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) comprises an arm structure (14) comprising a boom (16) and an arm (17). The work vehicle (11) further comprises a wobble angle sensor (71) for generating wobble angle data indicative of a wobble angle of the wobble device (11). The method comprises storing and / or receiving, by a control system (50), an initial maximum permissible swing speed of rotation of the swing device (11) about the swing axis (33), and updating the maximum permissible swing speed based on a user-initiated calibration process. The method further comprises limiting a maximum operating swing speed of the swing device (11) to an updated maximum allowable swing speed.

Description

Technical Field

[0001] The present disclosure relates to a method of 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] A work vehicle or machine, such as an excavator or backhoe loader, has various degrees of freedom. One such degree of freedom is swing, which refers to the rotation of the main body relative to its undercarriage, or the rotation of the arm structure relative to the main 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. In addition, the configuration of the work vehicle (e.g., the type of tool attached) can affect the moment of inertia, and therefore the rate at which the swing speed can be increased or decreased.

[0003] Importantly, the swing speed can be reduced to zero over a certain distance or time to allow the operator to quickly stop the swing, such as when realizing an obstacle or hazard within a safe distance.

[0004] In addition to this general requirement, European regulation EN 474 also requires that work vehicles, particularly excavators, must be able to perform a 180-degree swing with 100% control input and then stop within a predetermined distance. Previously, this requirement was achieved with the most common configurations of work vehicles. European regulation EN 474 has been updated to require that work vehicles must be able to stop within a safe distance in every 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 this method operates with different authorized configurations of the work vehicle. Furthermore, another object is to ensure that this method does not excessively reduce the swing speed of the work vehicle. If the swing speed is excessively reduced, the operator may notice this during single-function and some multi-function operations.

[0006] The present disclosure generally relates to limiting the maximum operational swing speed of a swing mechanism of a work vehicle (e.g., the main body of an excavator) so that it can be stopped within a safe distance and / or angle. A calibration process is used to determine the appropriate maximum permissible swing speed. The calibration process involves performing a swing rotation at a calibration swing speed and then measuring the angular displacement as the swing speed is reduced to zero. This action is repeated at various swing speeds until the highest swing speed is found that still produces an acceptable angular displacement when the swing speed is reduced to zero. The maximum operational swing speed is then set to this swing speed.

[0007] The present disclosure provides a method for 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 boom and a stick. The work vehicle also includes a swing angle sensor, the swing angle sensor for generating swing angle data indicating the swing angle of the swing device. The method includes storing and / or receiving, by a control system, an initial maximum allowable swing speed of the swing device about the swing axis, and updating the maximum allowable swing speed based on a user-initiated calibration process. The user-initiated calibration process includes:

[0008] 1) performing a predetermined test angular displacement of the oscillating device about the oscillation axis at a calibrated oscillation speed;

[0009] 2) reducing the swing speed of the swing device to zero;

[0010] 3) when the swing speed decreases to zero, measuring the angular stop displacement of the swing device using the swing angle sensor;

[0011] 4) if the angular stop displacement is not within a predetermined maximum angular stop displacement, repeating steps 1) to 4) with an updated calibration swing speed; and

[0012] 5) If the angular stop displacement is within the predetermined maximum angular stop displacement, determining the maximum allowed swing speed based on the calibrated swing speed.

[0013] The method also includes limiting the maximum operational swing speed of the swing device to an updated maximum allowable swing speed.

[0014] A controller for controlling a work vehicle is also provided, the work vehicle including a swing device rotatable about a swing axis. The swing device includes an arm structure, the arm structure including a stick and a boom. The work vehicle also includes a swing angle sensor for generating swing angle data indicative of a swing angle of the swing device. The controller is configured to store and / or receive an initial maximum allowable swing speed of the swing device about the swing axis and update the maximum allowable swing speed based on a user-initiated calibration process. The user-initiated calibration process includes:

[0015] 1) performing a predetermined test angular displacement of the oscillating device about the oscillation axis at a calibrated oscillation speed;

[0016] 2) reducing the swing speed of the swing device to zero;

[0017] 3) when the swing speed decreases to zero, measuring the angular stop displacement of the swing device using the swing angle sensor;

[0018] 4) if the angular stop displacement is not within a predetermined maximum angular stop displacement, repeating steps 1) to 4) with an updated calibration swing speed; and

[0019] 5) If the angular stop displacement is within the predetermined maximum angular stop displacement, determining the maximum allowed swing speed based on the calibrated swing speed.

[0020] The controller is further configured to limit the maximum operational swing speed of the swing device to an updated maximum allowed swing speed.

[0021] A work vehicle is also provided, comprising a swing device rotatable about a swing axis. The swing device includes an arm structure, the arm structure comprising a boom and an arm. The work vehicle also includes a swing angle sensor configured to generate swing angle data indicating the swing angle of the swing device; and a control system including the aforementioned controller.

