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 device (11) rotatable about a swing axis (33), the swing device (11) including an arm device (14) having a boom (16) and a stick (17). The method includes determining a speed profile (101) of a maximum allowable swing speed of the swing device (11) rotating about the swing axis (33) by determining a maximum initial swing speed, determining a maximum safe swing speed for stopping rotation of the swing device (11) within a predetermined maximum angular stop displacement from a safe time and / or displacement, and determining a deceleration ramp (103) of the maximum allowable swing speed. The deceleration ramp (103) is for reducing the maximum initial swing speed to the maximum safe swing speed by the safe time and / or displacement. The method further includes limiting the maximum operating swing speed of the swing device (11) to the speed profile (101) by the control system (50).

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, particularly excavators, must be able to perform a 180-degree turn with 100% control input and then stop within a specified distance. Previously, this regulation required that this be achieved with the most common configuration of the work vehicle. 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 device of a work vehicle, such as a mining machine body, so that it can stop within a safe distance and / or angle after making a predetermined swing. A control system is configured to limit the swing speed to a speed profile that is initially at a high value and then decreases to a safe speed near the end of the predetermined swing. The safe speed may be a low enough value to ensure that the swing device can stop within the safe distance. The speed profile may vary over time, measured from the start of the swing, or over the angle rotated.

[0007] The present disclosure provides a method for operating 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 method includes determining a speed profile of a maximum allowable swing speed of the swing device rotating about the swing axis by determining a maximum initial swing speed, determining a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement from a safe time and / or displacement, and determining a deceleration ramp of the maximum allowable swing speed. The deceleration ramp is for reducing the maximum initial swing speed to the maximum safe swing speed over the safe time and / or displacement. The method further includes limiting the maximum operating swing speed of the swing device to the speed profile by a control system.

[0008] Also provided is 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 limit the maximum operational swing speed of the swing device to a speed profile of a maximum allowable swing speed of the swing device rotating about the swing axis. The speed profile includes a maximum initial swing speed, a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement from a safe time and / or displacement, and a deceleration ramp of the maximum allowable swing speed. The deceleration ramp is for reducing the maximum initial swing speed to the maximum safe swing speed over the safe time and / or displacement.

[0009] There is also provided 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. [Brief explanation of the drawings]

[0010] 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:

[0011] [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 4A] FIG. 4A is a graph showing maximum velocity profile as a function of angular displacement in accordance with the present disclosure. [Figure 4B] FIG. 4B is a graph illustrating a time-varying maximum velocity profile according to the present disclosure. [Figure 5A] FIG. 5A is a graph illustrating maximum, high inertia configuration, and low inertia configuration velocity profiles, respectively, according to an embodiment of the present disclosure. [Figure 5B]FIG. 5B is a graph illustrating maximum, high inertia configuration, and low inertia configuration velocity profiles, respectively, according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] The swivel device 11 is rotatable about the swivel axis 33. The swivel device 11 may be able to 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 surface, and / or may be perpendicular to the horizontal surface 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The work vehicle 10 may be operable, configurable, and / or provided with multiple configurations having different inertia, including a configuration having the largest moment of inertia, in which the tool 15 of the type may be a tool having a larger mass than other available tools, and / or the arm assembly 14 may include components of greater length, weight, and / 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 an angular displacement of 90 degrees. It may be required that the system 9 be able to reduce the rotation rate ω from a maximum operational rotation rate within a given angular displacement to zero. It may be required that the system 9 be able to reduce the rotation rate ω from a maximum operational rotation rate within 90 degrees of angular displacement to zero. It may be required that the system 9 be able to reduce the rotation rate ω from a maximum operational rotation rate within 90 degrees of angular displacement to zero. It may be required that the system 9 be able to reduce the rotation rate ω from a maximum operational rotation rate within 90 degrees of angular displacement to zero. safety It may be required that the rotation speed ω can be reduced to zero after implementing the safe angular displacement θ safety may be 180 degrees. safetyThe requirement that the turning speed ω can be reduced to zero after safety At the end of the s The system 9 ensures that the turning speed ω is adjusted to a predetermined maximum angular stopping 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 s Instead, 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:

