Method for operating a work vehicle according to a maximum allowable turning speed - Patents.com

Abstract

A method for operating a work vehicle (10) is provided. The work vehicle (10) includes a swing assembly (11) rotatable about a swing axis (33). The swing assembly (11) includes an arm configuration (14) including a boom (16) and a stick (17). The work vehicle (11) further includes a swing angle sensor (71) for generating swing angle data indicative of a swing angle of the swing assembly (11). The method includes storing and / or receiving, by a control system (50), an initial maximum allowable swing rate of the swing assembly (11) rotating about the swing axis (33) and updating the maximum allowable swing rate based on a user-initiated calibration process. The method further includes limiting a maximum operational swing rate of the swing assembly (11) to the updated maximum allowable swing rate.

Description

[Technical Field]

[0001] The present disclosure relates to methods for operating a work vehicle in accordance with a maximum allowable turning rate, a controller configured to perform such methods, and a work vehicle configured to be operated in accordance with such methods. [Background technology]

[0002] A work vehicle or work 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 body relative to its undercarriage or the rotation of the arm configuration relative to the body. Various characteristics affect the swing characteristics of a work vehicle, including swing speed and swing acceleration. For example, the position of its components, such as the position of the arm configuration and / or the position of a tool, can change the moment of inertia. A change in the moment of inertia can affect the rate at which the swing speed increases or decreases. Additionally, the configuration of the work vehicle, such as the type of tool attached, can affect the moment of inertia and therefore the rate at which the swing speed increases or decreases.

[0003] It is important that the rotation rate can be reduced to zero within a certain distance or time so that the operator can quickly stop the rotation, such as when he or she notices an obstacle or danger within a safe distance.

[0004] In addition to this general requirement, European regulation EN 474 requires that work vehicles, specifically excavators, must be able to perform a 180-degree turn with 100% control input and then stop within a specified distance. The regulation previously required work vehicles in the most common configurations to achieve this. European regulation EN 474 has been updated to require that work vehicles, in all available configurations, must be able to stop within a safe distance. Summary of the Invention

[0005] An object of the present disclosure may be to provide a method for limiting the maximum operational swing speed of a work vehicle to allow the work vehicle to reduce the swing speed to zero within a safe distance. A further object is to ensure that such a method applies across a variety of approved configurations of work vehicles. Additionally, a further object is to ensure that such a method does not excessively reduce the swing speed of the work vehicle, which may be noticeable by operators during single-function and some multi-function operations.

[0006] The present disclosure is generally directed to limiting the maximum operational swing speed of a swing gear of a work vehicle, such as the body of an excavator, so that the swing gear can stop within a safe distance and / or within a safe angle. A calibration process is used to determine an appropriate maximum allowable 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 decreases to zero. This is repeated for various swing speeds until a maximum swing speed is found that still results in an allowable angular displacement as the swing speed decreases to zero. The maximum operational swing speed is then set as this swing speed.

[0007] The present disclosure provides a method for operating a work vehicle including a swing apparatus rotatable about a swing axis. The swing apparatus includes an arm configuration including a boom and a stick. The work vehicle further includes a swing angle sensor for generating swing angle data indicative of a swing angle of the swing apparatus. The method includes storing and / or receiving, by a control system, an initial maximum allowable swing rate of the swing apparatus rotating about the swing axis, and updating the maximum allowable swing rate based on a user-initiated calibration process. The user-initiated calibration process includes: 1) performing a predetermined test angular displacement of the swivel device about the swivel axis at a calibrated swivel speed; 2) reducing the rotation speed of the rotation device to zero; 3) measuring the angular stop displacement of the slewing device using a slewing angle sensor when the slewing speed is reduced to zero; 4) if the angular stop displacement is not within the predetermined maximum angular stop displacement range, repeating steps 1) through 4) using the updated calibration slewing speed; and 5) if the angular stop displacement is within the predetermined maximum angular stop displacement range, determining a maximum allowable slewing speed based on the calibrated slewing speed.

[0008] The method further includes limiting the maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

[0009] Also provided is a controller for controlling a work vehicle including a swing apparatus rotatable about a swing axis. The swing apparatus includes an arm configuration including a stick and a boom. The work vehicle further includes a swing angle sensor for generating swing angle data indicative of a swing angle of the swing apparatus. The controller is configured to store and / or receive an initial maximum allowable swing rate of the swing apparatus rotating about the swing axis, and to update the maximum allowable swing rate based on a user-initiated calibration process. The user-initiated calibration process includes: 1) performing a predetermined test angular displacement of the swivel device about the swivel axis at a calibrated swivel speed; 2) reducing the rotation speed of the rotation device to zero; 3) measuring the angular stop displacement of the slewing device using a slewing angle sensor when the slewing speed is reduced to zero; 4) if the angular stop displacement is not within the predetermined maximum angular stop displacement range, repeating steps 1) through 4) using the updated calibration slewing speed; and 5) if the angular stop displacement is within the predetermined maximum angular stop displacement range, determining a maximum allowable slewing speed based on the calibrated slewing speed.

[0010] The controller is further configured to limit the maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

[0011] Also provided is a work vehicle including a swing device rotatable about a swing axis. The swing device includes an arm configuration including a boom and a stick. The work vehicle further includes a swing angle sensor for generating swing angle data indicative of a swing angle of the swing device, and a control system including the controller described above.