[0022] By way of example only, embodiments in accordance with the present disclosure will now be described with reference to and as illustrated in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a side elevation view of an embodiment of the system of the present disclosure;

[0024] Figure 2 yes Figure 1 A top elevation view of the system;

[0025] Figure 3 yes Figure 1 A schematic diagram of a control system of the system;

[0026] Figure 4 is a flowchart illustrating a method of limiting the maximum operating swing speed of a swing device according to the present disclosure;

[0027] Figure 5 It shows Figure 4 A flowchart illustrating another embodiment of the method;

[0028] Figure 6 It shows Figure 4 A flowchart illustration of another embodiment of the method; and

[0029] Figure 7 is a flow chart illustrating a user-initiated calibration process according to the present disclosure. DETAILED DESCRIPTION

[0030] The description that follows only provides (multiple) preferred exemplary embodiments, and is not intended to limit the scope, applicability or configuration of the present invention. On the contrary, the description that follows of (multiple) preferred exemplary embodiments will provide enabling description for realizing the preferred exemplary embodiments of the present invention for those skilled in the art, and it should be understood that, without departing from the scope of the present invention, various changes can be made to the function and arrangement of elements (including the combination of features from different embodiments). Specific details are provided in the following description to provide a thorough understanding of the embodiments. However, those of ordinary skill in the art will understand that embodiments can be put into practice without these specific details. For example, known circuits, processes, algorithms, structures and techniques can be shown without unnecessary details to avoid blurring the embodiments.

[0031] In addition, it should be noted that the embodiments may be described as processes depicted as flow charts, flow diagrams, data flow charts, structure diagrams, or block diagrams. Although a flow chart may describe operations as a sequential process, many operations may be performed in parallel or simultaneously. In addition, the order of the operations may be rearranged. A process terminates when its operations are completed, but may have additional steps not included in the diagram. A process may 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 main function. In addition, as disclosed herein, the term "storage medium" may refer to one or more devices for storing data, including read-only memory (ROM), random access memory (RAM), magnetic RAM, core memory, magnetic 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, accommodating, or carrying (multiple) instructions and / or data.

[0032] In addition, the embodiment can be implemented by hardware, software, firmware, middleware, microcode, hardware description language or any combination thereof. When implemented with software, firmware, middleware or microcode, the program code or code segment in order to perform the necessary tasks can be stored in a machine-readable medium such as a storage medium. (Multiple) processors can perform the necessary tasks. The code segment can represent any combination of a process, function, subroutine, program, routine, subroutine, module, software package, class or instruction, data structure or program statement. The code segment can be coupled to another code segment or hardware circuit by transmitting and / or receiving information, data, independent variables, parameters or memory contents. Information, independent variables, parameters, data, etc. can be transmitted, forwarded or transmitted by any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0033] It should be understood that the following disclosure provides many different embodiments or examples for implementing the different features of the various embodiments. In order to simplify the present disclosure, specific examples of components and structures are described below. Of course, these are just examples and are not intended to be limiting. In addition, the present disclosure may repeat reference numbers and / or letters in various examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed. In addition, forming a first feature above or on a second feature in the subsequent description may include embodiments in which the first feature and the second feature are formed to be in direct contact, and may also include embodiments in which additional features may be formed between the first feature and the second feature so that the first feature and the second feature may not be in direct contact.

[0034] Figure 1 An embodiment of a system 9 is shown that includes a work vehicle 10, in this case an excavator. The work vehicle 10 can be any suitable type of work vehicle 10, including a multi-purpose work vehicle, such as an excavator, a backhoe, a loader, a bulldozer, a shovel, a feller, a harvester, a material handler, and other such work vehicles. The work vehicle 10 includes a swing mechanism 11 and can include a swing base 13. The swing mechanism 11 includes an arm structure 14. The swing mechanism can include a body 12. The swing base 13 can include a chassis 32 and / or a platform. The chassis 32 can include wheels or tracks 20. The body 12 can include a cab 8 for an operator and a power unit (not shown) therein for providing power to the wheels or tracks 20.

[0035] 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 rotary mount 31 can be referred to as a rotary member. The rotary mount 31 can be the rotary connection between the swing device 11 and the swing base 13. 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 rotary member.

[0036] Swing mechanism 11 is rotatable about a swing axis 33. Swing mechanism 11 may be capable of rotating 360 degrees relative to swing base 13 about rotating mount 31 and / or swing axis 33. When work vehicle 10 is on a horizontal surface, swing axis 33 may be perpendicular to swing base 13 and / or may be perpendicular to a horizontal plane or the ground. Swing axis 33 may be the central axis of rotating mount 31 and may be the axis of rotation of swing mechanism 11 at rotating mount 31 relative to swing base 13.

[0037] The arm structure 14 includes a boom 16 and an arm 17. 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. 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.

[0038] Tool 15 can be of any suitable type. For example, tool 15 can be a bucket, as shown, or it can be a grapple, a tiltable bucket, a tilting swivel, a hammer, a carrying arm, a multiprocessor, a crusher, a saw, a shear, a blower, a grinder, a tiller, a trencher, a winch, an auger, a broom, a cutter, a planer, a delimber, a log feller, a mulcher, or a rake. Tool 15 can include a sprinkler or the like for providing a water spray during operation of work vehicle 10, for example, for dust suppression. The fluid can be pressurized hydraulic fluid, water, or the like.