[0035] τ b =Jα 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 within 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 boom head end pressure may be indicative of the mass of the arm assembly 14. The boom head end pressure may be indicative of the moment of inertia J of the swing assembly 11. The control system 50 may include a boom pressure sensor 77, which may be in 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 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 6, 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 6, 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. - maximum initial turning speed ω of the work vehicle 10 max、init . Maximum initial turning speed ω max、init may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The maximum initial turn speed ω max、init may be set by safety considerations and / or vehicle limitations. - Maximum safe turning speed ω of the work vehicle 10 max、safety . Maximum safe turning speed ω max、safety may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The maximum safe turning speed ω max、safety can be determined according to the methods of the present disclosure. A speed profile 101 of the work vehicle 10. The speed profile 101 may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The speed profile 101 may 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 6 and / or may be stored on the memory 53. s may be set by regulations and / or safety requirements. -Safety angular displacement θ safety Safe angular displacement θ safety may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. safetymay be set by regulations and / or safety requirements. - Ramp-down start displacement θ ramp Ramp-down start displacement θ ramp may be input by an operator via at least one input device 6 and / or stored in the memory 53. ramp can be determined according to the methods of the present disclosure. - Time t measured from the start of the implementation of the angular displacement. Time t can be measured by the control system. -Safety time safety . safety time t safety may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The safety time t safety may be determined according to the methods of the present disclosure. - ramp-down start time t ramp Ramp-down start time t ramp may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The ramp-down start time t ramp can be determined according to the methods of the present disclosure.

[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] The method for operating the work vehicle 10 is to adjust the maximum allowable rotation speed ω of the rotation device 11 that rotates around the rotation axis 33. max and limiting the maximum operational swing speed of the swing device 11 to the speed profile 101 by the control system 50.

[0044] In general, the velocity profile 101 may be expressed as a maximum allowable swing velocity ω of the swing device 11 over a particular displacement or time. max and the slewing device 11 rotates at this maximum allowable slewing speed ω max It works with the following:

[0045] As shown in FIGS. 4A and 4B, the velocity profile 101 has a maximum initial turning velocity ω max、init , maximum safe turning speed ω max、safety , and the maximum allowable turning speed ω max The maximum safe turning speed ω is determined by determining the deceleration ramp 103. max、safety is the safe angular displacement θ safety and / or safety time t safety A predetermined maximum angular stop displacement θ from s The deceleration ramp 103 is for stopping the rotation of the slewing device 11 within a safe angular displacement θ safety and / or safety time t safety By this, the maximum initial turning speed ω max、init The maximum safe turning speed ω max、safety The purpose is to reduce it to

[0046] Maximum safe turning speed ω max、safety can be determined in a variety of ways.

[0047] If the work vehicle 11 is configurable in multiple configurations, including a maximum inertia configuration, the maximum safe turning speed ω max、safety is the deceleration of the slewing device 11 in the maximum inertia configuration, and the predetermined maximum angular stop displacement θ s The maximum safe turning speed ω max、safety takes into account the deceleration of the slewing device 11 in the maximum inertia configuration, from which the slewing device 11 reaches a predetermined maximum angular stopping displacement θ sThe deceleration of the swing gear 11 at the maximum inertia configuration may be calculated as the swing speed ω that decelerates to zero within ω. The deceleration of the swing gear 11 at the maximum inertia configuration may be determined by inputting data regarding the maximum inertia configuration into a simulation, computational model, and / or digital twin of the work vehicle 10, and then calculating and / or modeling the deceleration of the swing gear 11 in the simulation, computational model, and / or digital twin. The deceleration of the swing gear 11 at the maximum inertia configuration may be calculated based on the determined moment of inertia of the maximum inertia configuration. The deceleration may be determined by experimentation and / or empirical methods.

