rotatable about a swing axis. The swing device includes an arm structure, the arm structure including a dipper arm and a boom. The work vehicle further includes at least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper arm and / or the boom. The controller is configured to determine, taking into account the moment of inertia of the swing device, a maximum allowable swing speed of the swing device rotating about the swing axis, based on: the arm position data, and a mapping associating the arm position 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, the arm structure including a dipper arm and a boom. The work vehicle further includes: at least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper arm and / or the boom; and a control system including the above controller.

[0010] By way of example only, embodiments according to the present disclosure will now be described with reference to the drawings and as shown in the drawings. 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 the control system of the system of;

[0014] Figure 4 is a flowchart showing a method of operating a work vehicle of the present disclosure;

[0015] Figure 5 is a schematic diagram showing the maximum allowable swing speed when the boom angle and the arm angle of the work vehicle of the present disclosure change; and

[0016] Figure 6 is a schematic diagram showing the maximum allowable swing speed when the extension of the arm structure of the work vehicle of the present disclosure changes. Detailed Description

[0017] The following description provides only (a) preferred exemplary embodiment(s) and is not intended to limit the scope, applicability, or configuration of the present invention. On the contrary, the following description of (a) preferred exemplary embodiment(s) will provide those skilled in the art with an enabling description for implementing the preferred exemplary embodiment(s) 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.

[0018] In addition, it should be noted that an embodiment can be described as a process depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe operations as a sequential process, many operations can be performed in parallel or simultaneously. Additionally, the order of the operations can be rearranged. A process terminates when its operations are completed, but can have additional steps not included in the figure. A process can correspond to a method, a function, a program, a subroutine, a 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 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 (an) instruction(s) and / or data.

[0019] In addition, embodiments may be implemented by hardware, software, firmware, middleware, microcode, 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 may be stored in a machine-readable medium such as a storage medium. The (multiple) processors may perform the necessary tasks. A code segment may represent any combination of a procedure, a function, a subroutine, a program, a routine, a subroutine, a module, a software package, a class, or instructions, data structures, or program statements. A code segment may 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. may be passed, forwarded, or transmitted by any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0020] 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 only 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 the subsequent description may include embodiments where the first and second features are formed in direct contact, and may also include embodiments where additional features may be formed between the first and second features such that the first and second features may not be in direct contact.

[0021] Figure 1 An embodiment of a system 9 including a work vehicle 10 (in this case, an excavator) is shown. The work vehicle 10 may be any suitable type of work vehicle 10, including multi-purpose work vehicles such as excavators, backhoes, 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. The swing device 11 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 an operator and a power unit (not shown) therein for providing power to the wheels or tracks 20.

[0022] The swing device 11 may be attached to the swing base 13 via a rotary mount 31. The rotary mount 31 may allow the swing device 11 to rotate relative to the swing base 13. The rotary mount 31 may include a slip ring or a slewing ring. The rotation of the swing device 11 relative to the swing base 13 may be actuated using a swing actuator 30. The swing actuator 30 may include a hydraulic motor or a hydraulic swivel.

[0023] The swing device 11 is rotatable about a swing axis 33. The swing device 11 may 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 may be perpendicular to the swing base 13 and / or may be perpendicular to the horizontal plane or the ground. The swing axis 33 may be the central axis of the rotary mount 31 and may be the axis of rotation of the swing device 11 relative to the swing base 13 at the rotary mount 31.

[0024] The arm structure 14 includes a boom 16 and a stick 17. The boom 16 and the stick 17 may be pivotally attached to each other. The boom 16 may be pivotally attached to the body 12 at a first end of the boom 16. The stick 17 may be pivotally attached to the boom 16 at a second end of the boom 16 and a first end of the stick 17. A tool 15 may be connected to the arm structure 14. The tool 15 may be pivotally attached to the stick 17 at a second end of the stick 17. The arm structure 14 may include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm structure 14 may include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm structure 14 may include a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm structure 14 may include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[0025] The tool 15 may be of any suitable type. The tool 15 may be, for example, a bucket as shown, or may 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 pruner, a log cutter, a mulcher or a rake. The tool 15 may include a sprinkler head or the like for providing water spraying during the operation of the work vehicle 10, for example for dust suppression. The fluid may be pressurized hydraulic fluid, water or the like.