[0039] Work vehicle 10 can operate in at least one configuration, can be configured in at least one configuration, and / or include at least one configuration. This configuration can refer to one or more of swing mechanism 11 measurements; swing base 13 measurements; boom 16 measurements; stick 17 measurements; body 12 measurements; cab 8 measurements; tool 15 measurements; and / or the type of tool 15. These measurements can be dimensional and / or weight measurements. Dimensional measurements can be length, width, depth, area, and / or volume. Weight measurements can be weight or mass.

[0040] Work vehicle 10 can be operated in multiple configurations with different inertias, can be configured in multiple configurations with different inertias, and / or include multiple configurations with different inertias, including a configuration with a maximum moment of inertia. In the maximum inertia configuration, tool 15 can be a tool with a greater mass than other available tools, and / or arm structure 14 can include components with a greater length, weight, and / or mass.

[0041] Work vehicle 10 can be oriented in and / or include component positions. Component positions can include boom 16 position; stick 17 position; and / or implement 15 position. The position can be defined by a component angle. The position can be defined by a component cylinder extension. Component positions can include arm structure 14 position or linkage position. Each configuration of work vehicle 10 can be capable of multiple different component positions. Boom 16 can include a boom axis 35. Boom axis 35 can be an axis parallel to the direction along which boom 16 extends for a majority of its length. Stick 17 can include a stick axis 37. Stick axis 37 can be an axis parallel to the direction along which stick 17 extends for a majority of its length. Boom angle 39 can be the angle between boom axis 35 and swing axis 33. Stick angle 41 can be the angle between boom axis 35 and stick axis 37. Boom angle 39 and / or stick angle 41 can be used to define a component position. Global angles, where each axis is measured relative to a horizontal plane, can be used to define a component position.

[0042] The boom, stick, and tool hydraulic actuators 18, 19, and 21 can each include a hydraulic cylinder and a piston rod. Hydraulic fluid can be supplied to the actuators 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 an stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 are extended, the position of the component can be changed. Boom hydraulic piston rod extension and / or stick hydraulic piston rod extension can be used to define the position of the component.

[0043] Figure 2 Provided in floor plan Figure 1 FIG2 is an illustration of a work vehicle 10 in which the swing axis 33 is shown as a dot. The work vehicle can include a reference travel axis 43. The reference travel axis 43 can be substantially horizontal with the ground surface 33, lie in the same plane as the horizontal, and can pass through and / or be perpendicular to the swing axis 33. When the tracks 20 are actuated simultaneously with the same input, the reference travel axis 43 can be parallel to the direction of travel of the work vehicle 10. When a forward command is given, the reference travel axis 43 can be parallel to the direction of travel of the work vehicle 10.

[0044] The work vehicle 10 may include a swing mechanism axis 45. The swing mechanism 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 mechanism axis 45 may be parallel to the extension direction of the arm structure 14 (e.g., Figure 2 ), 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.

[0045] 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. As 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 the swing speed ω. The swing device 11 may rotate about the swing axis 33 in a swing direction (clockwise or counterclockwise). The swing speed ω may be a swing speed that includes the swing direction.

[0046] The work vehicle 10 may include a work vehicle fluid circuit (not shown) around which fluid may circulate. The work vehicle 10 may include a controller 51 for automatically or based on information from at least one input device 6 ( Figure 1 The work vehicle fluid circuit is controlled based on input received by the work vehicle 10 (shown in FIG). The 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. 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 position of a component. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the position of a component may include controlling at least one hydraulic actuator 18, 19, 21 for pivoting 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 for controlling the swing of the swing device 11 relative to the swing base 13.

[0047] The swing speed ω can be controlled and / or influenced by at least one input device 6. When the input to the at least one input device 6 indicates an increase, the swing speed ω can increase. When the input to the input device 6 indicates a decrease, the swing speed ω can decrease. When a 100% speed input is provided to the at least one input device 6, the swing speed ω can increase toward 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 can decrease toward a zero swing speed ω, or the swing speed ω can remain at zero.

[0048] To reduce the swing velocity 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 rotating 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 can reduce the swing speed ω. The swing brake 34 can reduce the swing speed ω to zero.

[0049] For safety reasons, it may be beneficial if the system 9 is able to stop the displacement at a predetermined maximum angle θs In addition, there is a system 9 that can stop the displacement θ at a predetermined maximum angle. s The regulation requirement is to reduce the swing speed ω to zero. The predetermined maximum angular stop displacement θ s It may be a 90 degree angular displacement. It may be necessary for the system 9 to be able to reduce the swing speed ω from the maximum operating swing speed to zero within a predetermined angular displacement. It may be necessary for the system 9 to 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 necessary for the system 9 to be able to perform a safe angular displacement θ safety Then reduce the swing speed ω to zero. Safety angular displacement θ safety It can be 180 degrees. The system 9 is able to perform a safe angular displacement θ safety The requirement to reduce the oscillation speed ω to zero afterwards ensures that even in the configuration with the maximum inertia (which can only be moved in a safe angular displacement θ safety At the end of the maximum operating swing speed), the displacement must also be stopped at the predetermined maximum angle θ s It may be necessary for the system 9 to be able to stop the displacement θ at a predetermined maximum angle s The swing velocity ω is reduced to zero within 100°, regardless of the configuration and / or component positions of the work vehicle 10. Instead of a predetermined maximum angular stop displacement θ s ,Different metrics can be used, such as a predetermined maximum stop time.

