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

Abstract

A method for operating a work vehicle (10) is provided. The work vehicle (10) includes a swing apparatus (11) rotatable about a swing axis (33). The swing apparatus (11) includes an arm configuration (14) including a boom (16) and a stick (17), a boom actuator (18) for controlling the boom (16), and at least one boom head pressure sensor (77) for generating boom head pressure data indicative of a boom head pressure of the boom actuator (18). The method includes determining, by a control system (50), a maximum allowable swing speed of the swing apparatus (11) rotating about the swing axis (33) based on the boom head pressure data and a map relating the boom head pressure data to a maximum allowable swing speed to account for a moment of inertia of the swing apparatus (11). The method further includes limiting the maximum operating swing speed of the swing apparatus (11) to the maximum allowable swing speed.

Description

[Technical Field]

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

[0002] A work vehicle or work machine, such as an excavator or backhoe loader, has various degrees of freedom. One such degree of freedom is swing, which refers to the rotation of the body relative to its undercarriage or the rotation of the arm configuration relative to the body. Various characteristics affect the swing characteristics of a work vehicle, including swing speed and swing acceleration. For example, the position of its components, such as the position of the arm configuration and / or the position of a tool, can change the moment of inertia. A change in the moment of inertia can affect the rate at which the swing speed increases or decreases. Additionally, the configuration of the work vehicle, such as the type of tool attached, can affect the moment of inertia and therefore the rate at which the swing speed increases or decreases.

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

[0004] In addition to this general requirement, European regulation EN 474 requires that work vehicles, specifically excavators, must be able to stop from full speed within a safe distance. The regulation previously required that this be achieved with work vehicles in the most common configurations. European regulation EN 474 has been updated to require that work vehicles must 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 to allow the work vehicle to reduce the swing speed to zero within a safe distance. A further object is to ensure that such a method applies across a variety of approved configurations of work vehicles. Additionally, a further object is to ensure that such a method does not excessively reduce the swing speed of the work vehicle, which may be noticeable by operators during single-function and some multi-function operations.

[0006] The present disclosure is generally directed to limiting the maximum operational swing speed of a swing gear of a work vehicle, such as an excavator body, so that the swing gear can stop within a safe distance and / or within a safe angle. Boom head pressure can be used to provide an indication of the tool weight and / or the extension of the arm configuration. This can therefore provide an indication of the work vehicle's moment of inertia with respect to the work vehicle's current configuration and / or arm position. Thus, the boom head pressure data is used to directly determine the appropriate maximum operational swing speed of the swing gear so that the swing gear can stop within a safe distance. A map relates the boom head pressure data to the maximum swing speed, which is used to limit the maximum operational swing speed of the swing gear.

[0007] The present disclosure provides a method for operating a work vehicle including a swing apparatus rotatable about a swing axis. The swing apparatus includes an arm configuration including a boom and a stick, a boom actuator for controlling the boom, and at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator. The method includes determining, by a control system, a maximum allowable swing speed of the swing apparatus rotating about the swing axis based on the boom head pressure data and a map relating the boom head pressure data to a maximum allowable swing speed to account for a moment of inertia of the swing apparatus. The method further includes limiting the maximum operating swing speed of the swing apparatus to the maximum allowable swing speed.

[0008] Also provided is a controller for controlling a work vehicle including a swing apparatus rotatable about a swing axis. The swing apparatus includes an arm configuration including a boom and a stick, a boom actuator for controlling the boom, and at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator. The controller is configured to determine a maximum allowable swing speed of the swing apparatus rotating about the swing axis based on the boom head pressure data and a map relating the boom head pressure data to a maximum allowable swing speed to take into account a moment of inertia of the swing apparatus. The controller is further configured to limit the maximum operating swing speed of the swing apparatus to the maximum allowable swing speed.

[0009] Also provided is a work vehicle including a swing device rotatable about a swing axis, the swing device including an arm configuration including a boom and a stick, a boom actuator for controlling the boom, and at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator. The work vehicle further includes a control system including the controller described above.