[0026] The work vehicle 10 may be operated in at least one configuration, may be configured in at least one configuration and / or includes at least one configuration. The configuration may refer to one or more of swing device 11 measurement; swing base 13 measurement; boom 16 measurement; stick 17 measurement; body 12 measurement; cab 8 measurement; tool 15 measurement; and / or type of tool 15. The above measurements may be dimensional measurements and / or weight measurements. Dimensional measurements may be length, width, depth, area and / or volume. Weight measurements may be weight or mass.

[0027] The work vehicle 10 can be operated in, configured in, and / or include multiple configurations having different inertias, the multiple configurations including a configuration having a maximum moment of inertia. In the maximum inertia configuration, the type of tool 15 can be a tool having a greater mass than other available tools, and / or the boom structure 14 can include components having greater length, weight, and / or mass.

[0028] The work vehicle 10 and the boom structure 14 can be oriented in and / or include boom positions. The boom positions can include a boom 16 position; a stick 17 position; and / or a tool 15 position. The position can be defined by component angles. The position can be defined by component cylinder extensions. The boom positions can include a boom structure 14 position, a component position, or a linkage position. Each configuration of the work vehicle 10 may be capable of having multiple different boom positions.

[0029] The boom 16 can include a boom axis 35. The boom axis 35 can be an axis parallel to the direction along 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 along 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 boom position. Global angles in which the respective axes are measured relative to a horizontal plane can be used to define the boom position.

[0030] The boom, stick, and tool hydraulic actuators 18, 19, 21 can each include a hydraulic cylinder and a piston rod. Hydraulic fluid can be supplied to the actuator to displace the rod relative to the cylinder. The boom hydraulic actuator 18 can include a boom hydraulic piston rod (not shown). The stick hydraulic actuator 19 can include a stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 extends, the boom position can change. The extension of the boom hydraulic piston rod and / or the extension of the stick hydraulic piston rod can be used to define the boom position.

[0031] Figure 2 A plan view provides Figure 1 an illustration of the work vehicle 10, where the swing axis 33 is shown as a point. The work vehicle can include a reference travel axis 43. The reference travel axis 43 can be substantially horizontal with respect to the ground 33, lie in the same plane as the horizontal plane, and can 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 can be parallel to the direction in which the work vehicle travels. When a forward command is given, the reference travel axis 43 can be parallel to the direction in which the work vehicle 10 travels.

[0032] The work vehicle 10 may include a swing device axis 45. The swing device axis 45 may be located in the same plane as the horizontal plane and / or may be located 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 Figure 2 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.

[0033] 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.

[0034] The work vehicle 10 may include a work vehicle fluid circuit (not shown), and fluid may circulate around the work vehicle fluid circuit. The work vehicle 10 may include a controller 51 for automatically or based on an input received from at least one input device 6 ( Figure 1 shown) to control the work vehicle fluid circuit. The at least one input device 6 may include one or more of a joystick, a display 57, a touch screen, a button, or any suitable input device. The 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 arm position. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the arm position may include controlling at least one hydraulic actuator 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.

[0035] The swing speed ω may be controlled and / or affected by the at least one input device 6. When the input to the 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 an input of 100% speed is provided to the at least one input device 6, the swing speed ω may increase toward the maximum operating swing speed of the work vehicle. When an input of 0% speed is provided to the at least one input device, the swing speed ω may decrease toward zero swing speed ω, or the swing speed ω may remain at zero.

[0036] To reduce the swing speed ω, system 9 can apply the swing brake 34 and / or can stop applying torque by the swing actuator 30. System 9 can apply the swing brake 34 to the rotating mount 31 and / or the swing actuator 30. The swing brake 34 can apply a braking torque τ in a direction opposite to the swing direction. b The swing brake 34 can reduce the swing speed ω. The swing brake 34 can reduce the swing speed ω to zero.

[0037] For safety reasons, it may be beneficial for 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 for system 9 to 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 can be a 90-degree angular displacement. It may be required that 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 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 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 of the work vehicle 10 and / or the position of the arm. Instead of the predetermined maximum angular stop displacement θ s , a different metric can be used, such as a predetermined maximum stop time. s

[0038] The swing device 11 includes a moment of inertia J. The moment of inertia J is a physical quantity of the body that represents the body's resistance to changes in angular velocity. The moment of inertia J affects the ability of system 9 to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ. s A larger moment of inertia J makes it require a larger angular displacement to reduce the swing speed ω to zero and makes it require a lower swing speed so that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ. s

[0039] The moment of inertia J can be related to the braking torque τ b and the angular deceleration experienced during braking by the following formula:

[0040] τ b = Jα

[0041] where α is the angular deceleration and is the rate of change of the swing speed ω.

