Method for operating a work vehicle according to maximum allowable turning speed

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) including an arm assembly (14) having a boom (16) and a stick (17). The method includes determining, by a control system (50), a moment of inertia of the swing assembly (11) and a maximum allowable swing speed of the swing assembly (11) rotating about the swing axis (33). The maximum allowable swing speed is based on the determined moment of inertia and a predetermined maximum angular stop displacement. The method further includes limiting a maximum operating swing speed of the swing assembly (11) to the maximum allowable swing speed.

Description

[Technical Field]

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

[0002] A work vehicle or machine, such as a mining machine 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 assembly relative to the body. Various characteristics affect the swing characteristics of the work vehicle, including the swing speed and swing acceleration. For example, the position of its components, such as the position of the arm assembly and / or tool, can change the moment of inertia, which can affect the rate at which the swing speed can be increased or decreased. 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 can be increased or decreased.

[0003] It is important that the turn rate can be reduced to zero within a specific distance or time to allow the operator to quickly stop the turn, such as when an obstacle or danger is noticed within a safe distance.

[0004] In addition to this general requirement, European regulation EN 474 requires that work vehicles, especially excavators, must be able to stop at full speed within a safe distance. Previously, this regulation required that this be achieved with the most common configurations of work vehicles. European regulation EN 474 has been updated to require that work vehicles be able to stop within a safe distance in all available configurations. 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 so that the work vehicle can reduce its swing speed to zero at a safe distance. A further object is to ensure that such a method works across different authorized configurations of work vehicles. Yet a further object is to ensure that such a method does not reduce the swing speed of the work vehicle excessively. If the swing speed is reduced excessively, the operator may notice this 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 a mining machine body, so that the vehicle can be stopped within a safe distance and / or angle. A control system is configured to determine a moment of inertia of the swing gear and, taking the moment of inertia into account, determine a maximum swing speed at which the work vehicle can be decelerated to zero within a safe distance. This is then set as the maximum operational swing speed of the swing gear.

[0007] The maximum swing speed may be continuously updated as the work vehicle's moment of inertia changes, for example, by changing the position of the arm device. Alternatively, the swing device's moment of inertia may be determined once for a configuration (e.g., a particular configuration of tools attached to the arm device) based on the maximum moment of inertia possible for that configuration and not updated as long as the vehicle has the same configuration. The swing device's maximum operating swing speed may be set as the maximum swing speed at which the work vehicle can decelerate to zero within a safe distance when it has the maximum moment of inertia possible for that configuration. Alternatively, the swing device's maximum operating swing speed may be adjusted based on the arm device's position without recalculating the moment of inertia.

[0008] The present disclosure provides a method for operating a work vehicle including a swing apparatus rotatable about a swing axis, the swing apparatus including an arm apparatus having a boom and a stick. The method includes determining, by a control system, a moment of inertia of the swing apparatus and a maximum allowable swing speed of the swing apparatus rotating about the swing axis. The maximum allowable swing speed is based on the determined moment of inertia and a predetermined maximum angular stop displacement. The method further includes limiting the maximum operating swing speed of the swing apparatus to the maximum allowable swing speed.

[0009] The present disclosure further provides a control device for controlling a work vehicle including a swing device rotatable about a swing axis, the swing device including an arm device with a boom and a stick. The control device is configured to determine a moment of inertia of the swing device and determine a maximum allowable swing speed of the swing device rotating about the swing axis. The maximum allowable swing speed is based on the determined moment of inertia and a predetermined maximum angular stop displacement. The control device is further configured to limit the maximum operating swing speed of the swing device to the maximum allowable swing speed.

[0010] The present disclosure further provides a work vehicle including a swivel device rotatable about a swivel axis, the swivel device including an arm device having a boom and a stick, and a control system including the above-mentioned control device.

[0011] 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]

[0012] [Figure 1] FIG. 1 is a side view of an embodiment of a system of the present disclosure. [Figure 2] FIG. 2 is a top 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 chart illustrating a method for limiting the maximum operational swing speed of a swing device according to the present disclosure. [Figure 5] FIG. 5 is a flow diagram illustrating a method for determining the moment of inertia of a swinging device according to the present disclosure. [Figure 6] FIG. 6 is a flow chart illustrating a further embodiment of the method of FIG. [Figure 7] FIG. 7 is a flow chart illustrating a method for determining the static moment of inertia of a swinging device according to the present disclosure. [Figure 8] FIG. 8 is a flow chart illustrating a further embodiment of the method of FIG. [Figure 9] FIG. 9 is a graph illustrating the relationship between the position of a swing device component and the maximum allowable swing speed, in accordance with the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] 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 subsequent 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 can be made in the function and arrangement of elements, including combining features from different embodiments, 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, it will be understood by those skilled in the art 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.