[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: [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of one embodiment of the system of the present disclosure. [Figure 2] FIG. 2 is a plan view of the system of FIG. [Figure 3] FIG. 3 is a schematic diagram of the control system of the system of FIG. [Figure 4] FIG. 4 is a flow diagram illustrating a method for limiting the maximum operating swing speed of a swing device according to the present disclosure. [Figure 5A] FIG. 5A is a side view of the system of FIG. 1 showing the forces. [Figure 5B] FIG. 5B is another side view of the system of FIG. 1, showing the forces in schematic form. [Figure 6] FIG. 6 is a graph illustrating the variation of maximum allowable speed according to the present disclosure. [Figure 7] FIG. 7 is a flow diagram illustrating a method for limiting the maximum operating swing speed of a swing device according to 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 following description of preferred exemplary embodiments provides those skilled in the art with an enabling description for implementing preferred exemplary embodiments of the present invention, and it will be understood that various changes in the function and configuration of elements, including combining features from different embodiments, may be made without departing from the scope of the present invention. Specific details are provided in the following description to provide a thorough understanding of the embodiments. However, those skilled in the art will understand that the embodiments may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0013] It should also be noted that the embodiments may be described as a process that is illustrated as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. In a flowchart, operations may be described as a sequential process, but many operations may be performed in parallel or simultaneously. Additionally, the order of operations may be rearranged. A process terminates upon completion of an operation, but may have additional steps not included in the diagram. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination corresponds to a return of the function to the calling function or to the main function. Moreover, as disclosed herein, the term “storage medium” may refer to one or more devices for storing data, including read-only memory (ROM), random-access memory (RAM), magnetic RAM, core memory, magnetic disk storage media, optical storage media, flash memory devices, and / or other machine-readable media for storing information. The term "computer-readable medium" includes, but is not limited to, portable or fixed storage devices, optical storage devices, wireless channels, and various other media that may store, contain, or be associated with instructions and / or data.

[0014] Furthermore, embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or combinations thereof. When implemented in software, firmware, middleware, or microcode, program code or code segments to perform the necessary tasks may be stored in a machine-readable medium such as a storage medium. A processor may perform the necessary tasks. A code segment may represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, and program statements. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. may be passed, forwarded, or transmitted via any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0015] It should be understood that the following disclosure provides many different embodiments or examples for implementing the various features of the various embodiments. Specific examples of components and arrangements are described below to simplify the disclosure. It should be understood that these are merely examples and are not intended to be limiting. Additionally, the disclosure may repeat reference numerals and / or letters in the various examples. This repetition is for the purposes of simplicity and clarity and does not in itself dictate a relationship between the various described embodiments and / or configurations. Furthermore, in the following description, a first feature formed on a second feature may include an embodiment in which the first and second features are formed in direct contact with each other, and may also include an embodiment in which an additional feature may be formed between the first and second features such that the first and second features are not in direct contact with each other.

[0016] FIG. 1 illustrates one embodiment of a system 9 including a work vehicle 10, in this case an excavator. The work vehicle 10 may be any suitable type of work vehicle, including a multipurpose work vehicle such as an excavator, backhoe, loader, dozer, shovel, feller, harvester, material handler, and other such work vehicles. The work vehicle 10 includes a swing gear 11 and may include a swing base 13. The swing gear 11 includes an arm configuration 14 including a boom 16 and a stick 17, and a boom hydraulic actuator 18 for controlling the boom 16. The swing gear may include a body 12. The swing base 13 may include an undercarriage 32 and / or platform. The undercarriage 32 may include wheels or tracks 20. The body 12 may include a cab 8 for an operator and a power unit (not shown) for providing power to the wheels or tracks 20.

[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 include a slip ring or a swivel ring. Rotation of the swivel device 11 relative to the swivel base 13 may be driven using a swivel actuator 30. The swivel actuator 30 may include a hydraulic motor or a hydraulic swivel mechanism.

[0018] The swivel device 11 is rotatable about a swivel axis 33. The swivel device 11 may be rotatable 360 ​​degrees about the swivel mount 31 and / or the swivel axis 33 relative to the swivel base 13. The swivel axis 33 may be perpendicular to the swivel base 13 and / or may be perpendicular to the horizontal plane or the ground when the work vehicle 10 is located on a horizontal plane. The swivel axis 33 may be the central axis of the swivel mount 31, or may be the axis of rotation of the swivel device 11 relative to the swivel base 13 at the swivel mount 31.

[0019] 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 by a boom pivot 22. The stick 17 may be pivotally attached to the boom 16 at a second end of the boom 16 and at a first end of the stick 17. A tool 15 may be connected to the arm arrangement 14. The tool 15 may be pivotally attached to the stick 17 at a second end of the stick 17. The arm arrangement 14 may include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm arrangement 14 may include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm arrangement 14 may include a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm arrangement 14 may include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[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, delimber, felling head, mulcher, or rake. The tool 15 may include a spray head or the like for dispensing water during operation of the work vehicle 10, such as for dust suppression. The fluid may be pressurized hydraulic fluid, water, or the like.