[0012] By way of example only, embodiments according to the present disclosure will now be described with reference to and as illustrated in the accompanying drawings, in which: [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a side view of one embodiment of the system of the present disclosure. [Figure 2] FIG. 2 is a plan view of the system of FIG. [Figure 3] FIG. 3 is a schematic diagram of the control system of the system of FIG. [Figure 4] FIG. 4 is a flow diagram illustrating a method for limiting the maximum operating swing speed of a swing device according to the present disclosure. [Figure 5] FIG. 5 is a flow diagram illustrating a further embodiment of the method of FIG. [Figure 6] FIG. 6 is a flow diagram illustrating a further embodiment of the method of FIG. [Figure 7] FIG. 7 is a flow diagram illustrating a user-initiated calibration process according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014] The following description provides only preferred exemplary embodiments and is not intended to limit the scope, applicability, or configuration of the present invention. Rather, the following description of preferred exemplary embodiments provides those skilled in the art with an enabling description for implementing preferred exemplary embodiments of the present invention, and it will be understood that various changes in the function and configuration of elements, including combining features from different embodiments, may be made without departing from the scope of the present invention. Specific details are provided in the following description to provide a thorough understanding of the embodiments. However, those skilled in the art will understand that the embodiments may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0015] It should also be noted that the embodiments may be described as a process that is illustrated as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. In a flowchart, operations may be described as a sequential process, but many operations may be performed in parallel or simultaneously. Additionally, the order of operations may be rearranged. A process terminates upon completion of an operation, but may have additional steps not included in the diagram. 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 to the main function. Moreover, 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 that may store, contain, or carry instructions and / or data.

[0016] Furthermore, embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or combinations thereof. When implemented in software, firmware, middleware, or microcode, program code or code segments to perform the necessary tasks may be stored in a machine-readable medium such as a storage medium. A processor 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, and 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.

[0017] It should be understood that the following disclosure provides many different embodiments or examples for implementing the various features of the various embodiments. Specific examples of components and arrangements are described below to simplify the disclosure. It should be understood that these are merely examples and are not intended to be limiting. Additionally, the disclosure may repeat reference numerals and / or letters in the various examples. This repetition is for the purposes of simplicity and clarity and does not in itself dictate a relationship between the various described embodiments and / or configurations. Furthermore, in the following description, a first feature formed on a second feature may include an embodiment in which the first and second features are formed in direct contact with each other, and may also include an embodiment in which an additional feature may be formed between the first and second features such that the first and second features are not in direct contact with each other.

[0018] FIG. 1 illustrates one embodiment of a system 9 including a work vehicle 10, in this case an excavator. The work vehicle 10 may be any suitable type of work vehicle, including a multipurpose work vehicle such as an excavator, backhoe, loader, dozer, shovel, feller, harvester, material handler, and other such work vehicles. The work vehicle 10 includes a swing gear 11 and may include a swing base 13. The swing gear 11 includes an arm arrangement 14. The swing gear may include a body 12. The swing base 13 may include an undercarriage 32 and / or a platform. The undercarriage 32 may include wheels or tracks 20. The body 12 may include a cab 8 for an operator and a power unit (not shown) for providing power to the wheels or tracks 20.

[0019] The swivel device 11 may be attached to the swivel base 13 via a swivel mount 31. The swivel mount 31 may allow the swivel device 11 to rotate relative to the swivel base 13. The swivel mount 31 may include a slip ring or a swivel ring. The swivel mount 31 may be referred to as a swivel mechanism. The swivel mount 31 may be a rotational connection between the swivel device 11 and the swivel base 13. Rotation of the swivel device 11 relative to the swivel base 13 may be driven using a swivel actuator 30. The swivel actuator 30 may include a hydraulic motor or a hydraulic swivel mechanism.

[0020] The swivel device 11 is rotatable about a swivel axis 33. The swivel device 11 may be rotatable 360 ​​degrees about the swivel mount 31 and / or the swivel axis 33 relative to the swivel base 13. The swivel axis 33 may be perpendicular to the swivel base 13 and / or may be perpendicular to the horizontal plane or the ground when the work vehicle 10 is located on a horizontal plane. The swivel axis 33 may be the central axis of the swivel mount 31, or may be the axis of rotation of the swivel device 11 relative to the swivel base 13 at the swivel mount 31.

[0021] The arm arrangement 14 includes 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 body 12 at a first end of the boom 16. The stick 17 may be pivotally attached to the boom 16 at a second end of the boom 16 and at a first end of the stick 17. A tool 15 may be connected to the arm arrangement 14. The tool 15 may be pivotally attached to the stick 17 at a second end of the stick 17. The arm arrangement 14 may include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm arrangement 14 may include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm arrangement 14 may include a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm arrangement 14 may include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[0022] The tool 15 may be of any suitable type. For example, the tool 15 may be a bucket, as shown, or may be a grapple, tilt bucket, tiltrotator, hammer, handling arm, multi-processor, pulverizer, saw, shears, blower, grinder, chiller, trencher, winch, auger, broom, cutter, planer, delimber, felling head, mulcher, or rake. The tool 15 may include a spray head or the like for dispensing water during operation of the work vehicle 10, such as for dust suppression. The fluid may be pressurized hydraulic fluid, water, or the like.