[0014] It should also be noted that the embodiments may be described as a process that is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. While a flowchart may describe operations as a sequential process, many operations may be performed in parallel or simultaneously. Additionally, the order of operations may be rearranged. A process is terminated when the operation is completed, 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 to the function's calling function or main function. Furthermore, 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 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 permanent storage devices, optical storage devices, wireless channels, and various other media that can store, contain, or convey instructions and / or data.

[0015] 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, 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, 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 communicated, forwarded, or transmitted via any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0016] It should be understood that the following disclosure provides many different embodiments or examples for implementing different features of the various embodiments. Specific examples of components and arrangements are described below to simplify the disclosure. These are, of course, merely examples and are not intended to be limiting. Furthermore, the present disclosure may repeat reference numerals and / or letters in the various examples. This repetition is done for purposes of brevity and clarity and does not, in itself, dictate a relationship between the various embodiments and / or configurations discussed. Furthermore, forming a first feature above or on a second feature in the following description may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments 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.

[0017] FIG. 1 illustrates one embodiment of a system 9 comprising a work vehicle 10, in this case, a mining machine. The work vehicle 10 may be any suitable type of work vehicle 10, including multipurpose work vehicles such as miners, backhoes, loaders, dozers, shovels, fellers, harvesters, material handling equipment, and other such work vehicles. The work vehicle 10 comprises a swivel gear 11 and may comprise a swivel base 13. The swivel gear 11 comprises an arm assembly 14. The swivel gear 11 may comprise a body 12. The swivel base 13 may comprise an undercarriage 32 and / or a platform. The undercarriage 32 may comprise wheels or tracks 20. The 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.

[0018] 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 comprise a slip ring or a swivel ring. Rotation of the swivel device 11 relative to the swivel base 13 may be actuated using a swivel actuator 30. The swivel actuator 30 may comprise a hydraulic motor or a hydraulic swivel.

[0019] The swivel device 11 is rotatable about the swivel axis 33. The swivel device 11 can rotate 360 ​​degrees relative to the swivel base 13 around the swivel mount 31 and / or the swivel axis 33. The swivel axis 33 may be perpendicular to the swivel base 13 when the work vehicle 10 is on a horizontal plane, and / or may be perpendicular to the horizontal plane or the ground. 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 at the swivel mount 31 relative to the swivel base 13.

[0020] The arm apparatus 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 a first end of the stick 17. The tool 15 may be connected to the arm apparatus 14. The tool 15 may be pivotally attached to the stick 17 at a second end of the stick 17. The arm apparatus 14 may include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm apparatus 14 may include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm apparatus 14 may include a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm apparatus 14 may include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[0021] 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, de-mover, felling head, mulcher, or rake. The tool 15 may also include 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 pressurized hydraulic fluid, water, or the like.

[0022] The work vehicle 10 may be operable, configurable, and / or have at least one configuration. A configuration may refer to one or more of a swing gear 11 measurement, a swing base 13 measurement, a boom 16 measurement, a stick 17 measurement, a body 12 measurement, a cab 8 measurement, a tool 15 measurement, and / or a type of tool 15. The aforementioned measurements may be dimensional measurements and / or weight measurements. Dimensional measurements may be length, width, depth, area, and / or volume. Weight measurements may be weight or mass.

[0023] The work vehicle 10 may be orientable to and / or may include component positions. The component positions may include a boom 16 position, a stick 17 position, and / or a tool 15 position. The positions may be defined by the angle of the component. The positions may be defined by the extension of the cylinder of the component. The component positions may include an arm assembly 14 position, or a linkage position. Each configuration of the work vehicle 10 may have the capability of having multiple different component positions.

[0024] The boom 16 may include a boom axis 35. The boom axis 35 may be an axis parallel to the direction along which the boom 16 extends for 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 along which the stick 17 extends for 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 the position of a component. Global angles, in which various axes are measured relative to the horizontal, may be used to define the position of a component.

[0025] The boom, stick, and tool hydraulic actuators 18, 19, 21 may each include a hydraulic cylinder and a piston rod. Hydraulic fluid may be supplied to the actuator to displace the rod relative to the cylinder. The boom hydraulic actuator 18 may include a boom hydraulic piston rod (not shown). The stick hydraulic actuator 19 may include a stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 are extended, the position of the component may change. A boom hydraulic piston rod extension and / or a stick hydraulic piston rod extension may be used to define the component position.