[0050] 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 at a predetermined maximum angular displacement θ s The ability to reduce the swing speed ω to zero within a certain range. The larger the moment of inertia J, the greater the angular displacement required to reduce the swing speed ω to zero, and the lower the swing speed required, so that the swing speed ω can stop the displacement θ at a predetermined maximum angle. s Decreases to zero.

[0051] The moment of inertia J can be calculated by the following formula to calculate the braking torque τ b Related to the angular deceleration experienced during braking:

[0052] τ b =Jα

[0053] where α is the angular deceleration and ω is the rate of change of the oscillation velocity.

[0054] The moment of inertia J about an axis can 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 can be higher when a tool 15 having a larger mass is attached to the arm structure 14, and can 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 can be higher when the components are positioned such that the arm structure 14 extends a longer distance from the swing axis 33, and can be lower when the components are positioned such that the arm structure 14 extends a shorter distance from the swing axis 33. The moment of inertia J can constantly change while the work vehicle 10 is in use and is therefore not a known design parameter of the work vehicle 10.

[0055] The system 9 may include a control system 50 that may be configured to perform the method of the present disclosure. Figure 3 As shown in FIG, control system 50 may include a controller 51, which may include 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 execute operations based on the instructions. Controller 51 may be of 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, or multiple processors. 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 with an external computing system 61 via a wired or wireless network 63 (e.g., Ethernet, fiber optic, satellite communication network, broadband communication network, cellular, Bluetooth). External computing system 61 may include a computing system, processor, server, memory, database, control system, etc.

[0056] like Figure 3 As shown in FIG, the system 9 may include at least one system actuator 4. The at least one system actuator 4 may include one or more of the boom, stick, and tool hydraulic actuators 18, 19, 21, the swing actuator 30, and the swing brake 34.

[0057] The system 9 includes a swing angle sensor 71. The swing angle sensor 71 is used to generate swing angle data indicating the swing angle θ of the swing device 11. The swing angle sensor 71 can be a Hall sensor. The swing angle sensor 71 can be a Hall IC sensor. The swing angle sensor 71 can be mounted to the swing device 11. The swing angle sensor 71 can be mounted to the rotating mount 31. The system 9 can include at least one sensor 7. The at least one sensor 7 can include one or more of the following: a swing angle sensor 71, at least one movement or acceleration sensor 73, at least one component position sensor 75, a boom pressure sensor 77, an inertial measurement unit (IMU), an accelerometer, a gyroscope, a magnetometer, and a pressure sensor. In order to reduce the complexity of the work vehicle 10, it may be beneficial to reduce the number of necessary sensors. For example, if possible, it may be beneficial for the work vehicle 10 not to include at least one movement or acceleration sensor 73.

[0058] Controller 51 can be communicatively connected (via a wired or wireless connection) to the power unit, and any 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 work vehicle 10. Controller 51 can communicate with input device 6 to receive input and control work vehicle 10. Input device 6 can communicate with controller 51 to control actuation of swing actuator 30 and / or swing brake 34 to adjust the swing speed ω and / or swing angle θ of swing device 11. Input device 6 can increase or decrease the swing speed ω of swing device 11 relative to swing base 13.

[0059] Controller 51 may receive operating state data indicating at least one operating state of work vehicle 10 by being communicatively coupled to at least one sensor 7 and at least one system actuator 4. Controller 51 may process the received operating state data to determine additional operating state data and may store the operating state data on memory 53. The at least one operating state and the operating state data may include at least one of the following:

[0060] - The swing angle θ of the work vehicle 10 relative to the reference travel axis 43 (as Figure 2 ). The control system 50 may include a swing angle sensor 71 for determining the swing angle θ of the work vehicle 10. The swing angle sensor 71 may be mounted to the swing device 11;

[0061] - the sway velocity ω of the work vehicle 10. The control system 50 may include at least one motion or acceleration sensor 73 for determining the sway velocity ω of the work vehicle 10;

[0062] - Position of a component of the work vehicle 10. The control system 50 may include at least one component position sensor 75 for determining the position of a component of the work vehicle 10. The at least one component position sensor 75 may be mounted to the swing device 11. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU);

[0063] - boom position, stick position, and / or implement position of work vehicle 10. Control system 50 may include at least one component position sensor 75 attached to boom 16, stick 17, and / or implement 15 for determining the position of boom 16, stick 17, and / or implement 15 of work vehicle 10. At least one component position sensor 75 may include at least one inertial measurement unit (IMU) attached to boom 16, stick 17, and / or implement 15;

[0064] - 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 movement and / or acceleration of components of the work vehicle 10. The at least one movement or acceleration sensor 73 may be mounted to the swing device 11. The at least one movement or acceleration sensor 73 may be at least one accelerometer;

[0065] - Boom movement and / or acceleration; stick movement and / or acceleration; and / or implement 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 implement 15 for determining movement and / or acceleration of the boom 16, stick 17, and / or implement 15. The at least one movement or acceleration sensor 73 may include at least one accelerometer attached to the boom 16, stick 17, and / or implement 15;

