A method of operating a work vehicle according to a maximum allowable swing speed

Abstract

A method of operating a work vehicle 10 comprising a swing apparatus 11 comprising an arm arrangement 14. A predetermined maximum allowable swing speed is stored and / or received. An input receives an

Description

Technical Field 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 be operated in accordance with such a method. Background 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 main body relative to its undercarriage, or the rotation of an arm arrangement relative to the main body. Various features affect the swing characteristics, including the swing speed and swing acceleration of the work vehicle. For example, the position of its components, such as the position of an arm arrangement and / or tool, may alter a moment of inertia. This may affect the rate at which the swing speed can be increased or decreased. In addition, a configuration of the work vehicle, such as the type of tool attached, may affect the moment of inertia and therefore the rate at which the swing speed can be increased or decreased. It is important that the swing speed can be reduced to zero within a certain distance or time to allow an operator to stop the swing quickly, such as when becoming aware of an obstruction or hazard within a safe distance. In addition to this general requirement, European regulation EN 474 requires that a work vehicle, specifically an excavator, must be able to stop from full speed within a safe distance. The regulation previously required that this be accomplished with the most common configuration of the work vehicle. The European regulation EN 474 has been updated to require that a work vehicle must be able to stop within the safe distance in every available configuration. Summary An object of the present disclosure may be to provide a method of limiting the maximum operational swing speed of a work vehicle for allowing the work vehicle to reduce its swing speed to zero in a safe distance. A further object is to ensure that such a method operates across the different authorised configurations of the work vehicle. In addition, 29 10 24 a further 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, an operator may notice this during single function and some multi-function operations. 5 The present disclosure is generally directed towards limiting the maximum operational swing speed of a swing apparatus of a work vehicle, such as the main body and arm arrangement of an excavator, so that it can stop within a safe distance and / or angle. The swing speed is initially set as a predetermined maximum allowable swing speed. The predetermined maximum allowable swing speed may be one from which the swing 10 apparatus can stop within a safe distance regardless of configuration (i.e., it ensures that all authorised configurations of the work vehicle can stop within the safe distance). An input for receiving an operator override is provided to change the maximum allowable swing speed to a selected maximum allowable swing speed which is higher than the predetermined maximum allowable swing speed. The input for receiving an 15 operator override may be for use when configurations of a relatively lower inertia are used, so that swing performance can be improved when a lower speed limit is not necessary. The present disclosure provides a method of operating a work vehicle according to 20 claim 1. There is also provided a controller for controlling a work vehicle according to claim 13. There is also provided a work vehicle comprising a swing apparatus rotatable about a swing axis. The swing apparatus comprises an arm arrangement comprising a stick and 5 a boom. The work vehicle further comprises a control system comprising the controller described above. By way of example only, embodiments according to the present disclosure are now described with reference to, and as shown in, the accompanying drawings. 10 15 20 25 Brief Description of the Drawings Figure 1 is a side elevation of an embodiment of a system of the present disclosure; Figure 2 is a top elevation of the system of Figure 1; Figure 3 is a schematic of a control system of the system of Figure 1; Figure 4 is a is a flowchart illustrating a method of operating the work vehicle of the present disclosure; and Figure 5 is a flowchart illustrating a further embodiment of the method of Figure 4. Detailed Description The ensuing description provides preferred exemplary embodiment(s) only, and is not intended to limit the scope, applicability or configuration of the invention. Rather, the ensuing description of the preferred exemplary embodiment(s) will provide those skilled in the art with an enabling description for implementing a preferred exemplary embodiment of the invention, it being understood that various changes may be made in the function and arrangement of elements, including combinations of features from different embodiments, without departing from the scope of the invention. Specific details are given in the following description to provide a thorough understanding of the embodiments. However, it will be understood by one of