[0023] The work vehicle 10 may be operable in at least one configuration, may be configurable in at least one configuration, and / or may include at least one configuration. Configuration may refer to one or more of: a measurement of the swing gear 11, a measurement of the swing base 13, a measurement of the boom 16, a measurement of the stick 17, a measurement of the body 12, a measurement of the cab 8, a measurement of the tool 15, and / or a type of tool 15. The measurements may be dimensional measurements and / or weight measurements. The dimensional measurements may be length, width, depth, area, and / or volume. The weight measurement may be weight or mass.

[0024] Work vehicle 10 may be operable, configurable in, and / or include multiple configurations having different inertias, including a configuration having a maximum moment of inertia, in which the type of tool 15 may have a greater mass than other available tools and / or arm configuration 14 may include components of greater length, weight, and / or mass.

[0025] The work vehicle 10 may be orientable to and / or may include a component position. The component position may include 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 include an arm configuration 14 position or a linkage position. Each configuration of the work vehicle 10 may have multiple different component positions.

[0026] The boom 16 may include a boom axis 35. The boom axis 35 may be an axis parallel to the direction in which the boom 16 extends over the majority of its length. The stick 17 may include a stick axis 37. The stick axis 37 may be an axis parallel to the direction in which the stick 17 extends over the majority of its length. The boom angle 39 may be the angle between the boom axis 35 and the pivot axis 33. The stick angle 41 may be the angle between the boom axis 35 and the stick axis 37. The boom angle 39 and / or the stick angle 41 may be used to define a component position. The global angles at which the various axes are measured relative to the horizontal may be used to define a component position.

[0027] The boom hydraulic actuator 18, the stick hydraulic actuator 19, and the tool hydraulic actuator 21 may each include a hydraulic cylinder and a piston rod. Hydraulic fluid may be supplied to the actuator to displace the rod relative to the cylinder. The boom hydraulic actuator 18 may include a boom hydraulic piston rod (not shown). The stick hydraulic actuator 19 may include a stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 are extended, a component position may change. The extension of the boom hydraulic piston rod and / or the extension of the stick hydraulic piston rod may be used to define a component position.

[0028] 2 illustrates the work vehicle 10 of FIG. 1 in a plan view, with the pivot axis 33 shown as a dot. The work vehicle may include a reference axis of motion 43. The reference axis of motion 43 may be substantially horizontal with respect to the ground surface 33, may lie in the same plane as the horizontal, and may pass through and / or be perpendicular to the pivot axis 33. The reference axis of motion 43 may be parallel to the direction the work vehicle would move when the tracks 20 are simultaneously driven by the same input. The reference axis of motion 43 may be parallel to the direction the work vehicle 10 would move when a forward command is given.

[0029] Work vehicle 10 may include a swivel axis 45. Swivel axis 45 may lie in the same plane as the horizontal plane and / or may lie in the same plane as reference movement axis 43. Swivel axis 45 may be parallel to the direction in which arm arrangement 14 extends (as shown in FIG. 2 ) and may pass through and / or be perpendicular to pivot axis 33. Swivel axis 45 may be parallel to the direction in which an operator faces while sitting in cab 8.

[0030] The work vehicle 10 may include a swing angle θ. The swing angle θ may be defined as the angle measured between the reference motion axis 43 and the swing device axis 45. When the swing angle θ is increased or decreased, the swing device 11 may rotate about the swing axis 33 at a swing speed ω. The swing device 11 may rotate at the swing speed ω relative to the swing base 13. 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.

[0031] The work vehicle 10 may include a work vehicle fluid circuit (not shown) through which fluid may circulate. The work vehicle 10 may include a controller 51 for controlling the work vehicle fluid circuit automatically or based on input received from at least one input device 6 (shown in FIG. 1 ). The at least one input device 6 may include one or more of a joystick, a display 57, a touch screen, a button, or any suitable input device. The at least one input device 6 may be used to operate the work vehicle 10. The work vehicle 10 may be manipulated to change a component position. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the component position may include controlling the at least one hydraulic actuator 18, 19, 21 to pivot the arm arrangement 14 and the tool 15. The work vehicle 10 may be manipulated 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 to control the swing of the swing apparatus 11 relative to the swing base 13.

[0032] The swing rate ω may be controlled and / or influenced by the at least one input device 6. When an input to the at least one input device 6 indicates an increase, the swing rate ω may increase. When an input to the at least one input device 6 indicates a decrease, the swing rate ω may decrease. When an input of 100% speed is provided to the at least one input device 6, the swing rate ω may increase toward a maximum operational swing rate of the work vehicle. When an input of 0% speed is provided to the at least one input device, the swing rate ω may decrease toward a swing rate ω of zero, or the swing rate ω may remain at zero.

[0033] To reduce the swing rate ω, the system 9 may apply a swing brake 34 and / or stop the application of torque by the swing actuator 30. The system 9 may apply the swing brake 34 to the swing mount 31 and / or to the swing actuator 30. The swing brake 34 applies a braking torque τ b The swing brake 34 may apply a force to the swing brake 34. The swing brake 34 may reduce the swing speed ω. The swing brake 34 may reduce the swing speed ω to zero.