[0048] If the work vehicle 11 is equipped with at least one component position sensor 75 mounted on the turning device 11, the maximum safe turning speed ω max、safety may be based on work vehicle component position data from at least one component position sensor 75. The maximum safe turning speed ω max、safety takes into account the position data of the work vehicle components, from which the swing mechanism 11 determines the predetermined maximum angular stop displacement θ s The maximum safe turning speed ω can be determined as the turning speed ω that decelerates to zero within the max、safety is the appropriate maximum safe turning speed ω max、safety To find the maximum angular stop displacement θ, we use the component position data and the given maximum angular stop displacement θ s The look-up table or map may be used to determine the appropriate maximum safe turn speed ω for a given component position. max、safety and a predetermined maximum angular stop displacement θ s can be prepared through experimentation and / or empirical methods to find

[0049] When the work vehicle 11 includes a boom 16, a boom actuator 18, and at least one boom head pressure sensor 77 mounted on the boom actuator 18, the maximum safe swing speed ω max、safety may be based on boom head pressure data from at least one boom head pressure sensor 77. Maximum safe rotation speed ω max、safetyis calculated by taking into account the boom head pressure data, from which the swing device 11 reaches a predetermined maximum angular stop displacement θ s The maximum safe turning speed ω can be determined as the turning speed ω that decelerates to zero within the max、safety is the appropriate maximum safe turning speed ω max、safety To find the maximum angular stop displacement θ, the boom head pressure data and the given maximum angular stop displacement θ s can be determined by comparing the angle θ to a look-up table or map, which may be used for a given boom head pressure and a given maximum angular stop displacement θ s Appropriate maximum safe turning speed ω max、safety can be prepared through experimentation and / or empirical methods to find

[0050] The velocity profile 101 may include a velocity profile that varies with angular displacement θ and / or time t, as described below.

[0051] As shown in FIG. 4A, the velocity profile 101 is a graph of the maximum allowable swing velocity ω max The angular displacement θ may be determined by the turning angle sensor 71. The velocity profile 101 may include a safe displacement θ safety and the ramp-down start displacement θ ramp The deceleration ramp 103 may include a maximum allowable turning speed ω max , the ramp-down start displacement θ ramp and safe displacement θ safety The maximum initial turning speed ω max、init Maximum safe turning speed ω max、safety can be reduced to

[0052] Ramp-down start displacement θ ramp is the maximum initial turning speed ω max、init , maximum safe turning speed ω max、safety , the deceleration of the slewing device 11, and the safe displacement θ safety The ramp-down start displacement θ ramp is calculated by taking into account the deceleration of the slewing device 11, and then calculating the slewing speed from the deceleration.safety Maximum initial turning speed ω before max、init Maximum safe turning speed ω max、safety The ramp-down start displacement θ can be determined as the maximum possible angular displacement θ that can be reduced to ramp is the turning speed ω, regardless of the vehicle configuration used, and the safe displacement θ safety Maximum initial turning speed ω before max、init Maximum safe turning speed ω max、safety The ramp-down start displacement θ can be determined as the maximum possible angular displacement θ that can be reduced to ramp may be based on the maximum deceleration of the swing device 11 in the maximum inertia configuration. ramp may be based on a deceleration of the swing device 11 that is less than the maximum deceleration so that a smoother deceleration is experienced by the user. ramp may be determined by experimentation and / or empirical methods across different configurations of work vehicle 11.

[0053] As shown in FIG. 4B, the velocity profile 101 is a graph of the maximum allowable turning velocity ω max The speed profile 101 may include a safety time t safety and a ramp-down start time t ramp The maximum allowable turning speed ω max The deceleration ramp 103 of the maximum initial turning speed ω max、init , the ramp-down start time t ramp and safety time t safety Maximum safe turning speed ω between max、safety The maximum allowable turning speed ω max The deceleration ramp 103 of the maximum initial turning speed ω max、init , the ramp-down start time t ramp and safety time t safety Maximum safe turning speed ω between max、safety can be reduced to