[0042] The moment of inertia J about an axis can be defined as the sum of 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 can be higher when a tool 15 with a larger mass is attached to the arm structure 14, and can be lower when a tool 15 with a smaller mass is attached to the arm structure 14. The moment of inertia J of the swing device 11 can be higher when the arm position is such that the arm structure 14 extends a longer distance from the swing axis 33, and can be lower when the arm position is such that the arm structure 14 extends a shorter distance from the swing axis 33. When the work vehicle 10 is in use, the moment of inertia J can change continuously and is thus not a known design parameter of the work vehicle 10.

[0043] System 9 can include a control system 50, which can be configured to perform the methods of the present disclosure. As Figure 3 shown, the control system 50 can include a controller 51, which can include a memory 53 and a processing unit 55. The memory can store instructions or algorithms in the form of data, and the processing unit can be configured to perform operations based on the instructions. The controller 51 can be any suitable known type and can include, for example, an engine control unit (ECU). The memory 53 can 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. The processing unit 55 can include any suitable processor capable of executing the instructions stored in the memory, such as a microprocessor, a single processor, a multi-processor, etc. The controller 51 can also include a graphics processing unit for rendering objects for viewing on a display 57 of the control system 50. The controller 51 can 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). The external computing system 61 can include a computing system, a processor, a server, a memory, a database, a control system, etc.

[0044] As Figure 3 shown, system 9 can include at least one system actuator 4. The at least one system actuator 4 can include one or more of a boom, a stick, and tool hydraulic actuators 18, 19, 21, a swing actuator 30, and a swing brake 34.

[0045] System 9 includes at least one arm position sensor 75. At least one arm position sensor 75 is mounted to the swing device 11. At least one arm position sensor 75 is used to generate arm position data indicating the position of the dipper stick 17 and / or the boom 16. At least one arm position sensor 75 may be a component position sensor. At least one arm position sensor 75 may include a dipper stick position sensor for generating dipper stick position data. The dipper stick position sensor may be mounted to the dipper stick 17. At least one arm position sensor 75 may include a boom position sensor for generating boom position data. The boom position sensor may be mounted to the boom 16.

[0046] System 9 may include at least one sensor 7. At least one sensor 7 may include one or more of the following: a swing angle sensor 71, at least one movement or acceleration sensor 73, at least one arm position sensor 75, a boom pressure sensor 77, an inertial measurement unit (IMU), an accelerometer, a gyroscope, a magnetometer, and a pressure sensor. To reduce the complexity of the work vehicle 10, it may be beneficial to reduce the number of necessary sensors. For example, it may be beneficial for the work vehicle 10 not to include a swing angle sensor 71 if possible.

[0047] The controller 51 may be communicatively connected (via a wired or wireless connection) to the power unit, and 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 in order to control the operation of the work vehicle 10. The controller 51 may communicate with the input device 6 to receive an input and control the work vehicle 10. The input device 6 may 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 may increase or decrease the swing speed ω of the swing device 11 relative to the swing base 13.

[0048] The controller 51 may receive operation state data indicating at least one operation 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 may process the received operation state data to determine additional operation state data, and may store the operation state data on the memory 53. At least one operation state and operation state data may include at least one of the following:

[0049] - The swing angle θ of the work vehicle 10 relative to the reference travel axis 43 (as Figure 2 shown). The control system 50 may include a swing angle sensor 71 for determining the swing angle θ of the work vehicle 10;

[0050] - The swing speed ω of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the swing speed ω of the work vehicle 10;

[0051] - The arm position of the work vehicle 10. The control system 50 may include at least one arm position sensor 75 for determining the arm position of the work vehicle 10. At least one arm position sensor 75 may be mounted to the swing device 11. At least one arm position sensor 75 may include at least one inertial measurement unit (IMU);