ordinary skill in the art that embodiments may be practised without these specific details. For example, well-known 30 circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments. Also, it is noted that the embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process is terminated when its operations are completed, but could have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination corresponds to a return of the function to the calling function or the main function. Moreover, as disclosed herein, the term "storage medium" may represent one or more devices for storing data, including read only memory (ROM), random access memory (RAM), magnetic RAM, core memory, magnetic disk storage mediums, optical storage mediums, flash memory devices and / or other machine readable mediums 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 mediums capable of storing, containing or carrying instruction(s) and / or data. Furthermore, embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine readable medium such as storage medium. A processor(s) may perform the necessary tasks. A code segment may represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of 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 via any suitable means including memory sharing, message passing, token passing, network transmission, etc. It is to be understood that the following disclosure provides many different embodiments, or examples, for implementing different features of various embodiments. Specific examples of components and arrangements are described below to simplify the present disclosure. These are, of course, merely examples and are not intended to be limiting. In addition, the present disclosure may repeat reference numerals and / or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or configurations discussed. Moreover, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed interposing the first and second features, such that the first and second features may not be in direct contact. Figure 1 illustrates an embodiment of a system 9 comprising a work vehicle 10, in this case an excavator. The work vehicle 10 may be any suitable type of work vehicle 10, including multi-purpose work vehicles, such as excavators, backhoes, loaders, dozers, shovels, fellers, harvesters, material handlers and other such work vehicles. The work vehicle 10 comprises a swing apparatus 11 and may comprise a swing base 13. The swing apparatus 11 comprises an arm arrangement 14. The swing apparatus 11 may comprise a main body 12. The swing base 13 may comprise an undercarriage 32 and / or a platform. The undercarriage 32 may comprise wheels or tracks 20. The main body 12 may comprise a cab 8 for an operator and a power unit (not shown) therein for providing power to the wheels or tracks 20. The swing apparatus 11 may be attached to the swing base 13 via a swivel mount 31. The swivel mount 31 may allow the swing apparatus 11 to rotate in relation to the swing base 13. The swivel mount 31 may comprise a slip ring or a slewing ring. Rotation of the swing apparatus 11 relative to the swing base 13 may be actuated using a swing actuator 30. The swing actuator 30 may comprise a hydraulic motor or a hydraulic swivel. The swing apparatus 11 is rotatable about a swing axis 33. The swing apparatus 11 may be able to rotate by 360 degrees relative to the swing base 13 about the swivel mount 31 and / or swing axis 33. The swing axis 33 may be perpendicular to the swing base 13 and / or may be perpendicular to a horizontal plane or the ground when the work vehicle 10 is on a level surface. The swing axis 33 may be a central axis of the swivel mount 31 and may be the axis of rotation of the swing apparatus 11 relative to the swing base 13 at the swivel mount 31. 10 15 20 The arm arrangement 14 comprises a boom 16 and a stick 17. The boom 16 and the stick 17 may be pivotally attached to one another. The boom 16 may be pivotally attached to the main body 12 at a first end of the boom 16. The stick 17 may be pivotably 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 arrangement 14. The tool 15 may be pivotably attached to the stick 17 at a second end of the stick 17. The arm arrangement 14 may comprise at least one hydraulic actuator 18, 19, 21 for controlling the orientation thereof. In particular, the arm arrangement 14 may comprise the boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm arrangement 14 may comprise a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm arrangement 14 may comprise a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15. The tool 15 may be of any suitable type. The tool 15 may, for example, be a bucket as illustrated or may be a grapple, tiltable bucket, tilt rotator, hammer, handling arm, multiprocessor, pulveriser, saw, shears, blower, grinder, tiller, trencher, winch, auger, broom, cutter, planer, delimber, felling head, mulcher, or rake. The tool 15 may comprise a spray head or the like for providing a water spray during operation of the work vehicle 10, for example for dust suppression. The fluid may be pressurised hydraulic fluid, water or the like. 25 30 35 The work vehicle 10 is configurable