[0026] FIG. 2 provides a plan view of the work vehicle 10 of FIG. 1 , with the pivot axis 33 shown as a dot. The work vehicle may have a reference travel axis 43. The reference travel axis 43 may be substantially horizontal to the ground 33, may be coplanar with the horizontal, or may pass through and / or be perpendicular to the pivot axis 33. The reference travel axis 43 may be parallel to the direction in which the work vehicle travels when the tracks 20 are simultaneously operated with the same input. The reference travel axis 43 may be parallel to the direction in which the work vehicle 10 travels when a forward command is given.

[0027] The work vehicle 10 may include a swivel axis 45. The swivel axis 45 may be coplanar with the horizontal and / or may be coplanar with the reference travel axis 43. The swivel axis 45 may be parallel to the extension direction of the arm device 14 (as shown in FIG. 2), may pass through the swivel axis 33, and / or may be perpendicular thereto. The swivel axis 45 may be parallel to the direction the operator faces while sitting in the cab 8.

[0028] The work vehicle 10 may have a turning angle. The turning angle may be defined as the angle measured between the reference travel axis 43 and the turning gear axis 45. When the turning angle is increased or decreased, the turning gear 11 may rotate about the turning axis 33 at a turning speed ω. The turning gear 11 may rotate relative to the turning base 13 at a turning speed ω. The turning gear 11 may rotate in a turning direction (clockwise or counterclockwise) about the turning axis 33. The turning speed ω may be a turning speed that includes the turning direction.

[0029] The work vehicle 10 may include a work vehicle fluid circuit (not shown) around which fluid may be circulated. 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, buttons, or any suitable input device. The at least one input device 6 may be used to operate the work vehicle 10. The work vehicle 10 may be operated to change the position of components. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the position of components may include controlling at least one hydraulic actuator 18, 19, 21 for swinging the arm device 14 and the tool 15. The work vehicle 10 may be operated to increase or decrease the swing angle. 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 device 11 relative to the swing base 13.

[0030] The swing rate ω may be controlled and / or influenced by at least one input device 6. If the input to the at least one input device 6 indicates an increase, the swing rate ω may increase. If the input to the input device 6 indicates a decrease, the swing rate ω may decrease. If a 100% speed input is provided to the at least one input device 6, the swing rate ω may increase toward the maximum operational swing rate of the work vehicle. If a 0% speed input is provided to the at least one input device, the swing rate ω may decrease toward a zero swing rate ω, or the swing rate ω may remain at zero.

[0031] To reduce the swing rate ω, the system 9 may apply the 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 the swing actuator 30. The swing brake 34 applies a braking torque τ b may be applied in the direction opposite to the turning direction. The turning brake 34 may reduce the turning speed ω. The turning brake 34 may reduce the turning speed ω to zero.

[0032] For safety reasons, the system 9 may adjust the rotation speed ω to a predetermined maximum angular stop displacement θ s It may be advantageous for the system 9 to be able to reduce the slewing speed ω to zero within a predetermined maximum angular stop displacement θ s There is a regulatory requirement that the maximum angular stop displacement θ can be reduced to zero within a given s may be a 90 degree angular displacement. It may be required that the system 9 be able to reduce the swing rate ω from a maximum operational swing rate within a predetermined angular displacement to zero. It may be required that the system 9 be able to reduce the swing rate ω from a maximum operational swing rate within 90 degrees angular displacement to zero. It may be required that the system 9 be able to reduce the swing rate ω from a maximum operational swing rate within 90 degrees angular displacement to zero. It may be required that the system 9 be able to reduce the swing rate ω from a maximum operational swing rate within 90 degrees angular displacement to zero. It may be required that the system 9 be able to reduce the swing rate ω from a predetermined maximum angular stop displacement θ regardless of the configuration and / or component position of the work vehicle 10. s It may be required that the angle can be reduced to zero within a predetermined maximum angular stop displacement θ sInstead, a different metric, such as a predetermined maximum stop time, may be used.

[0033] The slewing device 11 includes a moment of inertia J. The moment of inertia J is a physical quantity of the body that represents the resistance of the body to changes in angular velocity. The moment of inertia J is calculated by multiplying the slewing speed ω by a predetermined maximum angular stop displacement θ s The larger the moment of inertia J, the larger the angular displacement required to reduce the swing rate ω to zero, and the greater the swing rate ω within a given maximum angular stop displacement θ s The required turn rate is lower so that it can be reduced to zero within the

[0034] The moment of inertia J is the braking torque τ b and the angular deceleration experienced during braking can be linked by the following equation: τ b =Jα

[0035] where α is the angular deceleration, which is the rate of change of the turning speed ω.