[0021] The work vehicle 10 may be operable in at least one configuration, may be configurable in at least one configuration, and / or may include at least one configuration. Configuration may refer to one or more of: a measurement of the swing gear 11, a measurement of the swing base 13, a measurement of the boom 16, a measurement of the stick 17, a measurement of the body 12, a measurement of the cab 8, a measurement of the tool 15, and / or a type of tool 15. The measurements may be dimensional measurements and / or weight measurements. The dimensional measurements may be length, width, depth, area, and / or volume. The weight measurement may be weight or mass.

[0022] Work vehicle 10 may be operable, configurable in, and / or include multiple configurations having different inertias, including a configuration having a maximum moment of inertia, in which the type of tool 15 may have a greater mass than other available tools and / or arm configuration 14 may include components of greater length, weight, and / or mass.

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

[0024] The boom 16 may include a boom axis 35. The boom axis 35 may be an axis parallel to the direction in which the boom 16 extends over the majority of its length. The stick 17 may include a stick axis 37. The stick axis 37 may be an axis parallel to the direction in which the stick 17 extends over the majority of its length. The boom angle 39 may be the angle between the boom axis 35 and the pivot axis 33. The stick angle 41 may be the angle between the boom axis 35 and the stick axis 37. The boom angle 39 and / or the stick angle 41 may be used to define a component position. The global angles at which the various axes are measured relative to the horizontal may be used to define a component position.

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

[0026] 2 illustrates the work vehicle 10 of FIG. 1 in a plan view, with the pivot axis 33 shown as a dot. The work vehicle may include a reference axis of motion 43. The reference axis of motion 43 may be substantially horizontal with respect to the ground surface 33, may lie in the same plane as the horizontal, and may pass through and / or be perpendicular to the pivot axis 33. The reference axis of motion 43 may be parallel to the direction the work vehicle would move when the tracks 20 are simultaneously driven by the same input. The reference axis of motion 43 may be parallel to the direction the work vehicle 10 would move when a forward command is given.

[0027] Work vehicle 10 may include a swivel axis 45. Swivel axis 45 may lie in the same plane as the horizontal plane and / or may lie in the same plane as reference movement axis 43. Swivel axis 45 may be parallel to the direction in which arm arrangement 14 extends (as shown in FIG. 2 ) and may pass through and / or be perpendicular to pivot axis 33. Swivel axis 45 may be parallel to the direction in which an operator faces while sitting in cab 8.

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

[0029] The work vehicle 10 may include a work vehicle fluid circuit (not shown) through which fluid may circulate. The work vehicle 10 may include a controller 51 for controlling the work vehicle fluid circuit automatically or based on input received from at least one input device 6 (shown in FIG. 1 ). The at least one input device 6 may include one or more of a joystick, a display 57, a touch screen, a button, or any suitable input device. The at least one input device 6 may be used to operate the work vehicle 10. The work vehicle 10 may be manipulated to change a component position. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the component position may include controlling the at least one hydraulic actuator 18, 19, 21 to pivot the arm arrangement 14 and the tool 15. The work vehicle 10 may be manipulated to increase or decrease the swing angle θ. The work vehicle fluid circuit may be connected to a swing actuator 30 and a swing brake 34 to control the swing of the swing apparatus 11 relative to the swing base 13.

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

[0031] To reduce the swing rate ω, the system 9 may apply a swing brake 34 and / or stop the application of torque by the swing actuator 30. The system 9 may apply the swing brake 34 to the swing mount 31 and / or to the swing actuator 30. The swing brake 34 applies a braking torque τ b The swing brake 34 may apply a force to the swing brake 34. The swing brake 34 may reduce the swing speed ω. The swing brake 34 may reduce the swing speed ω to zero.

[0032] For safety reasons, the system 9 must be set to a predetermined maximum angular stop displacement θ s It may be beneficial to be able to reduce the swing rate ω to zero within a predetermined maximum angular stop displacement θ s Regulatory requirements require that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ s may be 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 to zero within a predetermined angular displacement. It may be required that the system 9 be able to reduce the swing rate ω from a maximum operational swing rate to zero within 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 to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. s It may be required that the rotation speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ s Instead, a different metric may be used, such as a predetermined maximum stopping time.