[0054] safety time t safety can be determined based on the acceleration of the swinging device 11. safety is the safe displacement θsafety The safety time t safety The safe displacement θ of the swivel device 11 is safety The safety time t can be determined as the time to reach safety may be based on the acceleration of the slewing device 11 in the maximum inertia configuration. safety is the acceleration of the slewing device 11 in the maximum inertia configuration, the safe displacement θ safety This allows the velocity profile 101 to reach a safe displacement θ when the maximum inertia configuration is used. safety Maximum safe turning speed ω max、safety (This means that the maximum safe turning speed ω max、safety However, the maximum inertia configuration is determined by the maximum angular stop displacement θ s (This is important because it may be necessary to stop the vehicle within the safety time t safety is based on the acceleration of the swing device 11 in the maximum inertia configuration, the velocity profile 101 is such that when a configuration other than the maximum inertia configuration is used, the safe displacement θ safety Maximum safe turning speed ω max、safety (This means that the swing device 11 may exceed the maximum safe swing speed ω max、safety From a rotation speed exceeding a predetermined maximum angular stop displacement θ s (This may not be a problem as the system can be stopped within the safety time t safety is the acceleration θ of the swing device 11 in a configuration other than the maximum inertia configuration. safety Considering the above, the time when the slewing device 11 reaches a safe displacement can be determined as the safe time t safety is the velocity profile 101, regardless of its configuration, with a safe displacement θ safety The maximum safe turning speed ω max、safety The safety time t safety may be determined by experimentation and / or empirical methods across different configurations of work vehicle 11.

[0055] Ramp-down start time t ramp is the maximum initial turning speed ω max、init , maximum safe turning speed ωmax、safety , the deceleration of the slewing device 11, and the safety time t safety The ramp-down start time t ramp is calculated by taking into account the deceleration of the slewing device 11, and then calculating the slewing speed ω from the deceleration of the slewing device 11. safety Maximum initial turning speed ω before max、init Maximum safe turning speed ω max、safety The ramp-down start time t can be determined as the latest time t that can be reduced to ramp is the turning speed ω, regardless of the vehicle configuration used, and the safe displacement t safety Previous maximum initial turning speed ω max、init Maximum safe turning speed ω max、safety The ramp-down start time t can be determined as the latest possible time t that can be reduced to ramp may be based on the maximum deceleration of the slewing device 11 in the maximum inertia configuration. ramp may be based on a deceleration of the slewing device 11 that is less than the maximum deceleration so that a smoother deceleration is experienced by the user. ramp may be determined by experimentation and / or empirical methods across different configurations of work vehicle 11.

[0056] 4A and 4B, the deceleration ramp 103 may be a linear deceleration ramp 103. The speed profile 101 begins with a ramp-down start time t ramp and / or displacement θ ramp and safety time t safety and / or displacement θ safety The linear decrease may have a slope based on the deceleration of the swing apparatus 11 at the maximum inertia configuration. Alternatively, the linear decrease may have a slope that is shallower than the deceleration of the swing apparatus 11 at the maximum inertia configuration so that a smoother deceleration is experienced by the user. The slope may be determined by experimentation and / or empirical methods across different configurations of the work vehicle 11.

[0057] FIG. 5A illustrates a generalized maximum velocity profile 101 versus displacement θ and / or time t, including a linear deceleration ramp 103, a high-inertia velocity profile 105 of the swing speed ω of the swing device 11 in a high-inertia configuration, and a low-inertia velocity profile 107 of the swing speed ω of the swing device 11 in a low-inertia configuration. The high-inertia velocity profile 105 and the low-inertia velocity profile 107 may be the respective velocity profiles that would be experienced if a 100% velocity input were provided to at least one input device 6. Both the high-inertia and low-inertia velocity profiles 105, 107 exhibit initial acceleration (represented by a positive slope) before reaching the maximum velocity profile 101. The low-inertia velocity profile 107, being a lower inertia configuration, exhibits a steeper initial slope representing a greater angular acceleration than the high-inertia velocity profile 105, and therefore may achieve a higher angular acceleration. The low-inertia velocity profile 107 may reach the maximum velocity profile 101 before the deceleration ramp 103. The high inertia speed profile 105 may reach the maximum speed profile 101 during the deceleration ramp 103. After reaching the maximum speed profile 101, both the high inertia speed profile 105 and the low inertia speed profile 107 follow the maximum speed profile 101. When the configuration of the work vehicle 10 is changed, different speed profiles may be experienced, of which the high and low inertia speed profiles 105, 107 are two examples.