[0036] The moment of inertia J about an axis may be defined as the sum of the products obtained by multiplying the mass of each particle of material in a given body by the square of its distance from the axis. The moment of inertia J of the swivel device 11 may be higher if a tool 15 having a larger mass is attached to the arm device 14, and may be lower if a tool 15 having a smaller mass is attached to the arm device 14. The moment of inertia J of the swivel device 11 may be higher if the position of the components is such that the arm device 14 extends a longer distance from the pivot axis 33, and may be lower if the position of the components is such that the arm device 14 extends a shorter distance from the pivot axis 33. The moment of inertia J may constantly change when the work vehicle 10 is in use, and therefore is not a known design parameter of the work vehicle 10.

[0037] System 9 may include a control system 50 that may be configured to implement the methods of the present disclosure. As shown in FIG. 3 , control system 50 may include a controller 51 that 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, etc. Processing unit 55 may include any suitable processor capable of executing instructions stored in memory, such as a microprocessor, uniprocessor, multiprocessor, etc. Controller 51 may further include a graphics processing unit for rendering objects for viewing on a display 57 of control system 50. The controller 51 may also communicate with at least one work vehicle communication module 59 via a wired or wireless network 63 (Ethernet, fiber optics, satellite communication network, broadband communication network, cellular, Bluetooth, etc.) for transferring data to and from an external computing system 61. The external computing system 61 may include a computing system, processor, server, memory, database, control system, etc.

[0038] 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 the boom, stick, and tool hydraulic actuators 18, 19, 21, a swing actuator 30, and a swing brake 34.

[0039] The system 9 may include at least one sensor 7. The at least one sensor 7 may include one or more of a turn 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. 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 a turn angle sensor 71, if possible.

[0040] The controller 51 may be communicatively connected (via wired or wireless connections) to the power unit and either the at least one system actuator 4 and / or the at least one sensor 7 for providing control signals thereto and receiving sensor signals therefrom to control operation of the work vehicle 10. The controller 51 may communicate with the input device 6 to receive input and control the work vehicle 10. The input device 6 may communicate with the controller 51 to control actuation of the swing actuator 30 and / or the swing brake 34 to adjust the swing speed ω and / or adjust the swing angle of the swing gear 11. The input device 6 may increase or decrease the swing speed ω of the swing gear 11 relative to the swing base 13.

[0041] The controller 51 may be communicatively coupled to the at least one sensor 7 and the at least one system actuator 4 to receive operating status data indicative of at least one operating status of the work vehicle 10. The controller 51 may process the received operating status data to determine further operating status data and may store the operating status data on the memory 53. The at least one operating status and the operating status data may include at least one of the following: - the turning angle of the work vehicle 10 relative to the reference driving axis 43 (as shown in Figure 2). The control system 50 may comprise a turning angle sensor 71 for determining the turning angle of the work vehicle 10. 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. Position of a component of the work vehicle 10. The control system 50 may include at least one component position sensor 75 for determining the position of a component of the work vehicle 10. The at least one component position sensor 75 may be mounted on 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 on 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 component position sensor 75 may include at least one inertial measurement unit (IMU) mounted on 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 mounted on the swinging 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 stick 17 and / or tool 15. 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. Boom and / or stick angle of the work vehicle 10. The control system 50 may include component position sensors 75, such as an IMU, for determining the boom and / or stick angle of the work vehicle 10. - Extension of the boom and / or stick hydraulic piston rods of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining the extension of the boom and / or stick hydraulic piston rods of the work vehicle 10. Boom head end pressure of the work vehicle 10. The control system 50 may include a boom pressure sensor 77 in 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 at least one input device 6, may be stored in 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, may be stored in memory 53, and / or may be estimated based on changes in component movement and / or acceleration upon application of 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. A 0% input to the at least one input device 6 is the maximum braking torque τ applied by the swing brake 34. b、max This can result in: - the operating torque τ of the swing actuator 30 of the work vehicle 10 a Operating torque τ a may be input by an operator via at least one input device, stored in memory 53, and / or 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 can be determined according to the methods of the present disclosure. -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 and / or may be stored on memory 53. The predetermined maximum angular stop displacement θ s may be set by regulations and / or safety requirements.

[0042] Operating condition data collected by control system 50 may be transferred to an external computing system 61, which may perform the methods of the present disclosure. Thus, control system 50 may be considered in the present disclosure to comprise an external computing system 61, which may have instructions stored thereon for performing the methods disclosed herein, in a manner similar to controller 51.

[0043] As shown in FIG. 4, the method for operating the work vehicle 10 includes determining the moment of inertia J of the swing device 11, determining the maximum allowable swing speed ω of the swing device 11 rotating about the swing axis 33, and max and determining the maximum operating slewing speed of the slewing device 11 as the maximum allowable slewing speed ω max The maximum allowable turning speed ω max is the determined moment of inertia J, and the predetermined maximum angular stop displacement θ s The method is performed by a control system 50.