[0033] The slewing device 11 includes a moment of inertia J, which is a physical quantity of an object that represents the object's resistance to a change in angular velocity. The moment of inertia J is the maximum angular stop displacement θ s The larger the moment of inertia J, the larger the angular displacement required to reduce the rotation speed ω to zero, resulting in a larger rotation speed ω at a given maximum angular stopping displacement θ sA smaller turn rate is required to be able to reduce it 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 related 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 products obtained by multiplying the mass of each particle of material in a given object by the square of its distance from the axis. The moment of inertia J of the swivel device 11 may be larger when a tool 15 having a larger mass is attached to the arm arrangement 14, and may be smaller when a tool 15 having a smaller mass is attached to the arm arrangement 14. The moment of inertia J of the swivel device 11 may be larger when the arm arrangement 14 is in a component position that extends a greater distance from the pivot axis 33, and may be smaller when the arm arrangement 14 is in a component position that extends a shorter distance from the pivot axis 33. The moment of inertia J is subject to change during use of the work vehicle 10 and is therefore not a known design parameter of the work vehicle 10.

[0037] System 9 may include a control system 50 that may be configured to perform the methods of the present disclosure. As shown in FIG. 3 , control system 50 may include a controller 51, which may include a memory 53 that may store instructions or algorithms in the form of data, and a processing unit 55 that may be configured to perform operations based on the instructions. Controller 51 may be of any suitable known type and may include an engine control unit (ECU) or the like. Memory 53 may include any suitable computer-accessible or non-transitory storage medium for storing computer program instructions, such as RAM, SDRAM, DDR SDRAM, RDRAM, SRAM, ROM, magnetic media, optical media, and the like. Processing unit 55 may include any suitable processor capable of executing instructions stored in memory, such as a microprocessor, uniprocessor, multiprocessor, and the like. Controller 51 may further include a graphics processing unit for rendering objects for display on a display 57 of control system 50. The controller 51 may also communicate with at least one work vehicle communication module 59 to transfer data to an external computing system 61 via a wired or wireless network 63 (Ethernet, fiber optics, satellite communication network, broadband communication network, cellular, Bluetooth, etc.). The external computing system 61 may include computing systems, processors, servers, memory, databases, control systems, and the like.

[0038] As summarized in FIG. 3 , system 9 includes at least one boom head pressure sensor 77. Boom head pressure sensor 77 may be a hydraulic pressure sensor for the boom cylinder. Boom head pressure sensor 77 may be located on a valve output line going to the boom cylinder. Boom head pressure sensor 77 may be located on the boom cylinder. Boom head pressure sensor 77 is for generating boom head pressure data indicative of the boom head pressure of boom hydraulic actuator 18. System 9 may include at least one system actuator 4. The at least one system actuator 4 may include one or more of boom hydraulic actuator 18, stick hydraulic actuator 19, tool hydraulic actuator 21, swing actuator 30, and 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 connection) to the power unit and to any of the at least one system actuator 4 and / or at least one sensor 7 to provide control signals thereto and receive sensor signals therefrom to control the operation of the work vehicle 10. The controller 51 may communicate with the input device 6 to receive inputs and control the work vehicle 10. The input device 6 may communicate with the controller 51 to adjust the swing speed ω and / or swing angle θ of the swing gear 11 by controlling the actuation of the swing actuator 30 and / or swing brake 34. The input device 6 may increase or decrease the swing speed ω of the swing gear 11 relative to the swing base 13.