[0066] - the boom and / or arm angles of the work vehicle 10. The control system 50 may include component position sensors 75, such as an IMU for determining the boom and / or arm angles of the work vehicle 10;

[0067] - Extension of the boom and / or stick hydraulic piston rods of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU for determining the extension of the boom and / or stick hydraulic piston rods of the work vehicle 10;

[0068] - Boom tip 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 tip end pressure of the work vehicle 10;

[0069] - Configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by an operator via at least one input device 6; stored on the memory 53; and / or automatically detected using work vehicle sensors;

[0070] - Braking torque τ of the swing brake 34 of the work vehicle 10 b Braking torque τ b The braking torque τ applied at any time may be input by an operator via at least one input device 6, stored in the memory 53, and / or estimated based on changes in component movement and / or acceleration when the swing brake 34 is applied. b It may be based on an input to the at least one input device 6. A 0% input to the at least one input device 6 may result in a maximum braking torque τ b,max Applied by the swing brake 34;

[0071] - Actuation torque τ of the swing actuator 30 of the work vehicle 10 a Actuation torque τ a The actuation torque τ may be input by an 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 the oscillating actuator 30 is applied. a may be based on input to at least one input device 6;

[0072] - 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;

[0073] -The maximum permissible swing speed of the working vehicle ω max The maximum permissible swing speed of the operating vehicle ω max It can be determined according to the method of the present disclosure;

[0074] - Calibrate the swing speed ω calibrate Calibrate the swing speed ω calibrate The calibrated swing speed ω can be determined according to the method disclosed in the present invention. calibrate May be updated during the methods of the present disclosure and may not take a single value.

[0075] -predetermined maximum angular stop displacement θ s The predetermined maximum angular stop displacement θ s It can be input by the operator via at least one input device 6 and / or stored in the memory 53. The predetermined maximum angular stop displacement θ s May be set by regulatory and / or safety requirements.

[0076] -Test angular displacement θ test . Test angular displacement θ test Can be equal to the safe angular displacement θ safety . Test angular displacement θ test can be input by an operator via at least one input device 6 and / or stored on the memory 53;

[0077] - Angular stop displacement θ stop The angular stop displacement θ is measured when the swing speed decreases to zero. stop The angular stop displacement θ is measured using the swing angle sensor 71. stop .

[0078] The operating status data collected by the control system 50 can be transmitted to the external computing system 61 which can perform the method of the present disclosure. Therefore, 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 performing the method disclosed herein in a manner similar to that of the controller 51.

[0079] like Figure 4 As shown in FIG, the method of operating the work vehicle 10 includes storing and / or receiving an initial maximum permissible swing speed ω of the swing device 11 rotating around the swing axis 33. max，init ; Update the maximum permissible swing speed ω based on the user-initiated calibration process max ; and limiting the maximum operating swing speed of the swing device to the updated maximum permissible swing speed ω max The method is executed by the control system 50 .

[0080] If the work vehicle 10 can be configured in a variety of different configurations with different inertias, then the initial maximum permissible swing speed ω max，init The displacement θ can be stopped based on a predetermined maximum angle s and the deceleration rate of the oscillating device 11 in the configuration with maximum inertia. Given the deceleration rate of the oscillating device 11 in the configuration with maximum inertia, the initial maximum permissible oscillation speed ω max，init The oscillating device 11 may stop the displacement at a predetermined maximum angle θ s The swing speed ω can be slowed down to zero within 1 second. The initial maximum permissible swing speed ω max，init The limitation of can ensure that work vehicle 10 can be stopped at a safe distance before performing a user-initiated calibration process, regardless of its configuration.

[0081] Update the maximum allowed swing speed ω based on the user-initiated calibration process max It may be possible to increase the maximum permissible swing speed ω when using a configuration other than the one with the greatest inertia max Update the maximum permissible swing speed ω max This ensures that the swing velocity ω of work vehicle 10 does not decrease excessively. The user-initiated calibration process can be performed at the work site. The user-initiated calibration process can be performed by an operator who will subsequently control work vehicle 10 to perform work at the work site. The user-initiated calibration process can be performed before or after operating work vehicle 10 at the work site.

[0082] like Figure 5 As shown in , the method may also include generating an alert to the operator indicating that a user-initiated calibration process is required. The alert may be generated if the work vehicle 10 is used without performing the user-initiated calibration process. The alert may be generated each time the configuration of the work vehicle 10 is changed. The change in the configuration of the work vehicle 10 may be detected by at least one sensor 7 of the work vehicle 10.

[0083] like Figure 6 As shown in , the method may further include updating the maximum permissible swing speed ω ma Save to the data file corresponding to the current configuration of the work vehicle 10. Updated maximum permissible swing speed ω max It can be saved in the memory 53.

[0084] The configuration of the work vehicle 10 can be changed, and the work vehicle 10 can be operated in the changed configuration. The configuration of the work vehicle 10 can be changed back to the previous configuration. The previous configuration can correspond to the configuration in which the updated maximum allowable swing speed ω was stored. max Configuration of the work vehicle 10.