in and may be operable in, and / or comprise at least one configuration. The configuration may refer to one or more of a swing apparatus 11 measurement; a swing base 13 measurement; a boom 16 measurement; a stick 17 measurement; a main body 12 measurement; a cab 8 measurement; a tool 15 measurement; and / or a type of tool 15. The aforementioned measurements may be a dimension measurement and / or a weight measurement. The dimension measurement may be a length, a width, a depth, an area, and / or a volume. The weight measurement may be a weight or a mass. The work vehicle 10 is configurable in and may be operable in, and / or comprise a plurality of configurations with different inertias, including a configuration having the greatest moment of inertia. In the greatest inertia configuration, the type of tool 15 may be a tool with a greater mass than other available tools and / or the arm arrangement 14 may comprise components of a greater length, weight and / or mass. 5 The work vehicle 10 may be orientable in and / or comprise a component position. The component position may comprise a boom 16 position; a stick 17 position; and / or a tool 15 position. The position may be defined by a component angle. The position may be defined by a component cylinder extension. The component position may comprise an arm arrangement 14 position, or a linkage position. Each configuration of the work 10 vehicle 10 may be capable of having a plurality of different component positions. The boom 16 may comprise a boom axis 35. The boom axis 35 may be an axis parallel to the direction along which the boom 16 extends for a majority of its length. The stick 17 may comprise a stick axis 37. The stick axis 37 may be an axis parallel to the 15 direction along which the stick 17 extends for a majority of its length. A boom angle 39 M may be the angle between the boom axis 35 and the swing axis 33. A stick angle 41 C\J may be the angle between the boom axis 35 and the stick axis 37. The boom angle 39 and / or stick angle 41 may be used to define the arm position. Global angles wherein the various axes are measured relative to the horizontal may be used to define the arm O) 20 position. CM The boom, stick and tool hydraulic actuators 18, 19, 21 may each comprise a hydraulic cylinder and a piston rod. Hydraulic fluid may be supplied to the actuators to displace the rod relative to the cylinder. The boom hydraulic actuator 18 may comprise a boom 25 hydraulic piston rod (not shown). The stick hydraulic actuator 19 may comprise a stick hydraulic piston rod 5. As the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 are extended, the arm position may change. A boom hydraulic piston rod extension and / or a stick hydraulic piston rod extension may be used to define the arm position. 30 Figure 2 provides an illustration of the work vehicle 10 of Figure 1 in plan view, in which the swing axis 33 is illustrated as a point. The work vehicle may comprise a reference travel axis 43. The reference travel axis 43 may be substantially horizontal to the ground 33, lie in the same plane as the horizontal, and may pass through and / or be perpendicular to the swing axis 33. The reference travel axis 43 may be parallel to the direction the work vehicle travels when the tracks 20 are actuated simultaneously with the same input. The reference travel axis 43 may be parallel to a direction the work vehicle 10 travels when a forward command is given. The work vehicle 10 may comprise a swing apparatus axis 45. The swing apparatus axis 45 may lie in the same plane as the horizontal, and / or may lie in the same plane as the reference travel axis 43. The swing apparatus axis 45 may be parallel to a direction of extension of the arm arrangement 14 (as shown in Figure 2) and may pass through and / or be perpendicular to the swing axis 33. The swing apparatus axis 45 may be parallel to a direction an operator faces while sitting in the cab 8. The work vehicle 10 may comprise a swing angle 6. The swing angle 6 may be defined as the angle measured between the reference travel axis 43 and the swing apparatus axis 45. When the swing angle 0 is increased or decreased, the swing apparatus 11 may rotate around the swing axis 33 at a swing speed &>. The swing apparatus 11 may rotate relative to the swing base 13 at a swing speed ox The swing apparatus 11 may rotate around the swing axis 33 in a swing direction (clockwise or anti clockwise). The swing speed a) may be a swing velocity comprising the swing direction. The work vehicle 10 may comprise a work vehicle fluid circuit (not shown) around which fluid may be circulated. The work vehicle 10 may comprise a controller 51 for controlling the work vehicle fluid circuit automatically or based upon inputs received from at least one input device 6 (shown in Figure 1). The at least one input device 6 may comprise one or more of a joystick, a display 57, a touch screen, a button, or any suitable input device. The 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 the at least one hydraulic actuator 18, 19, 21. Changing the arm position may comprise controlling the at least one hydraulic actuator 18, 