[0044] Maximum allowable turning speed ω max is determined based on the determined moment of inertia J, from which the slewing device 11 reaches a predetermined maximum angular stop displacement θ s The maximum allowable turning speed ω can be determined as the turning speed ω that can be reduced to zero within the max is the appropriate maximum allowable turning speed ω maxTo find the moment of inertia J and the maximum angular stop displacement θ s can be determined by comparing the moment of inertia J with a look-up table, which provides a given moment of inertia J and a given maximum angular stop displacement θ s Appropriate maximum allowable turning speed ω max can be prepared through experimentation and / or empirical methods to find

[0045] Maximum allowable turning speed ω max is the maximum braking torque τ of the work vehicle 10 for slowing down the rotation of the swing device 11 around the swing axis 33. b、max The maximum allowable turning speed ω may be further based on max is the determined moment of inertia J and maximum brake torque τ according to the following formula: b、max and a predetermined maximum angular stop displacement θ s It can be calculated using

[0046]

number

[0047] Maximum allowable turning speed ω max is the maximum allowable turning speed ω max To find the moment of inertia J, the braking torque τ b and a predetermined maximum angular stop displacement θ s The moment of inertia J and the brake torque τ are determined by comparing them with the look-up table. b and a predetermined maximum angular stop displacement θ s The look-up table can be used to determine the moment of inertia J and the braking torque τ b and a predetermined maximum angular stop displacement θ s Appropriate maximum allowable turning speed ω max can be prepared through experimental and empirical methods to find

[0048] 5, the moment of inertia J of the swing gear 11 may be determined based on position data, movement or acceleration data and / or configuration data of components of the work vehicle 10. The moment of inertia J of the swing gear 11 may be determined based on sensor data from at least one sensor 7.

[0049] The moment of inertia J of the swing gear 11 may be determined based on work vehicle component position data from at least one component position sensor 75. The work vehicle component position data may include boom position, stick position, and / or tool position data from at least one component position sensor 75. The control system 50 may use the work vehicle component position data to calculate and / or model the moment of inertia J. The control system 50 may input the component position data into a simulation, computational model, and / or digital twin of the work vehicle 10. The control system 50 may calculate and / or model the moment of inertia J of the simulation, computational model, and / or digital twin. The control system 50 may calculate and / or model the moment of inertia J by summing the products obtained by multiplying the mass of each material particle in the swing gear 11 by the square of its distance from the swing axis 33. The control system 50 may estimate the moment of inertia J using the following equation: J=m·r 2

[0050] where m is the mass of each component of the swing gear and r is the distance of that component from the swing axis 33. The distance r may be calculated based on the dimensions of the work vehicle 10 and the location of the components. The control system 50 then applies the calculated and / or modeled moment of inertia J to the maximum allowable swing speed ω maxThe moment of inertia J may be determined using component position data by comparing the component position data to a lookup table to find the moment of inertia J. The lookup table may be prepared through experimentation and empirical methods to find the correct moment of inertia J for a given component position data.

[0051] The moment of inertia J of the swing device 11 may be determined based on motion or acceleration data from at least one motion or acceleration sensor 73. The moment of inertia J of the swing device 11 may be determined using torque data. The torque data may be data related to the torque applied to the work vehicle to increase or decrease the swing speed ω. The torque may be determined based on the braking torque τ of the swing brake 34. b and / or the operating torque τ of the rotation actuator 30 a The torque data can be calculated by adding an arbitrary resisting torque τ f The torque data may include a total torque τ T The moment of inertia J can be expressed as the total torque τ applied at a particular time. T,t is the acceleration α at that time t The moment of inertia J can be calculated using an average value when the turning speed ω of the work vehicle 10 is changed by the total torque from a first turning speed to a second turning speed within the turning angle.

[0052] The moment of inertia J of the work vehicle 10 may be determined based on configuration data of the work vehicle 10. The configuration data may indicate the dimensions and / or weight of at least a portion of the swing assembly 11. The configuration data may indicate the configuration of the work vehicle 11. At least a portion of the configuration data may be obtained from user input. The user may input the type of tool 15 attached to the arm assembly 14 and / or the weight of the tool 15 into the input device 6. A variety of pre-defined configurations may be provided for the user to select. The user may be able to select one of the pre-defined configurations using at least one input device 6, such as the display 57. The user may be able to create a custom configuration if the work vehicle 10 is to be used in a non-standard configuration and / or if the user uses a configuration not envisioned by the manufacturer of the work vehicle 10.