[0085] The maximum operational swing speed of the swing device 11 may be limited to a stored maximum permissible swing speed. The configuration of the work vehicle 10 may be automatically detected by the sensors 7 of the work vehicle 10 .

[0086] The configuration of the work vehicle 10 may be input by the operator. Up to ten, twenty or thirty different updated maximum allowable swing speeds ω may be saved. max The maximum permissible swing speed ω will be updated max Saving to a data file corresponding to the current configuration of work vehicle 10 may allow the appropriately updated maximum allowable swing speed ω for a given configuration to be used each time the configuration is used. max , without repeating the user-initiated calibration process.

[0087] like Figure 7 As shown in , the user-initiated calibration process includes:

[0088] 1) To calibrate the swing speed ω calibrate A predetermined test angular displacement θ of the oscillating device 11 about the oscillating axis 33 is performed test ;

[0089] 2) reducing the swing speed ω of the swing device 11 to zero;

[0090] 3) When the swing speed ω decreases to zero, the swing angle sensor 71 is used to measure the angular stop displacement θ of the swing device 11. stop ;

[0091] 4) If the angular stop displacement θ stop Does not stop displacement at the predetermined maximum angle θ s If the calibrated swing speed ω is updated, calibrate Repeat steps 1) to 4); and

[0092] 5) If the angular stop displacement θ stop Stop displacement at a predetermined maximum angle θ s Within, based on the calibration swing speed ω calibrate Determine the maximum permissible swing speed ω max .

[0093] Predetermined test angular displacement θ test This can be performed with a 100% control input to the swing actuator 30 of the swing device 11. This can be performed by setting the maximum braking torque τ of the swing brake 34 to b,max is applied to the oscillating device 11 to reduce the oscillation speed ω of the oscillating device 11 to zero. test Immediately thereafter, the oscillation speed ω of the oscillating device 11 is reduced to zero. Measure the angular stop displacement θ stop A predetermined test angular displacement θ can be performed test After that, the measured angular stop displacement θ stop The maximum braking torque τ that can be applied when the swing brake 34 is applied b，max occurs.

[0094] Calibrate the swing speed ω calibrate The initial maximum permissible swing speed ω can be initially set to max，init Initially the swing speed ω will be calibrated calibrate Set as the initial maximum allowable swing speed ω max，init This may ensure that work vehicle 10 does not violate safety and / or regulatory requirements when beginning a user-initiated calibration process.

[0095] Update the calibration swing speed ω calibrate This may include updating the calibration swing velocity ω calibrate , so that the updated calibration swing speed ω calibrate Higher than the previous calibration swing speed ω calibrate Each time you execute steps 1) to 4), calibrate the swing speed ω calibrate Can be updated by a fixed amount. Can update the calibration swing speed ω calibrate , so that the updated calibration swing speed ω calibrate With the previous calibration swing speed ω calibrate The difference between the angular stop displacement θ stop and the predetermined maximum angular stop displacement θ s The difference between the two. Make the updated calibration swing speed ωcalibrate Based on the angular stop displacement θ stop and the predetermined maximum angular stop displacement θ s The difference between the two values may allow the calibration process to end and / or converge more quickly.

[0096] Can stop displacement at angle θ stop Approaching the predetermined maximum angular stop displacement θ s When the swing speed is calibrated based on ω calibrate Determine the maximum permissible swing speed ω max Steps 1) to 5) can be calibrated with different swing speeds ω calibrate Execute multiple times. If the first calibration swing speed ω calibrate，1 Make the angular stop displacement θ stop Stop displacement at a predetermined maximum angle θ s and the second calibration swing speed ω calibrate，2 Make the angular stop displacement θ stop Does not stop displacement at the predetermined maximum angle θ s Inside (where the second calibration swing speed ω calibrate，2 Slightly higher than the first calibration swing speed ω calibrate，1 ), the maximum permissible swing speed ω max Can be set to the first calibration swing speed ω calibrate，1 .

[0097] like Figure 7 As shown in FIG, the user-initiated calibration process may further include a step 4B) after step 4). Step 4B) may include:

[0098] 4B) If the angular stop displacement θ stop Does not stop displacement at the predetermined maximum angle θ s The updated calibration swing speed ω is within the predetermined error margin of calibrate Repeat steps 1) to 4B).

[0099] The error margin can be a predetermined maximum angular stop displacement θ s 1%, 2%, 5% or 10% of the selected maximum permissible swing speed ω. max Close to the highest maximum permissible swing speed, which is required to perform the safe angular displacement θ safety After that, the swing speed ω will still be allowed to stop the displacement θ at the predetermined maximum angle s Decreases to zero.

[0100] like Figure 7 As shown in , the user-initiated calibration process may also include a step 0) before step 1). Step 0) may include:

[0101] 0) Extending the arm structure 14 of the work vehicle 10 to a maximum extension and / or moving the tool 15 of the work vehicle 10 to a maximum distance from the swing axis 13 .

[0102] During the remainder of the user-initiated calibration process, the arm structure 14 may be maintained extended at maximum extension and / or the tool 15 may be maintained at a maximum distance from the swing axis 33. If the extension of the arm structure 14 is reduced, the user-initiated calibration process may be paused and resumed when the arm structure 14 is extended back to maximum extension.