[0052] - The boom position, stick position, and / or tool position of the work vehicle 10. The control system 50 may include at least one arm position sensor 75 attached to the boom 16, stick 17, and / or tool 15 for determining the boom 16, stick 17, and / or tool 15 positions of the work vehicle 10. At least one arm position sensor 75 may include at least one inertial measurement unit (IMU) attached to the boom 16, stick 17, and / or tool 15;

[0053] - The 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;

[0054] - 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;

[0055] - The boom and / or stick angle of the work vehicle 10. The control system 50 may include an arm position sensor 75, such as an IMU, for determining the boom angle and / or stick angle of the work vehicle 10;

[0056] - The boom and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may include an arm position sensor 75 (such as an IMU) for determining the boom and / or stick hydraulic piston rod extension of the work vehicle 10;

[0057] - The boom head end pressure of the work vehicle 10. The control system 50 may include a boom pressure sensor 77 within the boom hydraulic cylinder 18 for determining the boom head end pressure of the work vehicle 10;

[0058] - Configuration of the work vehicle 10. The configuration of the work vehicle 10 can 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;

[0059] - Braking torque τ of the swing brake 34 of the work vehicle 10 b . The braking torque τ b 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 brake 34. The braking torque τ applied at any time b can be based on the input to at least one input device 6. 0% input to at least one input device 6 can cause the maximum braking torque τ b，max to be applied by the swing brake 34;

[0060] - Actuating torque τ of the swing actuator 30 of the work vehicle 10 a . The actuating 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 actuating torque τ a can be based on the input to at least one input device 6;

[0061] - 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;

[0062] - 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

[0063] - 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.

[0064] The operating status 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.

[0065] As Figure 4As shown, the method of operating the work vehicle 10 includes determining a maximum allowable swing speed ω at which the swing device 11 rotates about the swing axis 33 max taking into account 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 . Based on the arm position data and a mapping associating the arm position data with the maximum allowable swing speed ω max to determine the maximum allowable swing speed ω max . The method is executed by the control system 50

[0066] The arm position data can be used to take into account the moment of inertia J of the swing device 11. The extension of the arm structure 14 affects the moment of inertia J as explained above. According to the present disclosure, the arm position data can be an indication of the moment of inertia J. Making the maximum allowable swing speed ω max based on the arm position data can allow the moment of inertia ω to be taken into account when determining the maximum allowable swing speed J max .

[0067] The mapping associating the arm position data with the maximum allowable swing speed ω max can be a look-up table, an algorithm, a function, an equation, or any other suitable mapping for determining the maximum allowable swing speed ω based on the arm position data max . The mapping can be a simulation, a computational model, and / or a digital twin of the work vehicle 10. The control system 50 can input the arm position data into the simulation, the computational model, and / or the digital twin and use it to calculate and / or model at least one operating state of the work vehicle 10 and / or the maximum allowable swing speed ω max . The mapping can be prepared by experimental and empirical methods to find the appropriate maximum allowable swing speed ω for a given arm position data max .

[0068] The extension of the arm structure 14 can be monitored using the stick angle 41 and / or the boom angle 39 and / or the cylinder extension data of the stick and / or boom hydraulic actuators. When adjusting the stick angle 41 and / or the boom angle 39, the moment of inertia J will be affected because the position of the arm structure 14 will change. The control system 50 can use the stick angle 41 and / or the boom angle 39 as a direct input for determining the maximum allowable swing speed ω max .

[0069] Figure 5 shows how the arm position data can be used in the mapping to determine the maximum allowable swing speed ω max . As Figure 5 shown, the arm position data can include stick angle data and / or boom angle data. The arm position data can include cylinder extension data of the stick and / or boom hydraulic actuators Figure 5 shows the maximum allowable swing speed ωmax How it can vary with the stick angle 41 and / or the boom angle 39.

[0070] As Figure 5 shown, when the stick angle 41 increases, the maximum allowable swing speed ω max can increase. An increase in the stick angle 41 can cause a decrease in the extension of the arm structure 14 of the work vehicle 10 and / or a decrease in the distance of the tool 15 from the swing axis 33. This decrease can cause a decrease in the moment of inertia J. Due to the decreased moment of inertia J, a higher maximum allowable swing speed ω max can still allow the swing device 11 to slow down to zero within a predetermined maximum angular stop displacement θ s The maximum allowable swing speed ω max can increase accordingly.