[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 operational status data indicative of at least one operational status of the work vehicle 10. The controller 51 may process the received operational status data to determine further operational status data and may store the operational status data on the memory 53. The at least one operational status data and operational status data may include at least one of the following: - the turning angle θ of the work vehicle 10 relative to the reference axis of movement 43 (as shown in Figure 2). The control system 50 may include a turning angle sensor 71 for determining the turning angle θ of the work vehicle 10. - the turning speed ω of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the turning speed ω of the work vehicle 10. - Component position of the work vehicle 10. The control system 50 may include at least one component position sensor 75 for determining component position of the work vehicle 10. The at least one component position sensor 75 may be mounted relative to the slewing device 11. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU). - Boom position, stick position, and / or tool position of the work vehicle 10. The control system 50 may include at least one component position sensor 75 mounted to the boom 16, stick 17, and / or tool 15 to determine the position of the boom 16, stick 17, and / or tool 15 of the work vehicle 10. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU) mounted to the boom 16, stick 17, and / or tool 15. - Movement and / or acceleration of components of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the movement and / or acceleration of components of the work vehicle 10. The at least one movement or acceleration sensor 73 may be attached to the slewing device 11. The at least one movement or acceleration sensor 73 may be at least one accelerometer. Boom movement and / or acceleration, stick movement and / or acceleration, and / or tool movement and / or acceleration. The control system 50 may include at least one movement or acceleration sensor 73 attached to the boom 16, stick 17, and / or tool 15 for determining the movement and / or acceleration of the boom 16, stick 17, and / or tool 15. The at least one movement or acceleration sensor 73 may include at least one accelerometer attached to the boom 16, stick 17, and / or tool 15. - Boom angle and / or stick angle of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining the boom angle and / or stick angle of the work vehicle 10. - Boom hydraulic piston rod extension and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining boom hydraulic piston rod extension and / or stick hydraulic piston rod extension of the work vehicle 10. - Boom head end pressure of the work vehicle 10. The boom head end pressure may be indicative of the mass and / or extension of the arm arrangement 14. The boom head end pressure may be indicative of the moment of inertia J of the swing gear 11. The control system 50 may include a boom pressure sensor 77, which may be located inside the boom hydraulic cylinder 18, to determine the boom head end pressure of the work vehicle 10. The boom pressure sensor 77 may be located inside a hydraulic line to the boom hydraulic cylinder 18. The boom head end pressure may be calculated based on information about the hydraulic fluid supplied to the boom hydraulic cylinder 18. - The configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by an operator via at least one input device 6, may be stored on memory 53, and / or may be automatically detected using work vehicle sensors. - the brake torque τ of the swing brake 34 of the work vehicle 10 b Brake torque τ b may be input by an operator via at least one input device 6, may be stored in memory 53, and / or may be estimated based on changes in component movement and / or acceleration during application of the swing brake 34. The applied brake torque τ at any time b may be based on an input to the at least one input device 6. A 0% input to the at least one input device 6 causes the swing brake 34 to generate a maximum braking torque τ b,max may be applied. - drive torque τ of the swing actuator 30 of the work vehicle 10 a Driving torque τ amay be input by an operator via at least one input device 6, may be stored on memory 53, and / or may be estimated based on changes in component movement and / or acceleration upon application of the swing actuator 30. a may be based on input to at least one input device 6. - Maximum operational swing speed of the work vehicle. The maximum operational swing speed of the work vehicle may be determined according to the methods of the present disclosure. - Maximum allowable turning speed ω of the work vehicle max Maximum allowable turning speed of the work vehicle ω max may be determined according to the methods of the present disclosure. - predetermined maximum angular stop displacement θ s .Predetermined maximum angular stop displacement θ s may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The predetermined maximum angular stop displacement θ s may be set by regulatory and / or safety requirements.

[0042] The operational status data collected by the control system 50 may be transferred to an external computing system 61, which may perform the methods of the present disclosure. Thus, the control system 50 may be considered to include the external computing system 61 in this disclosure, which may store instructions for performing the methods disclosed herein in a manner similar to the controller 51.

[0043] As shown in FIG. 4, the method for operating the work vehicle 10 is to calculate the maximum allowable rotation speed ω of the slewing device 11 rotating around the slewing axis 33 in consideration of the moment of inertia J of the slewing device 11. max and determining the maximum operating slewing speed of the slewing device 11 as the maximum allowable slewing speed ω max and limiting the maximum allowable turning speed ω to maxis the boom head pressure data and the maximum allowable rotation speed ω max The method is performed by the control system 50.

[0044] The boom head pressure data may be used to account for the moment of inertia J of the swing device 11. As shown in Figures 5A and 5B, the weight of the arm arrangement 14 exerts an arm force 101 downward. The arm force 101 generates an arm moment about the boom pivot 22 equal to the arm force 101 multiplied by the arm force distance 103. The arm force distance 103 is the vertical distance from the boom pivot axis 105 to the location at which the arm force 101 acts. The boom pivot axis 105 is an axis that passes through the boom pivot 22 and is parallel to the pivot axis 33. The boom pivot axis 105 may be coincident with the pivot axis 33.

[0045] When the arm arrangement 14 is in the air (i.e., when the tool 15 is not in contact with the ground), the arm arrangement 14 may be held in equilibrium by a boom drive force 107 generated by the boom hydraulic actuator 18. The boom drive force 107 generates a boom drive moment about the boom pivot 22 equal to the boom drive force 107 multiplied by a boom drive force distance 109. The boom drive force distance 109 is the vertical distance from the boom pivot axis 105 to the location at which the boom drive force 107 acts. When the arm arrangement 14 is in equilibrium and the arm arrangement 14 is in the air, the arm moment is equal to the boom drive moment. According to the present disclosure, the boom drive force 107 can be used as an indicator of the arm moment.

[0046] The boom drive force 107 is generated by the pressure in the boom hydraulic actuator 18. Boom head pressure data indicative of the boom head pressure may be used to indicate the boom drive force 107 and / or to indicate the arm moment.

[0047] 5B, if the arm arrangement 14 is extended (e.g., if the stick 17 is extended), the arm force distance 103 increases, which causes the boom drive force 107 to increase to compensate and maintain balance. If a heavier tool 15 is used, the arm force 101 increases, which causes the boom drive force 107 to increase to compensate and maintain balance. According to the present disclosure, boom head pressure data may be used to indicate the extension of the arm arrangement 14 and / or to indicate the mass of the tool 15.