[0058] The deceleration ramp 103 may be a non-linear deceleration ramp 109. Figure 5B shows a generalized maximum velocity profile 101, a high inertia velocity profile 105, and a low inertia velocity profile 107 versus displacement θ and / or time t when a non-linear deceleration ramp 109 is used. The velocity profile 101 is ramp and / or displacement θ ramp At faster speeds closer to t, as well as at safety time t safety and / or displacement θ safety The non-linear deceleration ramp 109 may decrease at a slower rate closer to the ramp down start time t ramp and / or displacement θ rampMaximum initial turning speed ω before max、init , may allow the slewing device 11 to decelerate at a rate faster than the deceleration rate in the maximum inertia configuration (this is because the ramp-down start time t ramp and / or displacement θ ramp Maximum initial turning speed ω before max、init (This is beneficial because a configuration that can reach t has lower inertia and can therefore decelerate faster.) The non-linear deceleration ramp 109 is ramp and / or displacement θ ramp can be later enabled, so that the maximum initial turning speed ω max、init is possible for longer times t and / or angular displacements θ.

[0059] The control system 50 limits the maximum operating slewing speed of the slewing device 11 to the speed profile 101 by measuring the time t and / or the angular displacement θ from the start of the angular displacement, and calculating the corresponding maximum slewing speed ω from the speed profile 101 corresponding to the current time t and / or the angular displacement θ. max The control system 50 may then select the maximum operational rotation speed as the corresponding maximum rotation speed ω max As the time t and / or angular displacement θ change and / or progress, the control system 50 may set a new corresponding maximum swing velocity ω from the velocity profile 101 to the new current time t and / or angular displacement θ. max The control system 50 may select the maximum operating rotation speed as the new corresponding maximum rotation speed ω max The control system may constantly update the maximum maneuvering turn rate according to the velocity profile 101 as time t and / or angular displacement θ change and / or progress.

[0060] When the slew rate ω is reduced to zero and / or a new angular displacement is initiated, the control system 50 may start measuring the time t and / or the angular displacement θ again from zero. Starting to measure the time t and / or the angular displacement θ again from zero each time a new angular displacement is initiated ensures that the rate is within the safe angular displacement θ. safety Maximum safe turning speed ω towards the end of the execution max、safety Ensure that the information is limited to only that time and not at any other time.

[0061] The control system 50 may determine the velocity profile 101. The velocity profile may be determined external to the control system 50 and uploaded to the memory 53 of the control system.

[0062] 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]

[0063] Thus, the method may limit the maximum operational swing speed of the work vehicle 10 such that the work vehicle 10 does not exceed the safe angular displacement θ safety After carrying out the above, the rotation speed ω is set to a predetermined maximum angular stop displacement θ s By limiting the maximum operational swing speed of the swing device 11 to the speed profile 101, the speed profile 101 can be reduced to zero within the safe angular displacement θ safety The maximum safe turning speed ω max、safety , the work vehicle 10 includes a deceleration ramp 103 up to a safe angular displacement θ safety A safe turning speed is maintained at all times until the end of the turn.

[0064] The method can operate effectively across different approved configurations of work vehicles. max、safety is based on the maximum inertia configuration, the work vehicle 10 will have a safe angular displacement θ safety The maximum safe turning speed ω max、safety is based on work vehicle component position data or boom head pressure data, the work vehicle may calculate a safe angular displacement θ for the current configuration and / or component position. safety A safe turning speed is achieved by the end of ω. max、safety Because is adjusted for the current configuration and / or component locations, performance is not unduly limited due to the possibility of other configurations and / or component locations.

[0065] The method also determines whether the turning speed ω is equal to the maximum safe turning speed ω for many angular displacements θ. max、safety Since the angle θ may not be limited to a safe angle θ, the turning performance of the work vehicle 10 may not be excessively affected. safety , so that the turning performance of the work vehicle 10 is not affected by the limit imposed by this method for the majority of normal use. The limit imposed by this method is achieved when the safe angular displacement θ safety Only when approaching a speed limit does the speed need to be limited for safety reasons.