19, 21 for pivoting of the arm arrangement 14 and the tool 15. The work vehicle 10 may be operated to increase or decrease the swing angle 6. The work vehicle fluid circuit may be connected to the swing actuator 30 and a swing brake 34 for controlling the swing of the swing apparatus 11 relative to the swing base 13. The swing speed to may be controlled and / or affected by the least one input device 6. When an input to the least one input device 6 indicates an increase, the swing speed to may increase. When the input to the input device 6 indicates a decrease, the swing speed to may decrease. When an input of 100% speed is provided to the at least one input device 6, the swing speed to may increase towards a maximum operational swing speed of the work vehicle. When an input of 0% speed is provided to the at least one input device, the swing speed to may decrease towards a zero swing speed to, or the swing speed to may remain at zero. In order to decrease the swing speed to, the system 9 may apply the swing brake 34 and / or may stop the application of torque by the swing actuator 30. The system 9 may apply the swing brake 34 to the swivel mount 31 and / or the swing actuator 30. The swing brake 34 may apply a brake torque Tb in the opposite direction to the swing direction. The swing brake 34 may cause the swing speed to to decrease. The swing brake 34 may cause the swing speed to to decrease to zero. For reasons of safety, it may be beneficial that the system 9 is able to reduce the swing speed to to zero within a predetermined maximum angular stopping displacement 6S. In addition, there are regulatory requirements that the system 9 is able to reduce the swing speed to to zero within the predetermined maximum angular stopping displacement 0S. The predetermined maximum angular stopping displacement 0S may be a 90-degree angular displacement. It may be required that the system 9 is able to reduce the swing speed to to zero from the maximum operational swing speed within a predetermined angular displacement. It may be required that the system 9 is able to reduce the swing speed to to zero from the maximum operational swing speed within an angular displacement of 90 degrees. It may be required that the system 9 is able to reduce the swing speed to to zero within the predetermined maximum angular stopping displacement 0.. regardless of the configuration and / or arm position of the work vehicle 10. Instead of the predetermined maximum angular stopping displacement 0S, a different metric, such as a predetermined maximum stopping time, may be used. The swing apparatus 11 comprises a moment of inertia J. The moment of inertia J is the physical quantity of a body which represents the body’s resistance to a change in angular speed. The moment of inertia J affects the ability of the system 9 to reduce the swing speed to to zero within the predetermined maximum angular stopping displacement 0S. A larger moment of inertia J results in a larger angular displacement required to reduce the swing speed to to zero and results in a lower swing speed being required to so that the swing speed to can be reduced to zero within the predetermined maximum angular stopping displacement 0S. The moment of inertia / may be linked to the brake torque zb and an angular deceleration experienced during braking by the following formula: = ] a Where a is the angular deceleration and is the rate of change of swing speed to. The moment of inertia / around an axis, may be defined as the sum of the products obtained by multiplying the mass of each particle of matter in a given body by the square of its distance from the axis. The moment of inertia / of the swing apparatus 11 may be higher when a tool 15 with a larger mass is attached to the arm arrangement 14 and may be lower when a tool 15 with a smaller mass is attached to the arm arrangement 14. The moment of inertia / of the swing apparatus 11 may be higher when the arm position is such that the arm arrangement 14 extends by a longer distance from the swing axis 33 and may be lower when the arm position is such that the arm arrangement 14 extends by a shorter distance from the swing axis 33. The moment of inertia / may constantly change when the work vehicle 10 is in use and is therefore not a known design parameter of the work vehicle 10. The system 9 may comprise a control system 50, which may be configured to perform the methods of the present disclosure. As illustrated in Figure 3, the control system 50 may comprise the controller 51, which may comprise a memory 53, which may store instructions or algorithms in the form of data, and a processing unit 55, which may be configured to perform operations based upon the instructions. The controller 51 may be of any suitable known type and may comprise an engine control unit (ECU) or the like. The memory 53 may comprise 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 and the like. The processing unit 55 may comprise any suitable processor capable of executing memory-stored instructions, such as a microprocessor, uniprocessor, a multiprocessor and the like. The controller 51 may further comprise a graphics processing