[0048] The extension of the arm arrangement 14 and the mass of the tool 15 affect the moment of inertia J, as explained above. In accordance with the present disclosure, boom head pressure data may be an indicator of the moment of inertia J. Maximum allowable swing speed ω max is based on the boom head pressure data, the maximum allowable rotation speed ω max It may be possible to take the moment of inertia J into account when determining

[0049] Boom head pressure data at maximum allowable rotation speed ω max The map relating the maximum allowable rotation speed ω based on the boom head pressure data may be a look-up table, algorithm, function, equation, or max , or any other suitable map for determining the maximum allowable swing rate ω. The map may be a simulation, a computational model, and / or a digital twin of the work vehicle 10. The control system 50 may input the boom head pressure data into the simulation, into the computational model, and / or into the digital twin and use it to determine at least one operating state and / or maximum allowable swing rate ω of the work vehicle 10. max The map may be developed through experimentation and empirical methods to determine the appropriate maximum allowable swing speed ω for given boom head pressure data. max You may find.

[0050] As shown in Figure 6, the map shows the maximum allowable turning speed ω max may have an inverse correlation with the boom head pressure. max may decrease as the boom head pressure increases. max may be the first maximum allowable rotation speed 111 when the boom head pressure is the first boom head pressure 121. The maximum allowable rotation speed ω max may be a second maximum allowable swing speed 113 when the boom head pressure is a second boom head pressure 123. The first maximum allowable swing speed 111 may be greater than the second maximum allowable swing speed 113, and the second boom head pressure 123 may be greater than the first boom head pressure 121.

[0051] Maximum allowable turning speed ω max may be equal to the first maximum allowable swing speed 111 when the boom head pressure is less than the first boom head pressure 121. The first maximum allowable swing speed 111 may be input by an operator via at least one input device 6 and / or stored on the memory 53. The first maximum allowable swing speed 111 may be set by safety considerations and / or by vehicle limitations. The maximum allowable swing speed ω when the boom head pressure is less than the first boom head pressure 121 may be equal to the first maximum allowable swing speed ω when the boom head pressure is less than the first boom head pressure 121. The first maximum allowable swing speed ω may be input by an operator via at least one input device 6 and / or stored on the memory 53. The first maximum allowable swing speed ω may be set by safety considerations and / or by vehicle limitations. max By setting equal to the first maximum allowable swing speed 111, a configuration with a small moment of inertia J (corresponding to a boom head pressure less than the first boom head pressure 121) can achieve a maximum allowable swing speed ω max This results in improved performance since the .times. ...

[0052] Maximum allowable turning speed ω max may be equal to the second maximum allowable swing speed 113 when the boom head pressure exceeds the second boom head pressure 123. The second maximum allowable swing speed 113 is determined by the predetermined maximum angular stop displacement θ of the swing device configured with maximum inertia. sand the deceleration rate. The second maximum allowable swing speed 113 may be the swing speed ω at which the swing gear 11 can be decelerated to zero, taking into account the deceleration rate of the swing gear when configured with maximum inertia. By limiting the second maximum allowable swing speed 113, it may be ensured that the work vehicle 10 can stop within a safe distance when configured with maximum inertia. When the boom head pressure exceeds the second boom head pressure 123, the maximum allowable swing speed ω max By setting equal to the second maximum allowable swing speed 113, even a configuration with a large moment of inertia J (a configuration corresponding to a boom head pressure exceeding the second boom head pressure 123) can be stopped within a safe distance.

[0053] The method may further include a user-initiated calibration process, as shown in Figure 7. Maximum allowable turning speed ω max The boom head pressure used to determine may be the maximum boom head pressure for the current configuration of the work vehicle. The user-initiated calibration process may include measuring the boom head pressure based on boom head pressure data received from at least one boom head pressure sensor after extending the arm configuration 14 of the work vehicle 10 to maximum extension and / or moving the tool 15 to a maximum distance from the pivot axis 33, and setting the boom head pressure as the maximum boom head pressure. The user-initiated calibration process may require the user to input a calibration command to the control system 50 as the control system 50 extends the arm configuration 14 to maximum extension, at which time sensor data is recorded. The user-initiated calibration process may require the user to follow prompts to extend the arm configuration 14 to maximum extension, at which time sensor data is recorded by the control system 50. The method may also require the user to determine the maximum allowable swing rate ω corresponding to the current configuration of the work vehicle 10. max and / or storing the maximum boom head pressure to a data file in memory 53.