[0066] The velocity profile 101 is a maximum allowable rotation velocity ω that changes with respect to the angular displacement θ. max If the velocity profile includes the safe angular displacement θ safety Therefore, the method can meet safety requirements without requiring additional safety margins when the exact angular displacement θ is unknown.

[0067] The velocity profile 101 is a maximum allowable turning velocity ω that changes with time t. max, the method may be implemented without the use of turning sensor 71. Creating a lower cost model of work vehicle 10 may involve reducing the number of sensors used, so a method that functions without the use of turning sensor 71 may improve efficiency.

[0068] If the deceleration ramp 103 is the nonlinear deceleration ramp 109 shown in FIG. 5B, the ramp-down start time t ramp and / or displacement θ ramp can be later, so that, as mentioned above, the maximum initial turning speed ω max、init is possible for longer times t or angular displacements θ.

Claims

1. 1. A method of 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: A speed profile of a maximum allowable rotation speed of the rotation device rotating around the rotation axis is Determining a maximum initial turn speed; determining a maximum safe swing speed from the safe time and / or displacement to stop rotation of the swing device within a predetermined maximum angular stop displacement; and determining a deceleration ramp of the maximum allowable turn rate for reducing the maximum initial turn rate to the maximum safe turn rate by the safe time and / or displacement; and limiting, by a control system, a maximum operational swing speed of the swing device to the speed profile.

2. 2. The method of claim 1, wherein the deceleration ramp of the maximum allowable turn rate reduces the maximum initial turn rate to the maximum safe turn rate between a ramp-down start time and / or displacement and the safety time and / or displacement, respectively.

3. The ramp-down start time and / or displacement may be: the maximum initial turning speed; said maximum safe turning speed; the deceleration of the slewing device, and The method of claim 2 , based on the safety time and / or displacement.

4. The method of claim 2 or 3, wherein the velocity profile includes a maximum allowable turning velocity that varies with time measured from the start of implementation of an angular displacement.

5. The method of claim 4 , wherein the safety time is determined based on the acceleration of the swing device.

6. The method of claim 2 or 3, wherein the work vehicle is equipped with a turn angle sensor, and the speed profile includes a maximum allowable turn speed that varies with angular displacement measured from the start of implementation of the angular displacement.

7. The work vehicle can be configured in a plurality of different configurations with different inertias, the ramp-down start time and / or displacement is further based on the deceleration of the slewing device in a configuration with maximum inertia; and / or The method of any one of claims 3 to 6, wherein the maximum safe swing speed is based on the deceleration of the swing device in a configuration having the maximum inertia and the predetermined maximum angular stop displacement.

8. The method according to any one of claims 1 to 7, wherein the speed profile decreases linearly between the ramp-down start time and / or displacement and the safety time and / or displacement.

9. The method of any preceding claim, wherein the speed profile decreases at a faster speed closer to the ramp-down start time and / or displacement and at a slower speed closer to the safety time and / or displacement.

10. 10. The method of claim 1, wherein the work vehicle includes at least one component position sensor mounted on the swing device, and the maximum safe swing speed is based on work vehicle component position data from the at least one component position sensor.

11. The work vehicle is a boom actuator for controlling the boom; at least one boom head pressure sensor attached to the boom actuator; The method of any preceding claim, wherein the maximum safe swing speed is based on boom head pressure data from the at least one boom head pressure sensor.

12. 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.

13. A control device for controlling a work vehicle having a swing device rotatable around a swing axis, the swing device including an arm device having a boom and a stick, the control device being configured to limit a maximum operational swing speed of the swing device to a speed profile of a maximum allowable swing speed of the swing device rotating around the swing axis, the speed profile comprising: Maximum initial turning speed, a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement from a safe time and / or displacement; a maximum allowable turn rate deceleration ramp for reducing the maximum initial turn rate to the maximum safe turn rate over the safe time and / or displacement.

14. A work vehicle, a swivel device rotatable about a swivel axis, the swivel device comprising an arm device including a boom and a stick; A work vehicle comprising: a control system comprising the control device according to claim 13.

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