[0071] Below the first stick angle 101, the maximum allowable swing speed ω max can be at a lower limit 111, and the maximum allowable swing speed will not decrease below this lower limit. Above the second stick angle 103, the maximum allowable swing speed ω max can be at an upper limit 113, and the maximum allowable swing speed will not increase beyond this upper limit. The maximum allowable swing speed ω max The stick angle 41 at which it starts to increase 101, stops increasing 103, and the rate of increase can be selected by experimental and empirical methods to find an appropriate maximum allowable swing speed ω max .

[0072] Also as Figure 5 shown, as the boom angle 39 increases, the maximum allowable swing speed ω max can decrease, then remain constant, then increase. An increase in the boom angle 39 from a small angle can cause an increase in the extension of the arm structure 14 of the work vehicle 10 and / or an increase in the distance of the tool 15 from the swing axis 33. This increase may cause an increase in the moment of inertia J. A lower maximum allowable swing speed ω max may be required to allow the swing device 11 to slow down to zero within a predetermined maximum angular stop displacement θ s The maximum allowable swing speed ω max can decrease accordingly.

[0073] An increase in the boom angle 39 from an angle of about 70 degrees to an angle of 110 degrees may not affect the extension of the arm structure 14 of the work vehicle 10 and / or the distance of the tool 15 from the swing axis 33. This may cause the moment of inertia J to remain approximately constant. A constant maximum allowable swing speed ω max can allow the swing device 11 to slow down to zero within a predetermined maximum angular stop displacement θ s The maximum allowable swing speed ω maxcan be kept constant accordingly. An increase in the boom angle 39 from an angle of approximately 110 degrees can reduce the extension of the boom structure 14 of the work vehicle 10 and / or reduce the distance between the tool 15 and the swing axis 33. This increase may reduce the moment of inertia J. A higher maximum allowable swing speed ω max can still allow the swing device 11 to stop the displacement θ s within a predetermined maximum angle and slow down to zero. The maximum allowable swing speed ω max can be increased accordingly.

[0074] Below the first boom angle 105 and above the second boom angle 107, the maximum allowable swing speed ω ma can be at the upper limit 113, and the maximum allowable swing speed will not increase beyond this upper limit. Between the third boom angle 108 and the fourth boom angle 109, the maximum allowable swing speed ω max can be at the lower limit 111, and the maximum allowable swing speed will not decrease below this lower limit. The maximum allowable swing speed ω max can be selected by experimental and empirical methods, starting to decrease 105, stopping to decrease 108, starting to increase 109, stopping to increase 107, the boom angle 39, and the rates of decrease and increase, to find the appropriate maximum allowable swing speed ω max for a given boom angle 39. The arm position data can include boom position data and stick position data. The boom position data and the stick position data can be combined. The arm position data can indicate the extension of the boom structure 14 of the swing device 11. As Figure 6 shown, the maximum allowable swing speed ω max can decrease as the extension of the boom structure 14 increases. When the extension of the boom structure 14 is the first extension 131, the maximum allowable swing speed ω max can be the first maximum allowable swing speed 121. When the extension of the boom structure 14 is the second extension 133, the maximum allowable swing speed ω max can be the second maximum allowable swing speed 123. The first maximum allowable swing speed 121 can be higher than the second maximum allowable swing speed 123, and the second extension 133 can be greater than the first extension 131.

[0075] When the extension of the boom structure 14 is less than the first extension 131, the maximum allowable swing speed ω max can be equal to the first maximum allowable swing speed 121. The first maximum allowable swing speed 121 can be input by the operator via at least one input device 6 and / or stored in the memory 53. The first maximum allowable swing speed 121 can be set by safety considerations and / or vehicle limitations. The first maximum allowable swing speed 121 can be equal to that referred to above Figure 5The described upper limit 113. By setting the maximum allowable swing speed ω when the arm structure 14 extends below the first extension 131 max to be equal to the first maximum allowable swing speed 121, a configuration with a low moment of inertia J (which corresponds to an extension below the first extension 131) will have improved performance because the maximum allowable swing speed ω max is higher.