[0054] The method may further include varying the configuration and / or component position of the work vehicle 10 and varying the boom head pressure (as shown in Figures 5A and 5B) by the control system 50. max may be updated based on the new boom head pressure data and a map relating the boom head pressure data to the maximum allowable swing speed. The maximum operational swing speed of the swing device 11 may be limited to the updated maximum allowable swing speed.

[0055] The method calculates a maximum allowable turning speed ω for a specific time interval. max The maximum allowable turning speed ω may be updated. max may be updated every 0.1 seconds, every 1 second, or every 10 seconds. max may be redetermined after the controller 51 receives the input. max may be dynamically redetermined and / or updated.

[0056] The boom head pressure may be affected equally by the increased weight of the tool 15 as well as the extension of the arm configuration 14. The moment of inertia J may be affected more by the extension of the arm configuration 14 compared to the weight of the tool 15. This can be achieved by using a user-initiated calibration process to subsequently determine the maximum allowable swing rate ω based on new boom head pressure data when moving the arm configuration 14. max The maximum boom head pressure may be an indication of the configuration of the work vehicle 10 and / or an indication of the weight of the tool 15. The maximum allowable swing speed ω when the arm configuration 14 is fully extended may be taken into account by updating max may be set so that the configured swing gear 11 can stop within a safe distance, taking into account the deceleration rate of the configured swing gear indicated by the maximum boom head pressure. max may be updated based on changes in boom head pressure, which may indicate changes in component position. maxmay increase as the boom head pressure decreases.

[0057] Maximum allowable turning speed ω max may be further based on work vehicle component position data from at least one component position sensor. The map may further include a maximum allowable turning rate ω max may be associated with the component position data.

[0058] The work vehicle component position data may be used in a user-initiated calibration process to measure the maximum boom head pressure when the arm configuration 14 of the work vehicle 10 is at its maximum extension and / or when the tool 15 is at its maximum distance from the pivot axis 33. The maximum boom head pressure may be indicative of the configuration of the work vehicle 10 and / or the weight of the tool 15.

[0059] The maximum allowable rotation speed ω when the component position data indicates maximum extension of the arm configuration 14 max may be set such that the swing gear 11 can stop within a safe distance, taking into account the deceleration rate of the configured swing gear indicated by the maximum boom head pressure at the maximum extension of the arm configuration 14. Using work vehicle component position data, the maximum allowable swing speed ω max The maximum allowable turning speed ω can be corrected. max may increase as the extension of the arm configuration 14 decreases.

[0060] The work vehicle component position data may be used without a user-initiated calibration process. The boom head pressure data and component position data may be used together to determine the maximum allowable swing rate ω maxmay be determined. A relatively small boom head pressure may indicate a smaller mass of the tool 15 or may indicate that the arm arrangement 14 is in a small extension state. Using the component position data, the extension of the arm arrangement 14 can be determined, and therefore the indication of the boom head pressure can be clarified. Using the boom head pressure data and the component position data, the map can determine the maximum allowable swing rate ω max may be determined.

[0061] 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]

[0062] Therefore, the present method uses the boom head pressure data to determine the appropriate maximum allowable swing speed ω max Using the boom head pressure data for the current configuration of the work vehicle 10, an appropriate maximum allowable swing speed ω for this particular configuration may be determined. max is determined. Excessive restrictions on the rotation speed ω due to the larger moment of inertia J in other configurations do not occur. Therefore, the maximum allowable rotation speed ω max can be maximized since it is based on the current configuration. This allows for a predetermined maximum angular stopping displacement θ across different configurations of the work vehicle 10. s It is ensured that the work vehicle 10 can reduce the turning speed ω to zero within a safe distance such as

[0063] Additionally, the turning performance of the work vehicle 11 is not unduly affected as it is always at the maximum safe speed for the current configuration. This is achieved using only the boom head pressure sensor 77, thereby minimizing the number of sensors on the work vehicle 10.

[0064] If the method includes a user-initiated calibration process, the map can be refined because the maximum boom head pressure in the current configuration is known and can be used to indicate the configuration of the work vehicle 10. Although the boom head pressure is equally affected by the configuration of the work vehicle 11 and by component position, the moment of inertia J is more significantly affected by component position, and so the mapping may be refined. Therefore, by using the user-initiated calibration process to determine the maximum boom head pressure indicative of the configuration of the work vehicle 10, the map can be refined because the subsequent configuration is known.