unit for rendering objects for viewing on the display 57 of the control system 50. The controller 51 may also be in communication with at least one work vehicle communication module 59 for transferring data with an external computing system 61 via a wired or wireless network 63 (such as Ethernet, fibre optic, satellite communication network, broadband communication network, cellular, Bluetooth). The external computing system 61 may comprise computing systems, processors, servers, memories, databases, control systems and the like. As summarised in Figure 3, the system 9 may comprise at least one system actuator 4. The at least one system actuator 4 may comprise one or more of the boom, stick and tool hydraulic actuators 18, 19, 21, the swing actuator 30 and the swing brake 34. The system 9 may comprise at least one sensor 7. The at least one sensor 7 may comprise one or more of 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 complexity of the work vehicle 10, it may be beneficial to reduce the number of sensors necessary. For example, it may be beneficial for the work vehicle 10 to not include the swing angle sensor 71 if possible. The controller 51 may be communicatively connected (via a wired or wireless connection) to the power unit, and any of the at least one system actuator 4 and / or at least one sensor 7 for providing control signals thereto and receiving sensor signals therefrom in order to control the operation of the work vehicle 10. The controller 51 may communicate with the input device 6, for receiving an input and controlling the work vehicle 10. The input device 6 may be in communication with the controller 51 for controlling the actuation of the swing actuator 30 and / or swing brake 34 to adjust the swing speed a> and / or adjust the swing angle e of the swing apparatus 11. The input device 6 may increase or decrease the swing speed <n of the swing apparatus 11 relative to the swing base 13. The controller 51 may receive operating condition data indicative of at least one operating condition of the work vehicle 10 by being communicatively coupled with the at least one sensor 7 and the at least one system actuator 4. The controller 51 may process the received operating condition data to determine further operating condition data and may store the operating condition data on the memory 53. The at least one operating condition and operating condition data may comprise at least one of: - The swing angle 6 of the work vehicle 10, relative to the reference travel axis 43 (as shown in Figure 2). The control system 50 may comprise a swing angle sensor 71 for determining the swing angle 9 of the work vehicle 10; - The swing speed w of the work vehicle 10. The control system 50 may comprise at least one movement or acceleration sensor 73 for determining the swing speed to of the work vehicle 10; - The component position of the work vehicle 10. The control system 50 may comprise at least one component position sensor 75 for determining the component position of the work vehicle 10. The at least one component position sensor 75 may be mounted to the swing apparatus 11. The at least one component position sensor 75 may comprise at least one inertial measurement unit (IMU); - The boom position; stick position; and / or tool position of the work vehicle 10. The control system 50 may comprise 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 position of the work vehicle 10. The at least one arm position sensor 75 may comprise at least one inertial measurement unit (IMU) attached to the boom 16; stick 17 and / or tool 15; - A component movement and / or acceleration of the work vehicle 10. The control system 50 may comprise at least one movement or acceleration sensor 73 for determining the component movement and / or acceleration of the work vehicle 10. The at least one movement or acceleration sensor 73 may be mounted to the swing apparatus 11. The at least one movement or acceleration sensor 73 may be at least one accelerometer; - A boom movement and / or acceleration; stick movement and / or acceleration; and / or tool movement and / or acceleration. The control system 50 may comprise at least one movement or acceleration sensor 73 attached to the boom 16; stick 17 and / or tool 15 for determining the boom 16; stick 17; and / or tool 15 movement and / or acceleration. The at least one movement or acceleration sensor 73 may comprise at least one accelerometer attached to the boom 16; stick 17 and / or tool 15; - The boom and / or stick angle of the work vehicle 10. The control system 50 may comprise the arm position sensor 75, such as the IMU for determining the boom and / or stick angle of the work vehicle 10; - The boom and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may comprise the arm position sensor 75, such as the I MU for determining the boom and / or stick hydraulic piston rod extension of the work vehicle 10; - A boom head end pressure of the work vehicle 10. The control system 50 may comprise the boom pressure sensor 77, within the boom hydraulic cylinder 18, for determining the boom head end pressure of the work vehicle 10.; - The configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by an operator via the at least one input device 6; stored on the memory 53; and / or detected automatically using work vehicle sensors; - The brake torque tb of the swing brake 34 of the work vehicle 10. The brake torque Tb may be input by an operator via at least one input device 6, stored on the memory 53 and / or estimated based upon a change in the component movement and / or acceleration upon application of the swing brake 34. The brake torque tb applied at any time may be based upon the 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 brake torque Tbmax being applied by the swing brake 34; - An actuation torque xa of the swing actuator 30 of the work vehicle 10. The actuation torque xa may be input by an operator via at least one input device 6, stored on the memory 53 and / or estimated based upon a change in the component movement and / or acceleration upon application of the swing actuator 30. The actuation torque za may be based upon the input to the at least one input device 6; - The maximum operational swing speed of the work vehicle. The maximum operational swing speed of the work vehicle may be determined according to the methods of this disclosure; - A maximum allowable swing speed Mmax of the work vehicle. The maximum allowable swing speed Mmax of the work vehicle may be determined according to the methods of this disclosure; - A predetermined maximum allowable swing speed o)maX:Pre. The predetermined maximum allowable swing speed wmaXiPre may be input by an operator via at least one input device 6 and / or stored on the memory 53. The predetermined maximum allowable swing speed comaXiPre may be determined according to the methods of this disclosure; - A selected maximum allowable swing speed (nmaxseiect. The selected maximum allowable swing speed temax,seiect may be determined according to the methods of this disclosure; and - The predetermined maximum angular stopping displacement 9S. The predetermined maximum angular stopping displacement 9S may be input by an operator via at least one input device 6 and / or stored on the memory 53. The predetermined maximum angular stopping displacement 9S may be set by a regulatory and / or a safety 5 requirement; The operating condition data collected by the control system 50 may be transferred to the external computing system 61, which may perform the method of the present disclosure. Thus, the control system 50 may be considered in the present disclosure to 10 comprise the external computing system 61, which may have instructions stored thereon for performing the methods disclosed herein in a similar manner to the controller 51. 15 As shown in Figure 4, a method of operating the work vehicle 10 comprises storing and / or receiving the predetermined maximum allowable swing speed wmax,pre and providing an input 6 for receiving an operator override of the selected maximum allowable swing speed (*>max,select- The selected maximum allowable swing speed ^max,select is higher than the predetermined maximum allowable swing speed wmaXiPre. 20 The method further comprises determining whether to limit a maximum operational swing speed of the swing apparatus 11 to the predetermined maximum allowable swing speed o)maXtPre or the selected maximum allowable swing speed Mmax,seiect and limiting the maximum operational swing speed of the swing apparatus 11 to the determined maximum allowable swing speed. The determination is based upon whether 25 an operator override input is received. The method is performed by the control system 50. If the operator override input is received, the maximum operational swing speed of the swing apparatus 11 may be limited to the selected maximum allowable swing speed 30 Umax,select- If the operator override input is not received, the maximum operational swing speed of the swing apparatus 11 may be limited to the predetermined maximum allowable swing speed comaxpre. The work vehicle 10 is configurable in a plurality of different configurations of differing 35 inertias, and the predetermined maximum allowable swing speed oi)maX:Pre is based upon the predetermined maximum angular stopping displacement 9S and a rate of deceleration of the swing apparatus 10 in the configuration having the greatest inertia. The predetermined maximum allowable swing speed (omaxpre may be the swing speed to from which the swing apparatus 11 can slow to zero given the rate of deceleration of the swing apparatus 11 in the configuration having the greatest inertia. A limit of the predetermined maximum allowable swing speed (amax,pre can ensure that the work vehicle 10 can stop within a safe distance regardless of configuration. Setting the maximum allowable swing speed Mmax equal to the predetermined maximum allowable swing speed o)maXiPre when the operator override input is not received can ensure that the work vehicle 10 can stop within a safe distance regardless of configuration. The predetermined maximum allowable swing speed (nmax,pre may be stored on the memory 53 and or sent to the controller 51, via the at least one work vehicle communication module 59, for storing on the memory 53. The