[0053] The control system 50 may input the configuration data into a simulation, computational model, and / or digital twin of the work vehicle 10. The control system 50 may calculate and / or model the moment of inertia J of the simulation, computational model, and / or digital twin. The control system 50 may calculate and / or model the moment of inertia J by multiplying the mass of each particle of material in the work vehicle 10 by the square of its distance from the pivot axis 33 and summing the products obtained. The control system 50 may then apply the calculated and / or modeled moment of inertia J to the maximum allowable pivot speed ω max can be used as the determined moment of inertia J to determine

[0054] The moment of inertia J may be determined using artificial intelligence and / or machine learning techniques, such as neural networks and / or deep learning. The neural network may be trained using training data including component position data, movement or acceleration data, configuration data, and moment of inertia data. The training data may include input data including component position data, movement or acceleration data, and configuration data. The training data may include target data including moment of inertia data. Because work vehicle behavior may change over time, the artificial intelligence and / or machine learning techniques may take such changes into account when training with new data.

[0055] As shown in FIG. 6 , the method includes changing the configuration and / or component positions of the work vehicle 10, redetermining the moment of inertia J to determine a predetermined moment of inertia J2 of the slewing device 11 in the changed configuration and / or changed component positions, and determining a maximum allowable slewing speed ω of the slewing device 11. max and updating the maximum operating slewing speed of the slewing device 11 to the updated maximum allowable slewing speed ω max、2 The updated maximum allowable turning speed ω may further be limited to max,2 is the re-determined moment of inertia J2 and the predetermined maximum angular stop displacement θ s may be based on

[0056] The method may include redetermining the moment of inertia J at specified time intervals. The moment of inertia J may be redetermined every 0.1 seconds, every 1 second, or every 10 seconds. The moment of inertia J may be redetermined after an input is received by the controller 51. The moment of inertia J may be dynamically redetermined and / or updated.

[0057] As shown in FIG. 7, the determined moment of inertia is the static moment of inertia J, which includes a reference value determined based on the configuration of the slewing device 11. static Any given configuration of a work vehicle may have a single static moment of inertia J static The static moment of inertia Jstatic may be the maximum possible moment of inertia for the slewing device configuration. Static moment of inertia J static may be determined as the moment of inertia when the arm assembly 14 of the work vehicle 10 is at maximum extension and / or the tool 15 of the work vehicle 10 is at maximum operating distance from the pivot axis 33 of the tool 15. The method calculates the static moment of inertia J static and / or maximum allowable turning speed ω max The method may further include the step of saving the static moment of inertia J in a data file in memory 53 corresponding to the particular configuration. static may not be updated when the position of a component changes. The static moment of inertia J static is the maximum allowable rotation speed ω for a given configuration, regardless of the position of the components. max can be used to limit

[0058] Static moment of inertia J static may be determined based on configuration data of the work vehicle 10 in the same manner as described above in connection with determining the moment of inertia J.

[0059] The method may further include a user-initiated calibration process. static may be determined based on sensor data from at least one sensor 7 during a user-initiated calibration process. The user-initiated calibration process may include determining the moment of inertia J and performing an angular displacement after extending the arm device 14 of the work vehicle 10 to a maximum extension and / or moving the tool 15 of the work vehicle 10 to a maximum distance from the pivot axis 33 of the work vehicle 10. The static moment of inertia J staticmay be determined based on sensor data from at least one sensor 7 during a user-initiated calibration process in the same manner as described above in connection with determining the moment of inertia J. The user-initiated calibration process may require the user to input a calibration command to the control system 50, which causes the control system 50 to extend the arm arrangement 14 to maximum extension and then perform an angular displacement while sensor data is recorded. The user-initiated calibration process may require the user to follow prompts to extend the arm arrangement 14 to maximum extension and then perform an angular displacement while the control system 50 records sensor data. The method may determine the static moment of inertia J static to a data file in memory 53 corresponding to the particular configuration.

[0060] As shown in Figure 8, the maximum allowable turning speed ω max may be further based on position data of work vehicle components. max is the maximum allowable turning speed ω max A single static moment of inertia J is used to limit static The maximum allowable rotation speed ω may be further based on component position data without changing the value of ω. max By using component position data to determine J, changes in the moment of inertia J caused by changing the position of the component can be taken into account without recalculating the moment of inertia (which can be computationally expensive).

[0061] As shown in FIG. 9, component position data such as stick angle 41 and / or boom angle 39 may be used to determine the maximum allowable rotation speed ω max When the stick angle 41 and / or boom angle 39 are adjusted, the position of the arm arrangement 14 changes and therefore the moment of inertia J will be affected. The arm arrangement 14 can be adjusted to extend further from the pivot axis 33, thereby increasing the moment of inertia J. Maximum allowable swing speed ω max is the maximum allowable turning speed ω maxBy using the stick angle 41 and / or boom angle 39 as direct input in determining the moment of inertia, the moment of inertia may be adjusted based on changes in the stick angle 41 and / or boom angle 39 without having to be recalculated.