[0065] The method further comprises: determining a maximum allowable swing speed ω of the swing device 11 based on new boom head pressure data after a change in the position of the components of the work vehicle 11; max , the appropriate maximum allowable slewing rate ω for this particular configuration and for this particular component position. max may be determined. Excessive restriction of the rotation speed ω due to potentially larger moments of inertia J at other component locations does not occur. Therefore, the maximum allowable rotation speed ω max is based on the current component position and can therefore always be maximum. This allows for a predetermined maximum angular stopping displacement θ across different component positions of the work vehicle 11. s This ensures that the work vehicle 10 can reduce the turning speed ω to zero within a safe distance such as ω = ω ≠ 0. Additionally, because the work vehicle 10 is always at the maximum safe speed for the current component position, the turning performance of the work vehicle 10 is maximized.

[0066] Maximum allowable turning speed ω maxis further based on work vehicle component position data, then the appropriate maximum allowable turn rate ω for this particular configuration and for this particular component position max may be determined with the advantages described in the paragraph above. In addition, the appropriate maximum allowable slewing speed ω for this particular configuration and for this particular component position max may be determined without a user-initiated calibration process. By not requiring a user-initiated calibration process, the work vehicle 10 is easier for the operator to use.

Claims

1. 1. A method for operating a work vehicle including a swivel device rotatable about a pivot axis, the swivel device comprising: an arm configuration including a boom and a stick; a boom actuator for controlling the boom; at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator; The method includes the steps of: To take into account the moment of inertia of the swivel device, Boom head pressure data; determining the maximum allowable swing speed of the swing device rotating about the swing axis based on a map relating boom head pressure data to a maximum allowable swing speed; and limiting a maximum operational swing speed of the swing device to the maximum allowable swing speed.

2. 2. The method of claim 1, wherein, in the map, the maximum allowable rotation speed is a first maximum allowable rotation speed when the boom head pressure is a first boom head pressure, and the maximum allowable rotation speed is a second maximum allowable rotation speed when the boom head pressure is a second boom head pressure, the first maximum allowable rotation speed being greater than the second maximum allowable rotation speed, and the second boom head pressure being greater than the first boom head pressure.

3. The method of claim 2 , wherein in the map, the maximum allowable rotation speed is equal to the first maximum allowable rotation speed when the boom head pressure is less than the first boom head pressure.

4. The method of claim 2 or 3, wherein in the map, the maximum allowable rotation speed is equal to the second maximum allowable rotation speed when the boom head pressure exceeds the second boom head pressure.

5. 5. The method of claim 4, wherein the work vehicle is configurable in a plurality of different configurations having different moments of inertia, and the second maximum allowable swing speed is based on a predetermined maximum angular stop displacement and a deceleration rate of the swing device configured with the maximum inertia.

6. The method of any one of claims 1 to 5, wherein the boom head pressure used to determine the maximum allowable swing rate is the maximum boom head pressure for the current configuration of the work vehicle.

7. The method of claim 6 , further comprising a user-initiated calibration process, during which the maximum boom head pressure is measured.

8. 8. The method of claim 7, wherein the user-initiated calibration process includes measuring the boom head pressure based on boom head pressure data received from the at least one boom head pressure sensor after extending the arm configuration of the work vehicle to a maximum extension and / or after moving a tool of the work vehicle to a maximum distance from the pivot axis.

9. The method of any one of claims 6 to 8, further comprising storing the maximum allowable turn rate corresponding to the current configuration of the work vehicle in a data file.

10. The method includes, by the control system: Varying the boom head pressure by changing the configuration and / or component position of the work vehicle; The maximum allowable rotation speed of the rotation device is New boom head pressure data and updating boom head pressure data based on the map relating the boom head pressure data to the maximum allowable swing speed; The method of any one of claims 1 to 9, further comprising: limiting the maximum operational swing speed of the swing device to the updated maximum allowable swing speed.

11. 11. The method of any one of claims 1-10, 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: Rotating the swivel device about the swivel axis at a swivel speed that is less than or equal to the maximum operational swivel speed; and / or The method of any one of claims 1 to 11, 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 controller for controlling a work vehicle including a swivel device rotatable about a swivel axis, the swivel device comprising: an arm configuration including a boom and a stick; a boom actuator for controlling the boom; at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator; The controller To take into account the moment of inertia of the swivel device, Boom head pressure data; determining the maximum allowable swing speed of the swing device rotating about the swing axis based on a map relating boom head pressure data to a maximum allowable swing speed; and limiting a maximum operational swing speed of the swing device to the maximum allowable swing speed.

14. A work vehicle, A rotating device that can rotate around a rotating axis, an arm configuration including a boom and a stick; a boom actuator for controlling the boom; at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator; and a control system including the controller of claim 13.

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