predetermined maximum allowable swing speed wmaXiPre may initially be set as a default by the manufacturer of the work vehicle 10. The owner or operator of the work vehicle 10 may be able to reset the maximum allowable swing speed o)max to the predetermined maximum allowable swing speed (^maX,pre ■ The input for receiving an operator override may be for use when the work vehicle 10 is in a configuration other than the configuration having the greatest inertia. The method may further comprise receiving the operator override input at the input 6 and determining to limit the maximum operational swing speed of the swing apparatus 11 to the selected maximum allowable swing speed a>maxseiect. The method may further comprise changing the configuration of the work vehicle 10 to the configuration other than configuration having the greatest inertia prior to receiving the operator override input. The selected maximum allowable swing speed Mmaxselect may comprise a range of different selected maximum allowable swing speeds from which an operator can choose. The memory 53 may store the range of different selected maximum allowable swing speeds. The memory 53 may have the range of different selected maximum allowable swing speeds saved in data files corresponding to the different configurations of the work vehicle 10. The operator may choose a selected maximum allowable swing speed (^max,select corresponding to the present configuration of the work vehicle. As shown in Figure 5, the method may comprise further steps. The method may include providing an authorisation, such as a password or biometric details, such that the control system 50 can receive the operator override input. The method may include displaying a warning. The warning may be displayed to the operator on the display 57. The warning may be accompanied by information regarding the predetermined maximum angular stopping displacement 0s. Upon the control system 50 receiving the operator override input, the warning may be displayed to an operator. The method may include an operator providing an override confirmation. After the warning is displayed to the operator the operator may be required to input the override confirmation in order to limit the maximum operational swing speed of the swing apparatus 11 to the selected maximum allowable swing speed Mmax,select- Upon providing the override confirmation the maximum operational swing speed of the swing apparatus 11 may be limited to the selected maximum allowable swing speed ^max,select- If the work vehicle 10 comprises the at least one component position sensor 75, the maximum operational swing speed may be further based upon work vehicle component position data from the at least one component position sensor 75. The maximum operational swing speed may be determined as the swing speed o) from which the swing apparatus 11 will slow to zero within the predetermined maximum angular stopping displacement 6S based on the selected maximum allowable swing speed ^max,select and modified based on the work vehicle component position data. The maximum operational swing speed may be determined by comparing the component position data and the selected maximum allowable swing speed o)max,select to a look up table or map to find the appropriate maximum operational swing speed. The look up table or map may be prepared via experimentation and / or empirical methods to find the appropriate maximum operational swing speed for a given component position and the selected maximum allowable swing speed <^max,select- The method may further comprise the control system 50 rotating the swing apparatus 11 about the swing axis 33 at a swing speed w equal to or less than the maximum operational swing speed. The method may further comprise the control system 50 overriding a user command to rotate the swing apparatus 11 around the swing axis 33 at a swing speed co greater than the maximum operational swing speed. Overriding the user command may comprise receiving a user input to perform a rotation at a swing speed to greater than the maximum operational swing speed and outputting a command to the swing actuator 30 to perform a rotation at a swing speed co equal to or less than the maximum operational swing speed. Industrial Applicability The method may thus limit the maximum operational swing speed of a work vehicle for allowing the work vehicle to reduce its swing speed to zero in a safe distance. By storing and / or receiving the predetermined maximum allowable swing speed omaxpre, the requirement to reduce the swing speed co to zero within a safe distance may be fulfilled regardless of the configuration of the work vehicle 10. Overly limiting the swing speed co due to a higher moment of inertia J of other configurations does not necessarily occur, because an input for receiving an operator override is provided. In addition, the swing performance of the work vehicle 10 is not unduly affected as it can be at a maximum safe speed for the current configuration by using input for receiving an operator override. This is accomplished without additional sensors and so the number of sensors on the work vehicle 10 can be minimized.