[0034] For safety reasons, the system 9 must be set to a predetermined maximum angular stop displacement θ s It may be beneficial to be able to reduce the swing rate ω to zero within a predetermined maximum angular stop displacement θ s Regulatory requirements require that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ s may be an angular displacement of 90 degrees. It may be required that the system 9 be able to reduce the rotation rate ω from the maximum operational rotation rate to zero within a predetermined angular displacement. It may be required that the system 9 be able to reduce the rotation rate ω from the maximum operational rotation rate to zero within a 90 degree angular displacement. It may be required that the system 9 be able to reduce the rotation rate ω from the maximum operational rotation rate to zero within a 90 degree angular displacement. safety It may be required to be able to reduce the rotation speed to zero after executing the safe angular displacement θ safety may be 180 degrees. safety The requirement that the rotation speed ω can be reduced to zero after safety Even if the maximum inertia configuration is such that the maximum operational rotation speed can only be reached at the end of s It is ensured that the system 9 must stop within a predetermined maximum angular stopping displacement θ regardless of the configuration and / or component positions of the work vehicle 10. s It may be required that the rotation speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ s Instead, a different metric may be used, such as a predetermined maximum stopping time.

[0035] The slewing device 11 includes a moment of inertia J, which is a physical quantity of an object that represents the object's resistance to a change in angular velocity. The moment of inertia J is the maximum angular stop displacement θ s The larger the moment of inertia J, the larger the angular displacement required to reduce the rotation speed ω to zero, resulting in a larger rotation speed ω at a given maximum angular stopping displacement θ s A smaller turn rate is required to be able to reduce it to zero within the

[0036] The moment of inertia J is the braking torque τ b and the angular deceleration experienced during braking can be related by the following equation: τ b =Jα

[0037] where α is the angular deceleration, which is the rate of change of the turning speed ω.

[0038] The moment of inertia J about an axis may be defined as the sum of products obtained by multiplying the mass of each particle of material in a given object by the square of its distance from the axis. The moment of inertia J of the swivel device 11 may be larger when a tool 15 having a larger mass is attached to the arm arrangement 14, and may be smaller when a tool 15 having a smaller mass is attached to the arm arrangement 14. The moment of inertia J of the swivel device 11 may be larger when the arm arrangement 14 is in a component position that extends a greater distance from the pivot axis 33, and may be smaller when the arm arrangement 14 is in a component position that extends a shorter distance from the pivot axis 33. The moment of inertia J is subject to change during use of the work vehicle 10 and is therefore not a known design parameter of the work vehicle 10.

[0039] System 9 may include a control system 50 that may be configured to perform the methods of the present disclosure. As shown in FIG. 3 , control system 50 may include a controller 51, which may include a memory 53 that may store instructions or algorithms in the form of data, and a processing unit 55 that may be configured to perform operations based on the instructions. Controller 51 may be of any suitable known type and may include an engine control unit (ECU) or the like. 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, and the like. Processing unit 55 may include any suitable processor capable of executing instructions stored in memory, such as a microprocessor, uniprocessor, multiprocessor, and the like. Controller 51 may further include a graphics processing unit for rendering objects for display on a display 57 of control system 50. The controller 51 may also communicate with at least one work vehicle communication module 59 to transfer data to an external computing system 61 via a wired or wireless network 63 (Ethernet, fiber optics, satellite communication network, broadband communication network, cellular, Bluetooth, etc.). The external computing system 61 may include computing systems, processors, servers, memory, databases, control systems, and the like.

[0040] 3, the system 9 may include at least one system actuator 4. The at least one system actuator 4 may include one or more of a boom hydraulic actuator 18, a stick hydraulic actuator 19, a tool hydraulic actuator 21, a swing actuator 30, and a swing brake 34.

[0041] The system 9 includes a swing angle sensor 71. The swing angle sensor 71 is for generating swing angle data indicative of the swing angle θ of the swing device 11. The swing angle sensor 71 may be a Hall sensor. The swing angle sensor 71 may be a Hall IC sensor. The swing angle sensor 71 may be attached to the swing device 11. The swing angle sensor 71 may be attached to the swing mount 31. The system 9 may include at least one sensor 7. The at least one sensor 7 may include one or more of the swing angle sensor 71, at least one movement sensor 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. To reduce the complexity of the work vehicle 10, it may be beneficial to reduce the number of sensors required. For example, it may be beneficial for the work vehicle 10 to not include the at least one movement sensor or acceleration sensor 73, if possible.

[0042] The controller 51 may be communicatively connected (via wired or wireless connection) to the power unit and to any of the at least one system actuator 4 and / or at least one sensor 7 to provide control signals thereto and receive sensor signals therefrom to control the operation of the work vehicle 10. The controller 51 may communicate with the input device 6 to receive inputs and control the work vehicle 10. The input device 6 may communicate with the controller 51 to adjust the swing speed ω and / or swing angle θ of the swing gear 11 by controlling the actuation of the swing actuator 30 and / or swing brake 34. The input device 6 may increase or decrease the swing speed ω of the swing gear 11 relative to the swing base 13.