[0103] Including step 0) can place the work vehicle 10 in the component position with maximum inertia for a given configuration during a user-initiated calibration process. This can ensure that a safe angular displacement θ is performed. safety Afterwards, the updated maximum permissible swing speed ω max Allows the swing speed ω to stop the displacement θ at the predetermined maximum angle s The internal pressure is reduced to zero regardless of the position of the components of the work vehicle 10.

[0104] If the work vehicle 11 includes at least one component position sensor 75 mounted to the swing device 11 , the updated maximum allowable swing speed ω may be modified based on the work vehicle component position data from the at least one component position sensor 75 . max and / or the initial maximum permissible swing speed ω max，init , to determine the modified maximum permissible swing speed ω max，mod .

[0105] Given the work vehicle component position data and the updated maximum allowable swing speed ω max , modified maximum permissible swing speed ω max，mod It can be determined that the oscillating device 11 will stop the displacement at a predetermined maximum angle θ s The swing speed ω slows down to zero.

[0106] The maximum permissible swing speed ω can be updated by the component position data max and the predetermined maximum angular stop displacement θ s Compare to a lookup table or map to find the appropriate modified maximum allowable swing speed ω max，mod To determine the modified maximum permissible swing speed ω max，mod .

[0107] A lookup table or map may be prepared experimentally and / or empirically to find the updated maximum allowable swing velocity ω for a given component position. max and the predetermined maximum angular stop displacement θ s The maximum permissible swing speed ω of the appropriate modification max，mod .

[0108] If the work vehicle 11 includes a boom actuator 18 and at least one boom head pressure sensor 77 mounted to the boom actuator 18, the updated maximum allowable swing speed ω may be modified based on the boom head pressure data from the at least one boom head pressure sensor 77. max and / or the initial maximum permissible swing speed ω max，init , to determine the modified maximum permissible swing speed ω max，mod .

[0109] Given the boom head pressure data and the updated maximum allowable swing speed ω max , modified maximum permissible swing speed ω max，mod It can be determined that the oscillating device 11 will stop the displacement at a predetermined maximum angle θ s The swing speed ω slows down to zero.

[0110] The maximum allowable swing speed ω can be updated by combining the boom head pressure data and the max and the predetermined maximum angular stop displacement θ s Compare to a lookup table or map to find the appropriate modified maximum allowable swing speed ω max，mod To determine the modified maximum permissible swing speed ω max，mod A lookup table or map may be prepared experimentally and / or empirically to find the updated maximum allowable swing speed ω for a given boom head pressure. max and the predetermined maximum angular stop displacement θ s The maximum permissible swing speed ω of the appropriate modification max，mod .

[0111] Use a modified maximum allowable swing speed ω based on work vehicle component position data and / or boom head pressure data max，mod The maximum permissible swing speed can be allowed to take into account the change in the moment of inertia J due to the change in the position of the component. When the moment of inertia J decreases, the modified maximum permissible swing speed ω is used. max，mod The swing performance of work vehicle 10 may be improved by allowing higher speeds.

[0112] The operator can provide commands to the control system 50 to perform at least steps 1) and 2) of the user-initiated calibration process. The operator can provide commands to the control system 50 to perform at least one of steps 0), 1), 2), 4), and 4B). The control system 50 can perform at least steps 3) and 5) without additional commands from the operator.

[0113] The control system 50 may provide the operator with command prompts indicating the steps the operator should follow. The command prompts may be displayed on the display 57. Requiring the operator to provide input for the steps of the user-initiated calibration process may improve the safety of the process because the operator will be actively involved in the entire process and the user-initiated calibration process may be stopped if it becomes unsafe (e.g., if an unauthorized person or object approaches the vehicle during the user-initiated calibration process).

[0114] The control system 50 can perform all steps of the user-initiated calibration process when the operator provides a calibration command without additional input from the operator. The control system 50 performing all steps of the user-initiated calibration process can improve the ease with which the operator can perform the user-initiated calibration process. If the operator believes that the user-initiated calibration process has become unsafe, the operator may be able to abort the user-initiated calibration process.

[0115] 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 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.

[0116] Industrial Applicability

[0117] Therefore, the method may use a user-initiated calibration process to determine the appropriate maximum allowable swing speed ω max Through the user-initiated calibration process, it is possible to meet the requirements of the safety angular displacement θ safety Then stop the displacement at the predetermined maximum angle θ s The requirement to reduce the swing speed ω to zero within the work vehicle 10 is met regardless of the configuration of the work vehicle 10. In addition, the appropriate maximum permissible swing speed ω for this particular configuration is determined. max The excessive restriction of the oscillation speed ω due to the higher moment of inertia J of other configurations does not occur.

[0118] Maximum permissible swing speed ω max This ensures that the work vehicle 10 can stop at a predetermined maximum angular displacement θ, such as at different configurations of the work vehicle 10. s The swing speed ω is reduced to zero within a safe distance.

[0119] Furthermore, the swing performance of the work vehicle 11 is not excessively affected because it is at the maximum safe speed for its current configuration. This is achieved solely by the swing angle sensor 71, thus minimizing the number of sensors on the work vehicle 10.