Claims

10151. A method of operating a work vehicle, wherein the work vehicle is configurable in a plurality of different configurations of differing inertias, the work vehicle comprising a swing apparatus rotatable about a swing axis, the swing apparatus comprising an arm arrangement comprising a stick and a boom, the method comprising, by a control system:storing and / or receiving a predetermined maximum allowable swing speed based upon a predetermined maximum angular stopping displacement and a rate of deceleration of the swing apparatus in a configuration having the greatest inertia;providing an input for receiving an operator override of a selected maximum allowable swing speed, wherein the selected maximum allowable swing speed is higher than the predetermined maximum allowable swing speed;determining whether to limit a maximum operational swing speed of the swing apparatus to the predetermined or selected maximum allowable swing speed based upon whether an operator override input is received; andlimiting the maximum operational swing speed of the swing apparatus to the determined maximum allowable swing speed.

2. The method of claim 1, wherein the input for receiving an operator override is for use when the work vehicle is in a configuration other than the configuration having the greatest inertia.

3. The method of any preceding claim, wherein the method further comprises: receiving the operator override input at the input; and25 determining to limit the maximum operational swing speed of the swingapparatus to the selected maximum allowable swing speed.

4. The method of claim 3 as dependent on claim 2, wherein the method further comprises changing the configuration of the work vehicle to the configuration other than 30 configuration having the greatest inertia prior to receiving the operator override input.

5. The method of any preceding claim, wherein a password is required to be entered prior to the control system receiving the operator override input.

6. The method of any preceding claim, wherein upon the control system receiving the operator override input, a warning is displayed to an operator.

7. The method of claim 6, wherein after the warning is displayed to the operator the5 operator is required to input an override confirmation in order to limit the maximum operational swing speed of the swing apparatus to the selected maximum allowable swing speed.

8. The method of claim 6 or 7, wherein the warning is displayed to the operator on a 10 display screen.

9. The method of any of claims 6 to 8, wherein the warning is accompanied by information regarding a predetermined maximum angular stopping displacement.15 10. The method of any preceding claim, wherein the work vehicle comprises at leastone component position sensor mounted to the swing apparatus and wherein the maximum operational swing speed is further based upon work vehicle component position data from the at least one component position sensor.20 11. The method of any preceding claim, wherein the selected maximum allowable swingspeed comprises a range of different selected maximum allowable swing speeds from which an operator can choose.

12. The method of any preceding claim, wherein the method further comprises, by the25 control system:rotating the swing apparatus about the swing axis at a swing speed equal to or less than the maximum operational swing speed; and / oroverriding a user command to rotate the swing apparatus around the swing axis at a swing speed greater than the maximum operational swing speed.3013. A controller for controlling a work vehicle, wherein the work vehicle is configurable in a plurality of different configurations of differing inertias, the work vehicle comprising a swing apparatus rotatable about a swing axis, the swing apparatus comprising an arm arrangement comprising a stick and a boom, the controller being configured to:29 10 24store and / or receive a predetermined maximum allowable swing speed based upon a predetermined maximum angular stopping displacement and a rate of deceleration of the swing apparatus in a configuration having the greatest inertia;provide an input for receiving an operator override of a selected maximum5 allowable swing speed, wherein the selected maximum allowable swing speed is higher than the predetermined maximum allowable swing speed;determine whether to limit a maximum operational swing speed of the swing apparatus to the predetermined or selected maximum allowable swing speed based upon whether an operator override input is received; and10 limit the maximum operational swing speed of the swing apparatus to thedetermined maximum allowable swing speed.

14. A work vehicle comprising:a swing apparatus rotatable about a swing axis, the swing apparatus comprising15 an arm arrangement comprising a stick and a boom, anda control system comprising the controller of claim 13.

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