[0043] The controller 51 may be communicatively coupled to the at least one sensor 7 and the at least one system actuator 4 to receive operational status data indicative of at least one operational status of the work vehicle 10. The controller 51 may process the received operational status data to determine further operational status data and may store the operational status data on the memory 53. The at least one operational status data and operational status data may include at least one of the following: - the turning angle θ of the work vehicle 10 relative to the reference movement axis 43 (as shown in FIG. 2). The control system 50 may include a turning angle sensor 71 for determining the turning angle θ of the work vehicle 10. The turning angle sensor 71 may be attached to the turning device 11. - the turning speed ω of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the turning speed ω of the work vehicle 10. - Component position of the work vehicle 10. The control system 50 may include at least one component position sensor 75 for determining component position of the work vehicle 10. The at least one component position sensor 75 may be mounted relative to the slewing device 11. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU). - Boom position, stick position, and / or tool position of the work vehicle 10. The control system 50 may include at least one component position sensor 75 mounted to the boom 16, stick 17, and / or tool 15 to determine the position of the boom 16, stick 17, and / or tool 15 of the work vehicle 10. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU) mounted to the boom 16, stick 17, and / or tool 15. - Movement and / or acceleration of components of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the movement and / or acceleration of components of the work vehicle 10. The at least one movement or acceleration sensor 73 may be attached to the slewing device 11. The at least one movement or acceleration sensor 73 may be at least one accelerometer. Boom movement and / or acceleration, stick movement and / or acceleration, and / or tool movement and / or acceleration. The control system 50 may include at least one movement or acceleration sensor 73 attached to the boom 16, stick 17, and / or tool 15 for determining the movement and / or acceleration of the boom 16, stick 17, and / or tool 15. The at least one movement or acceleration sensor 73 may include at least one accelerometer attached to the boom 16, stick 17, and / or tool 15. - Boom angle and / or stick angle of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining the boom angle and / or stick angle of the work vehicle 10. - Boom hydraulic piston rod extension and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining boom hydraulic piston rod extension and / or stick hydraulic piston rod extension of the work vehicle 10. - Boom head end pressure of the work vehicle 10. The control system 50 may include a boom pressure sensor 77 internal to the boom hydraulic cylinder 18 to determine 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 at least one input device 6, may be stored on memory 53, and / or may be automatically detected using work vehicle sensors. - the brake torque τ of the swing brake 34 of the work vehicle 10 b Brake torque τ b may be input by an operator via at least one input device 6, may be stored in memory 53, and / or may be estimated based on changes in component movement and / or acceleration during application of the swing brake 34. The applied brake torque τ at any time b may be based on an input to the at least one input device 6. With a 0% input to the at least one input device 6, the maximum braking torque τ b,max may be applied. - drive torque τ of the swing actuator 30 of the work vehicle 10 a Driving torque τ a may be input by an operator via at least one input device 6, may be stored on memory 53, and / or may be estimated based on changes in component movement and / or acceleration upon application of the swing actuator 30. a may be based on input to at least one input device 6. - 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 the present disclosure. - Maximum allowable turning speed ω of the work vehicle max Maximum allowable turning speed of the work vehicle ω max may be determined according to the methods of the present disclosure. - Calibrated turning speed ω calibrate . Calibrated turning speed ω calibrate may be determined according to the methods of the present disclosure. calibrate may be updated during the methods of the present disclosure and may not take on a single value. - predetermined maximum angular stop displacement θ s .Predetermined maximum angular stop displacement θ s may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The predetermined maximum angular stop displacement θ smay be set by regulatory and / or safety requirements. - Test angle displacement θ test Test angle displacement θ test is the safe angular displacement θ safety The test angular displacement θ test may be input by an operator via at least one input device 6 and / or may be stored on memory 53. - Angular stop displacement θ stop Angular stop displacement θ stop is measured as the rotation speed decreases to zero. stop is measured using the turning angle sensor 71.

[0044] The operational status data collected by the control system 50 may be transferred to an external computing system 61, which may perform the methods of the present disclosure. Thus, the control system 50 may be considered to include the external computing system 61 in this disclosure, which may store instructions for performing the methods disclosed herein in a manner similar to the controller 51.

[0045] As shown in FIG. 4, the method for operating the work vehicle 10 includes determining an initial maximum allowable rotation speed ω of the rotation device 11 rotating about the rotation axis 33. max,init and storing and / or receiving a maximum allowable turn rate ω based on a user-initiated calibration process. max and updating the maximum operational rotation speed of the rotation device to the updated maximum allowable rotation speed ω max The method is performed by the control system 50.

[0046] In the case where the work vehicle 10 can be configured in a plurality of different configurations with different inertia, the initial maximum allowable turning speed ω max,init is the predetermined maximum angular stop displacement θ sand the deceleration rate of the swing device 11 configured with maximum inertia. max,init is the maximum angular stop displacement θ of the slewing device 11, which is configured to have the maximum inertia, taking into account the deceleration rate of the slewing device 11. s The initial maximum allowable turning speed ω may be the turning speed ω that can be reduced to zero within a certain time. max,init By limiting , it may be ensured that the work vehicle 10, regardless of its configuration, can stop within a safe distance before the user-initiated calibration process is performed.

[0047] The maximum allowable turn speed ω based on a user-initiated calibration process max By updating the maximum allowable rotation speed ω when a configuration other than the configuration with the maximum inertia is used, max It may be possible to increase the maximum allowable turning speed ω max may ensure that the turn rate ω of the work vehicle 10 is not excessively reduced. The user-initiated calibration process may be performed at the work site. The user-initiated calibration process may be performed by an operator who will subsequently control the work vehicle 10 in performing operations at the work site. The user-initiated calibration process may be performed before or after operating the work vehicle 10 at the work site.

[0048] As shown in Figure 5, the method may further include generating a warning to an operator indicating that a user-initiated calibration process is required. The warning may be generated if the work vehicle 10 is used without performing the user-initiated calibration process. The warning 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.

[0049] As shown in FIG. 6, the method calculates an updated maximum allowable turning speed ω corresponding to the current configuration of the work vehicle 10. max The method may further include storing the updated maximum allowable turning speed ω to a data file.max may be stored in memory 53.