[0076] When the extension of the arm structure 14 is greater than the second extension 133, the maximum allowable swing speed ω max can be equal to the second maximum allowable swing speed 123. The second maximum allowable swing speed 123 can be based on a predetermined maximum angular stop displacement θ s and the deceleration rate of the swing device in a configuration with maximum inertia. The second maximum allowable swing speed 123 can be the deceleration rate of a given swing device in a configuration with maximum inertia, and the swing device 11 can slow down to a zero swing speed ω. The second maximum allowable swing speed 123 can be equal to the lower limit 111 described above with reference to Figure 5 The limit of the second maximum allowable swing speed 123 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 to be equal to the second maximum allowable swing speed 123 when extending above the second extension 133, a configuration with a high moment of inertia J (which corresponds to an extension above the second extension 133) will be able to stop within a safe distance.

[0077] The method can also include changing the arm position of the work vehicle 10 by the control system 50 and / or causing the arm position to change. The maximum allowable swing speed ω can be updated based on the new arm position data and a mapping that associates the arm position data with the maximum allowable swing speed max . 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 at a certain time interval max . 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 ω max can be re-determined. The maximum allowable swing speed ω max can be dynamically re-determined and / or updated.

[0079] The method may 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 may 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 may include receiving 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.

[0080] Industrial applicability

[0081] The method 50 can thus use the arm position data to determine an appropriate maximum allowable swing speed ω max . By using the arm position data of the current arm position of the work vehicle 10, an appropriate maximum allowable swing speed ω for this particular arm position is determined max . Due to the higher moment of inertia J of other arm positions, an excessive restriction of the swing speed ω does not occur. Thus, the maximum allowable swing speed ω max is based on the current arm position and can thus 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 at different arm positions of the work vehicle 10.

[0082] In addition, the swing performance of the work vehicle 11 is not overly affected because it is always at the maximum safe speed for the current arm position. This is achieved with at least one arm position sensor 75, and thus, the number of sensors on the work vehicle 10 can be minimized.

Claims

1. A method of operating a work vehicle, the work vehicle comprising: A swing device rotatable about a swing axis, the swing device including an arm structure, the arm structure including a dipper stick and a boom, and At least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper stick and / or the boom, The method comprising, 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 arm position data, and A mapping associating the arm position 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 the at least one arm position sensor includes a dipper stick position sensor, and the arm position data includes dipper stick position data.

3. The method according to claim 1 or 2, wherein the at least one arm position sensor includes a boom position sensor, and the arm position data includes boom position data.

4. The method according to any one of the preceding claims, wherein the arm position data indicates the extension of the arm structure of the swing device.

5. The method according to claim 4, wherein when the extension of the arm structure is a first extension, the maximum allowable swing speed is a first maximum allowable swing speed, and when the extension of the arm structure is a second extension, the maximum allowable swing speed is a second maximum allowable swing speed, wherein the first maximum allowable swing speed is higher than the second maximum allowable swing speed, and the second extension is greater than the first extension.

6. The method according to claim 5, wherein when the extension of the arm structure is less than the first extension, the maximum allowable swing speed is equal to the first maximum allowable swing speed.

7. The method according to claim 5 or 6, wherein when the extension of the arm structure exceeds the second extension, the maximum allowable swing speed is equal to the second maximum allowable swing speed.

8. The method according to claim 7, wherein the work vehicle can be configured with a plurality of different configurations having different inertias, 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 a configuration having the maximum inertia.

9. The method according to any one of the preceding claims, wherein the arm position data includes dipper stick angle data and / or boom angle data.

10. The method according to any one of the preceding claims, wherein the work vehicle further includes a dipper stick and / or boom hydraulic actuator, and the arm position data includes cylinder extension data of the dipper stick and / or boom hydraulic actuator.

11. The method according to any one of the preceding claims, wherein the method further comprises, by the control system: Changing the arm position of the work vehicle; Updating the maximum allowable swing speed of the swing device based on the following: New arm position data, and The mapping associating the arm position data with the maximum allowable swing speed; and Limit the maximum operating swing speed of the swing device to an updated maximum allowable swing speed.

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 comprising: A swing device rotatable about a swing axis, the swing device comprising an arm structure, the arm structure comprising a dipper stick and a boom, and At least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper stick and / or the boom, The controller being configured to: Determine 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: Arm position data, and A mapping associating the arm position data with the maximum allowable swing speed; and Limit 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 comprising an arm structure, the arm structure comprising a dipper stick and a boom, At least one arm position sensor mounted to the swing device for generating arm position data indicative of the position of the dipper stick and / or the boom, and A control system, the control system comprising the controller according to claim 13.

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