[0062] As shown in Figure 9, as the stick angle 41 increases, the maximum allowable turning speed ω max may increase. Increasing the stick angle 41 may reduce the extension of the arm assembly 14 of the work vehicle 10 and / or reduce the distance of the tool 15 from the pivot axis 33. This reduction may reduce the moment of inertia J. The maximum allowable swing speed ω max When the moment of inertia J is higher, the rotational speed of the slewing device 11 is still higher than the predetermined maximum angular stop displacement θ s It may be possible to decelerate to zero within the maximum allowable turning speed ω max may be increased accordingly.

[0063] Above a certain stick angle, the maximum allowable turning speed ω max may be at an upper limit beyond which it will not be increased. The upper limit may be set by safety considerations and / or vehicle limitations. Below a certain stick angle, the maximum allowable turn rate ω max can be at a lower limit beyond which it cannot be reduced. The lower limit is the static moment of inertia J static From this, the swivel device 11 is set to a predetermined maximum angular stop displacement θ s The maximum allowable turning speed ω can be set as the turning speed ω that can be reduced to zero within the max The stick angle 41, which starts to increase, stops increasing, and the increasing speed is given by the static moment of inertia J static , maximum angular stop displacement θ s , and the appropriate maximum allowable turning speed ω for the stick angle 41 max can be selected through experimentation and empirical methods to find

[0064] As shown in FIG. 9, component position data such as boom angle 39 may be used to determine the maximum allowable swing speed ω maxAs shown, as the boom angle 39 increases, the maximum allowable rotation speed ω max may decrease, then remain constant, then increase. As the boom angle 39 increases from a small angle, the extension of the arm assembly 14 of the work vehicle 10 may increase and / or the distance of the tool 15 from the pivot axis 33 may increase. This increase may increase the moment of inertia J. A lower maximum allowable swing speed ω max is the maximum angular stop displacement θ of the swivel device 11. s The maximum allowable turning speed ω may be required to be able to decelerate to zero within max may be decreased accordingly. Increasing the boom angle 39 by an angle of about 90 degrees may not affect the distance of the extension of the arm arrangement 14 and / or the tool 15 of the work vehicle 10 from the pivot axis 33. This may keep the moment of inertia J approximately constant. max is the maximum angular stop displacement θ of the swivel device 11. s The maximum allowable turning speed ω can be reduced to zero within max may be kept constant accordingly. As the boom angle 39 increases from about a 90 degree angle, the extension of the arm assembly 14 of the work vehicle 10 may decrease and / or the distance of the tool 15 from the pivot axis 33 may decrease. This increase may decrease the moment of inertia J. The maximum allowable swing speed ω max becomes higher, the swivel device 11 still rotates at a predetermined maximum angular stop displacement θ s It may be possible to decelerate to zero within the maximum allowable turning speed ω max may be increased accordingly.

[0065] Below a certain boom angle 39 and above a certain boom angle 39, the maximum allowable rotation speed ω max may be an upper limit beyond which it will not be increased. The upper limit may be set by safety considerations and / or vehicle limitations. Between two particular boom angles 39, the maximum allowable swing speed ω max can be at a lower limit beyond which it cannot be reduced. The lower limit is the static moment of inertia J staticFrom this, the swivel device 11 is set to a predetermined maximum angular stop displacement θ s The maximum allowable turning speed ω can be set as the turning speed ω that can be reduced to zero within the max The boom angle 39, which starts to increase, stops increasing, and the increasing speed are given by the static moment of inertia J static , maximum angular stop displacement θ s , and the appropriate maximum allowable rotation speed ω for the boom angle 39 max can be selected through experimentation and empirical methods to find

[0066] The method includes the step of: controlling the control system 50 to rotate the swivel device 11 about the swivel axis 33 at a maximum operating swivel speed ω max The method may further include rotating the swivel device 11 about the pivot axis 33 at a maximum operational swivel speed ω. max The invention may further include overriding a user command to rotate at a turn rate ω greater than the maximum operational turn rate ω. max receiving a user input to perform a rotation at a rotation speed ω greater than a maximum manipulated rotation speed ω; max outputting a command to the swing actuator 30 to perform a rotation at a swing speed ω of: [Industrial Applicability]

[0067] Therefore, the method 50 can determine the moment of inertia J of the slewing device 11 and use this value to calculate the appropriate maximum allowable slewing speed ω max By using the moment of inertia J of the current configuration of the work vehicle 10, the appropriate maximum allowable turning speed ω for this particular configuration is determined. max is determined. Due to the potentially higher moment of inertia J of other configurations, excessive restriction of the rotation speed ω does not occur. Therefore, the maximum allowable rotation speed ω max is based on the current configuration and can therefore always be maximized. This ensures that the work vehicle 10 can achieve a predetermined maximum angular stopping displacement θ across different configurations of the work vehicle 11.s In addition, the turning performance of the work vehicle 11 is not unduly affected because it is always at the maximum safe speed for the current configuration.