[0050] The configuration of the work vehicle 10 may be changed and the work vehicle 10 may be operated in the changed configuration. The configuration of the work vehicle 10 may be returned to a previous configuration, which may be changed to an updated maximum allowable turning speed ω max may correspond to the configuration of the work vehicle 10 in which it is stored.

[0051] The maximum operational swing speed of the swing device 11 may be limited to a stored maximum allowable swing speed. The configuration of the work vehicle 10 may be detected automatically by sensors 7 of the work vehicle 10.

[0052] The configuration of the work vehicle 10 may be input by the operator. Up to 10, 20, or 30 different updated maximum allowable turning speeds ω max may be stored. The maximum allowable turning speed ω updated corresponding to the current configuration of the work vehicle 10 max to a data file, the appropriate updated maximum allowable turn rate ω can be calculated for a given configuration without having to repeat the user-initiated calibration process each time that configuration is used. max It may be possible to use

[0053] As shown in Figure 7, the user-initiated calibration process 1) Calibrated turning speed ω calibrate A predetermined test angular displacement θ of the swivel device 11 about the swivel axis 33 at test and 2) reducing the rotation speed of the rotation device 11 to zero; 3) When the rotation speed ω is reduced to zero, the rotation angle sensor 71 is used to measure the angular stop displacement θ of the rotation device 11. stop and measuring 4) Angle stop displacement θ stop is the predetermined maximum angular stop displacement θ s If the rotation speed is not within the range of calibrateRepeat steps 1) to 4) using 5) Angle stop displacement θ stop is the predetermined maximum angular stop displacement θ s If the calibration turning speed ω is within the range calibrate Based on the maximum allowable turning speed ω max and determining:

[0054] Predetermined test angular displacement θ test may be performed by a 100% control input to the swing actuator 30 of the swing device 11. Reducing the swing speed ω of the swing device 11 to zero reduces the maximum braking torque τ of the swing brake 34 to zero. b,max The reduction of the rotation speed ω of the rotation device 11 to zero may be performed by applying a predetermined test angular displacement θ test The angular stop displacement θ may be executed immediately after the execution of the stop Measurement of the given test angular displacement θ test The angular stop displacement θ stop The measurement of the maximum braking torque τ of the swing brake 34 b,max may be performed while the voltage is applied.

[0055] Calibrated turning speed ω calibrate is the initial maximum allowable turning speed ω max,init The calibration turning speed ω may be initially set as calibrate The initial maximum allowable turning speed ω max,init may ensure that the work vehicle 10 does not violate safety and / or regulatory requirements when beginning the user-initiated calibration process.

[0056] Calibrated turning speed ω calibrate is updated to the updated calibration turning rate ω calibrate is the previous calibration turning speed ω calibrate The calibrated turning speed ω is set to be greater than calibrate The calibration method may include updating the calibration turning rate ω. calibratemay be updated by a fixed amount each time steps 1) to 4) are performed. The calibrated turning speed is calculated by calibrate and the previous calibrated turning speed ω calibrate The difference is the angular stop displacement θ stop and a predetermined maximum angular stop displacement θ s The updated calibration turn rate ω may be updated based on the difference between calibrate , the angular stop displacement θ stop and a predetermined maximum angular stop displacement θ s By basing the calibration process on the difference between , the calibration process may finish and / or converge more quickly.

[0057] Calibrated turning speed ω calibrate Based on the maximum allowable turning speed ω max Determining the angular stop displacement θ stop is the predetermined maximum angular stop displacement θ s Steps 1) to 5) may be performed at different calibration turning speeds ω calibrate The first calibration turning speed ω may be calculated multiple times using the calibrate,1 If so, the angular stop displacement θ stop is the predetermined maximum angular stop displacement θ s and the second calibrated turning speed ω calibrate,2 If so, the angular stop displacement θ stop is the predetermined maximum angular stop displacement θ s (In this case, the second calibration turning speed ω calibrate,2 is the first calibrated turning speed ω calibrate,1 (slightly larger than ω), the maximum allowable turning speed max is the first calibrated turning speed ω calibrate,1 It may be set as:

[0058] 7, the user-initiated calibration process may further include step 4B) after step 4). Step 4B) may include:

[0059] 4B) Angle stop displacement θ stop is the predetermined maximum angular stop displacement θ sIf the error is not within the predetermined error range of the updated calibration turning speed ω calibrate Repeat steps 1) to 4B) using the

[0060] The error range is the predetermined maximum angular stop displacement θ s The selected maximum allowable turning speed ω may be 1%, 2%, 5%, or 10% of the selected maximum allowable turning speed ω. max The safe angular displacement θ safety After executing the above, the rotation speed ω is set to the predetermined maximum angle stop displacement θ s It is possible to ensure that the rotation speed is close to the highest maximum allowable rotation speed that will still be able to be reduced to zero within a short time.

[0061] 7, the user-initiated calibration process may further include step 0) before step 1). Step 0) may include:

[0062] 0) Extending the arm arrangement 14 of the work vehicle 10 to its maximum extension and / or moving the tool 15 of the work vehicle 10 to its maximum distance from the pivot axis 13.

[0063] For the remainder of the user-initiated calibration process, the arm configuration 14 may be maintained at maximum extension and / or the tool 15 may be maintained at a maximum distance from the pivot axis 33. If the extension of the arm configuration 14 is reduced, the user-initiated calibration process may be paused and resumed once the arm configuration 14 is returned to maximum extension.