[0120] If the method includes updating the maximum permissible swing speed ω max is saved to a data file corresponding to the current configuration of the work vehicle 10, then each time a given configuration is used, the appropriate updated maximum allowable swing speed ω for that configuration is used. max , without repeating the user-initiated calibration process. This can improve the performance of work vehicle 10 because the user-initiated calibration process is only necessary when using a new configuration.

Claims

1. A method of operating 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 boom and a stick, and a swing angle sensor for generating swing angle data indicating a swing angle of the swing device, The method includes, by a control system: storing and / or receiving an initial maximum permissible oscillation speed of the oscillating device about the oscillation axis; The maximum allowable swing speed is updated based on a user-initiated calibration process comprising: 1) performing a predetermined test angular displacement of the oscillating device about the oscillation axis at a calibrated oscillation speed; 2) reducing the swing speed of the swing device to zero; 3) when the swing speed decreases to zero, measuring the angular stop displacement of the swing device using the swing angle sensor; 4) if the angular stop displacement is not within a predetermined maximum angular stop displacement, repeating steps 1 to 4 at an updated calibration swing speed; and 5) if the angular stop displacement is within the predetermined maximum angular stop displacement, determining the maximum allowable swing speed based on the calibrated swing speed; and The maximum operational swing speed of the swing device is limited to the updated maximum permissible swing speed. 2 . The method of claim 1 , wherein the user-initiated calibration process is performed at a work site and / or after operating the work vehicle on a work site.

3. The method of claim 1 or 2, wherein the method further comprises generating an alert to an operator, the alert indicating that a calibration procedure initiated by the user is required.

4. The method of any preceding claim, wherein the user-initiated calibration process further comprises, after step 4: 4B) If the angular stop displacement is not within a predetermined error margin of the maximum angular stop displacement, repeat steps 1 through 4B at an updated calibration swing velocity.

5. A method according to any preceding claim, wherein: The predetermined test angular displacement is performed with 100% control input to the oscillating actuator of the oscillating device, and / or Reducing the swing speed of the swing device to zero is accomplished by applying the maximum braking torque of the swing brake to the swing device.

6. A method according to any preceding claim, wherein the work vehicle is configurable in a plurality of different configurations having different inertias, and the initial maximum permissible swing speed is based on a predetermined maximum angular stop displacement and the rate of deceleration of the swing arrangement in the configuration having the greatest inertia.

7. A method according to any preceding claim, wherein the user-initiated calibration process comprises updating the calibration swing speed such that the updated calibration swing speed is higher than a previous calibration swing speed.

8. A method according to any preceding claim, wherein the user-initiated calibration procedure comprises updating the calibration swing speed such that the difference between the updated calibration swing speed and a previous calibration swing speed is based on the difference between the angular stop displacement and the predetermined maximum angular stop displacement.

9. A method according to any preceding claim, wherein the method further comprises saving the updated maximum permissible swing speed to a data file corresponding to the current configuration of the work vehicle.

10. The method of any preceding claim, wherein the user-initiated calibration process further comprises: Prior to step 1, 0) extending the arm structure of the work vehicle to a maximum extension and / or moving the tool of the work vehicle to a maximum distance from the swing axis; as well as During the remainder of the user-initiated calibration process, the arm structure of the work vehicle is maintained extended at the maximum extension and / or the tool is maintained at a maximum distance from the swing axis.

11. A method according to any preceding claim, wherein an operator provides commands to the control system to perform at least steps 1) and 2) of the user-initiated calibration procedure.

12. A method according to any preceding claim, wherein the control system performs all steps of the user initiated calibration process when the operator provides a calibration command without further input from the operator.

13. The method of any preceding claim, wherein the method further comprises, by the control system: causing the oscillating device to rotate about the oscillation axis at an oscillation speed equal to or less than the maximum operational oscillation speed; and / or A user command is overridden to rotate the oscillating device about the oscillation axis at an oscillation speed greater than the maximum operational oscillation speed.

14. 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 boom and a boom, and a swing angle sensor for generating swing angle data indicating a swing angle of the swing device, The controller is configured to: storing and / or receiving an initial maximum permissible oscillation speed of the oscillating device about the oscillation axis; The maximum allowable swing speed is updated based on a user-initiated calibration process comprising: 1) performing a predetermined test angular displacement of the oscillating device about the oscillation axis at a calibrated oscillation speed; 2) reducing the swing speed of the swing device to zero; 3) when the swing speed decreases to zero, measuring the angular stop displacement of the swing device using the swing angle sensor; 4) if the angular stop displacement is not within a predetermined maximum angular stop displacement, repeating steps 1 to 4 at an updated calibration swing speed; and 5) if the angular stop displacement is within the predetermined maximum angular stop displacement, determining the maximum allowable swing speed based on the calibrated swing speed; and The maximum operational swing speed of the swing device is limited to the updated maximum permissible swing speed.

15. A work vehicle comprising: A swing device rotatable about a swing axis, the swing device comprising an arm structure, the arm structure comprising a boom and a stick, a swing angle sensor for generating swing angle data indicating a swing angle of the swing device, and A control system comprising the controller according to claim 14.

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