[0068] The method re-determines the moment of inertia J and the maximum allowable turning speed ω based on the change in position of the components of the work vehicle 11. max , the appropriate maximum allowable rotation speed ω for this particular configuration and component position. max is determined. Excessive restriction of the rotation speed ω does not occur due to the potentially higher moment of inertia J of the positions of other components. Therefore, the maximum allowable rotation speed ω max is based on the current component position and can therefore always be maximized. This ensures that the work vehicle 10 can achieve a predetermined maximum angular stopping displacement θ across different component positions of the work vehicle 11. s In addition, the turning performance of the work vehicle 11 is maximized because it is always at the maximum safe speed for the current component position.

[0069] The method is static moment of inertia J static This avoids recalculating the moment of inertia J, which can be computationally expensive if the maximum allowable turning speed ω is included in determining the maximum allowable turning speed ω. max In embodiments where is further based on work vehicle component position data, the appropriate maximum allowable swing rate ω for this particular configuration and component positions is max is determined without recalculating the moment of inertia J, which can be computationally expensive.

Claims

1. 1. A method for operating a work vehicle having a swivel device rotatable about a swivel axis, the swivel device comprising an arm device having a boom and a stick, the method comprising: determining a moment of inertia of the slewing device; The maximum allowable rotation speed of the rotation device rotating around the rotation axis is the determined moment of inertia, and determining based on a predetermined maximum angular stop displacement; and limiting a maximum operational swing speed of the swing device to the maximum allowable swing speed.

2. The method of claim 1 , wherein the maximum allowable swing speed is further based on a determined braking torque of the work vehicle for slowing rotation of the swing device about the swing axis.

3. The method of claim 1 or 2, wherein the work vehicle includes at least one sensor, and the moment of inertia of the swing assembly is determined based on sensor data from the at least one sensor.

4. 4. The method of claim 3, wherein the at least one sensor comprises at least one component position sensor mounted to the swing device, and the moment of inertia of the swing device is determined based on work vehicle component position data from the at least one component position sensor.

5. 5. The method of claim 3 or 4, wherein the at least one sensor comprises at least one movement or acceleration sensor mounted on the swivel device, and the moment of inertia of the swivel device is determined based on movement or acceleration data from the at least one movement or acceleration sensor.

6. The method of any of claims 3 to 5, wherein the at least one sensor comprises one or more of an inertial measurement unit (IMU), an accelerometer, a gyroscope, a magnetometer, and a pressure sensor.

7. The method according to any one of claims 1 to 6, wherein the moment of inertia of the slewing gear is determined based on configuration data of the work vehicle indicating dimensions and / or weight of at least a part of the slewing gear.

8. The method of claim 7 , wherein the configuration data includes one or more of swing gear measurements, boom measurements, stick measurements, body measurements, cab measurements, tool measurements, and tool type.

9. The method according to any one of claims 1 to 8, wherein the determined moment of inertia is a static moment of inertia that includes a reference value determined based on the configuration of the work vehicle.

10. 10. The method of claim 9, wherein the static moment of inertia is determined as the inertia when the arm arrangement of the work vehicle is at maximum extension and / or when a tool of the work vehicle is at maximum operating distance from the pivot axis of the tool.

11. 11. The method of claim 9 or 10, wherein the work vehicle includes at least one component position sensor mounted to the swing device, and the maximum allowable swing speed is further based on work vehicle component position data from the at least one component position sensor.

12. The method includes, by the control system: changing the configuration and / or component positions of the work vehicle; redetermining the moment of inertia of the slewing device with the changed configuration and / or changed component positions; The maximum allowable rotation speed of the rotation device is the redetermined moment of inertia, and updating based on the predetermined maximum angular stop displacement; and The method of any preceding claim, further comprising limiting the maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

13. The method includes, by the control system: rotating the swivel device about the swivel axis at a swivel speed less than or equal to the maximum operational swivel speed; and / or The method of any preceding claim, 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 control device for controlling a work vehicle equipped with a swivel device that can rotate around a swivel axis, the swivel device including an arm device having a boom and a stick, the control device comprising: determining a moment of inertia of the swivel device; The maximum allowable rotation speed of the rotation device rotating around the rotation axis is the determined moment of inertia, and determining based on a predetermined maximum angular stop displacement, and a control device configured to limit a maximum operational swing speed of the swing device to the maximum allowable swing speed.

15. A work vehicle, a swivel device rotatable about a swivel axis, the swivel device comprising an arm device having a boom and a stick; A work vehicle comprising: a control system comprising the control device according to claim 14.

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