[0064] By including step 0), the work vehicle 10 may be positioned at a component position of maximum inertia for a given configuration during the user-initiated calibration process, thereby determining an updated maximum allowable turning rate ω max However, regardless of the component position of the work vehicle 10, the safe angular displacement θ safety After executing the above, the predetermined maximum angular stop displacement θ s It may be ensured that the turning speed ω can be reduced to zero within

[0065] If the work vehicle 11 includes at least one component position sensor 75 attached to the swing device 11, the updated maximum allowable swing speed ω max and / or the initial maximum allowable turning speed ω max,init is modified based on work vehicle component position data from at least one component position sensor 75 to provide a modified maximum allowable turning speed ω max,mod may be determined.

[0066] Corrected maximum allowable turning speed ω max,mod is calculated taking into account the work vehicle component position data, and the updated maximum allowable turning speed ω max Considering this, the rotation device 11 is rotated at a predetermined maximum angular stop displacement θ s The turning speed ω may be determined as the turning speed ω that will decelerate to zero within a certain time.

[0067] Corrected maximum allowable turning speed ω max,mod is the component position data and the updated maximum allowable rotation speed ω max and a predetermined maximum angular stop displacement θ s and are compared with a look-up table or map to determine the appropriate corrected maximum allowable turning speed ω max,mod It may be determined by finding

[0068] The look-up table or map may be used to calculate the maximum allowable rotation speed ω for a given component position. max and a predetermined maximum angular stop displacement θ s and the appropriate corrected maximum allowable turning speed ω max,mod may be generated through experimentation and / or empirical methods to find

[0069] If the work vehicle 11 includes a boom actuator 18 and at least one boom head pressure sensor 77 attached to the boom actuator 18, the updated maximum allowable swing speed ω max and / or the initial maximum allowable turning speed ω max,initis corrected based on boom head pressure data from at least one boom head pressure sensor 77 to obtain a corrected maximum allowable rotation speed ω max,mod may be determined.

[0070] Corrected maximum allowable turning speed ω max,mod takes into account the boom head pressure data, and the updated maximum allowable rotation speed ω max Considering this, the rotation device 11 is rotated at a predetermined maximum angular stop displacement θ s The turning speed ω may be determined as the turning speed ω that will decelerate to zero within a certain time.

[0071] Corrected maximum allowable turning speed ω max,mod is the boom head pressure data and the updated maximum allowable rotation speed ω max and a predetermined maximum angular stop displacement θ s and are compared with a look-up table or map to determine the appropriate corrected maximum allowable turning speed ω max,mod The look-up table or map may be used to find the maximum allowable rotation speed ω for a given boom head pressure and the updated maximum allowable rotation speed ω. max and a predetermined maximum angular stop displacement θ s and the appropriate corrected maximum allowable turning speed ω max,mod may be generated through experimentation and / or empirical methods to find

[0072] a maximum allowable swing speed ω modified based on work vehicle component position data and / or boom head pressure data; max,mod By using the modified maximum allowable rotation speed ω, the maximum allowable rotation speed ω may be allowed to take into account changes in the moment of inertia J due to changes in component position. max,mod By using the axially extending axially extending axial shaft 14, the turning performance of the work vehicle 10 may be improved by allowing greater speeds when the moment of inertia J is reduced.

[0073] An operator may cause at least steps 1) and 2) of the user-initiated calibration process to be performed by providing commands to control system 50. An operator may cause at least one of steps 0), 1), 2), 4), and 4B) to be performed by providing commands to control system 50. Control system 50 may perform at least steps 3) and 5) without further commands from the operator.

[0074] Control system 50 may provide command prompts to the operator indicating the steps for the operator to follow. The command prompts may be displayed on display 57. Requiring the operator to provide input regarding the steps of the user-initiated calibration process may improve the safety of the process because the operator is actively involved throughout and may stop execution of the user-initiated calibration process if it becomes unsafe (e.g., if an unauthorized person or object approaches the vehicle during the user-initiated calibration process).

[0075] The control system 50 may execute all steps of the user-initiated calibration process when the operator provides a calibration command without further input from the operator. By executing all steps of the user-initiated calibration process, the control system 50 may improve the ease with which the operator can execute the user-initiated calibration process. The operator may be able to abort the user-initiated calibration process if the operator determines that the user-initiated calibration process is unsafe.

[0076] The method may further include the control system 50 rotating the swing apparatus 11 about the swing axis 33 at a swing speed ω that is less than or equal to the maximum operated swing speed. The method may further include the control system 50 overriding a user command to rotate the swing apparatus 11 about the swing axis 33 at a swing speed ω that is greater than the maximum operated 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 operated swing speed, and outputting a command to the swing actuator 30 to perform the rotation at a swing speed ω that is less than or equal to the maximum operated swing speed. [Industrial Applicability]

[0077] Thus, the present method utilizes a user-initiated calibration process to determine an appropriate maximum allowable turn rate ω max A user-initiated calibration process may determine a predetermined maximum angular stop displacement θ s Within the safe angle displacement θ safety The requirement to reduce the turn rate ω to zero after performing may be satisfied regardless of the configuration of the work vehicle 10. In addition, the appropriate maximum allowable turn rate ω for this particular configuration max is determined. Excessive limitations on the turning speed ω due to the larger moment of inertia J in other configurations do not occur.

[0078] Maximum allowable turning speed ω max can be maximized since it is based on the current configuration. This allows for a predetermined maximum angular stopping displacement θ across different configurations of the work vehicle 10. s It is ensured that the work vehicle 10 can reduce the turning speed ω to zero within a safe distance such as

[0079] Additionally, the turning performance of the work vehicle 11 is not unduly affected as this is the maximum safe speed for the current configuration, and since this is achieved using only the turning angle sensor 71, the number of sensors on the work vehicle 10 can be minimized.

[0080] The method further comprises: obtaining an updated maximum allowable turning speed ω corresponding to the current configuration of the work vehicle 10; max to a data file, the appropriate updated maximum allowable turn rate ω can be calculated for a given configuration without repeating the user-initiated calibration process each time that configuration is used. max This may improve the performance of the work vehicle 10 by requiring a user-initiated calibration process only when a new configuration is used.

Claims

1. 1. A method for operating a work vehicle, the work vehicle comprising: a swivel device rotatable about a swivel axis, the swivel device including an arm configuration including a boom and a stick; a turning angle sensor for generating turning angle data indicative of a turning angle of the turning device; The method includes the steps of: storing and / or receiving an initial maximum allowable rotation speed of the rotation device rotating about the rotation axis; updating the maximum allowable turn rate based on a user-initiated calibration process, the user-initiated calibration process comprising: 1) performing a predetermined test angular displacement of the swivel device about the swivel axis at a calibrated swivel speed; 2) reducing the rotation speed of the rotation device to zero; 3) measuring the angular stop displacement of the slewing device using the slewing angle sensor when the slewing speed is reduced to zero; 4) if the angular stop displacement is not within the predetermined maximum angular stop displacement range, repeating steps 1-4 using an updated calibration slew rate; 5) if the angular stop displacement is within the predetermined maximum angular stop displacement range, determining the maximum allowable swing rate based on the calibrated swing rate; and limiting the maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

2. The method of claim 1 , wherein the user-initiated calibration process is performed at a work site and / or after operation of the work vehicle at a work site.

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

4. The user-initiated calibration process, after step 4, 4B) if the angular stop displacement is not within a predetermined error range of the maximum angular stop displacement, repeating steps 1-4B using an updated calibration slew rate.

5. The predetermined test angular displacement is performed with 100% control input to a swing actuator of the swing device; and / or The method according to any one of claims 1 to 4, wherein reducing the swing speed of the swing device to zero is performed by applying a maximum braking torque of a swing brake to the swing device.

6. The method of any one of claims 1 to 5, wherein the work vehicle is configurable in a plurality of different configurations with different inertias, and the initial maximum allowable swing speed is based on a predetermined maximum angular stop displacement and a deceleration rate of the swing device configured with the maximum inertia.

7. The method of any one of claims 1 to 6, wherein the user-initiated calibration process includes updating the calibration turn rate such that the updated calibration turn rate is greater than a previous calibration turn rate.

8. 8. The method of claim 1, wherein the user-initiated calibration process includes updating the calibration turn rate such that a difference between the updated calibration turn rate and a previous calibration turn rate is based on a difference between the angular stop displacement and the predetermined maximum angular stop displacement.

9. The method of any one of claims 1 to 8, further comprising storing the maximum allowable turn rate corresponding to the current configuration of the work vehicle in a data file.

10. The user-initiated calibration process comprises: Before step 1, 0) extending the arm configuration of the work vehicle to a maximum extension and / or moving a tool of the work vehicle to a maximum distance from the pivot axis; and 10. The method of any one of claims 1 to 9, further comprising maintaining the arm configuration of the work vehicle at the maximum extension and / or maintaining the tool at the maximum distance from the pivot axis for the remainder of the user-initiated calibration process.

11. The method of any one of claims 1 to 10, wherein an operator provides commands to the control system to perform at least steps 1) and 2) of the user-initiated calibration process.

12. 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 includes, by the control system: Rotating the swivel device about the swivel axis at a swivel speed that is less than or equal to the maximum operational swivel speed; and / or The method of any one of claims 1 to 12, further comprising overriding a user command to rotate the swivel device about the swivel axis at a swivel speed greater than the maximum operational swivel speed.

14. A controller for controlling a work vehicle, the work vehicle comprising: a swivel device rotatable about a swivel axis, the swivel device including an arm configuration including a stick and a boom; a turning angle sensor for generating turning angle data indicative of a turning angle of the turning device; The controller storing and / or receiving an initial maximum allowable rotation speed of the rotation device rotating about the rotation axis; updating the maximum allowable turn rate based on a user-initiated calibration process, the user-initiated calibration process comprising: 1) performing a predetermined test angular displacement of the swivel device about the swivel axis at a calibrated swivel speed; 2) reducing the rotation speed of the rotation device to zero; 3) measuring the angular stop displacement of the slewing device using the slewing angle sensor when the slewing speed is reduced to zero; 4) if the angular stop displacement is not within the predetermined maximum angular stop displacement range, repeating steps 1-4 using an updated calibration slew rate; 5) if the angular stop displacement is within the predetermined maximum angular stop displacement range, determining the maximum allowable swing rate based on the calibrated swing rate; and limiting a maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

15. A work vehicle, a swivel device rotatable about a swivel axis, the swivel device including an arm configuration including a boom and a stick; a turning angle sensor for generating turning angle data indicating a turning angle of the turning device; and a control system including the controller of claim 14.

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