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 disclosed. The work vehicle (10) includes a swing assembly (11) rotatable about a swing axis (33). The swing assembly (11) includes an arm configuration (14) including a stick (17) and a boom (16). The work vehicle (10) further includes at least one arm position sensor (75) attached to the swing assembly (11) for generating arm position data indicative of a position of the stick (17) and / or the boom (16). The method includes determining, by a control system (50), a maximum allowable swing speed of the swing assembly (11) rotating about the swing axis (33) based on the arm position data and a map relating the arm position data to a maximum allowable swing speed to account for a moment of inertia of the swing assembly (11). The method further includes limiting the maximum operating swing speed of the swing assembly (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 device of a work vehicle, such as a backhoe and arm arrangement, so that the swing device can stop within a safe distance and / or angle. Data regarding the extension of the arm arrangement can provide an indication of the moment of inertia of the work vehicle with respect to the current arm position. Thus, arm position data is used to directly determine an appropriate maximum operational swing speed for the swing device so that the swing device can stop within a safe distance. A map relates arm position data to the maximum swing speed used to limit the maximum operational swing speed of the swing device.

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

[0008] Also provided is a controller for controlling a work vehicle including a swing device rotatable about a swing axis. The swing device includes an arm configuration including a stick and a boom. The work vehicle further includes at least one arm position sensor attached to the swing device and for generating arm position data indicative of a position of the stick and / or the boom. The controller is configured to determine a maximum allowable swing speed of the swing device rotating about the swing axis based on the arm position data and a map relating the arm position data to the maximum allowable swing speed, to take into account a moment of inertia of the swing device. The controller is further configured to limit the maximum operational swing speed of the swing device 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 arrangement including a stick and a boom, the work vehicle further including at least one arm position sensor attached to the swing device and for generating arm position data indicative of a position of the stick and / or the boom, and 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 chart illustrating a method for operating a work vehicle of the present disclosure. [Figure 5]FIG. 5 is a schematic graph illustrating the maximum allowable swing speed when the stick angle and boom angle are changed in the work vehicle of the present disclosure. [Figure 6] FIG. 6 is a schematic graph illustrating the maximum allowable swing speed as the extension of the arm configuration changes in the work vehicle 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 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 arrangement 14. The swing gear 11 may include a body 12. The swing base 13 may include an undercarriage 32 and / or a platform. The undercarriage 32 may include wheels or tracks 20. The body 12 may include a cab 8 for an operator and a power unit (not shown) for providing power to the wheels or tracks 20.

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

[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 and arm configuration 14 may be orientable to and / or include arm positions. The arm positions may include the boom 16 position, the stick 17 position, and / or the tool 15 position. The positions may be defined by the angle of the components. The positions may be defined by the extension of the component cylinders. The arm positions may include the position of the arm configuration 14, the position of the components, or the position of the linkage. Each configuration of the work vehicle 10 may have multiple different arm 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 an arm position. The global angles at which the various axes are measured relative to the horizontal may be used to define the arm 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, the arm 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 the arm 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 operated to change the arm position. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the arm 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 operated 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 arm position 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 an arm position that extends a greater distance from the pivot axis 33, and may be smaller when the arm arrangement 14 is in an arm 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] 3, the system 9 may include at least one system actuator 4. The at least one system actuator 4 may include one or more of a boom hydraulic actuator 18, a stick hydraulic actuator 19, a tool hydraulic actuator 21, a swing actuator 30, and a swing brake 34.

[0039] The system 9 includes at least one arm position sensor 75. The at least one arm position sensor 75 is attached to the swivel device 11. The at least one arm position sensor 75 is for generating arm position data indicative of the position of the stick 17 and / or the boom 16. The at least one arm position sensor 75 may be a component position sensor. The at least one arm position sensor 75 may include a stick position sensor for generating the stick position data. The stick position sensor may be attached to the stick 17. The at least one arm position sensor 75 may include a boom position sensor for generating boom position data. The boom position sensor may be attached to the boom 16.

[0040] The system 9 may include at least one sensor 7. The at least one sensor 7 may include one or more of a swing angle sensor 71, at least one movement or acceleration sensor 73, at least one arm 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 swing angle sensor 71, if possible.

[0041] 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.

[0042] 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. - Arm position of the work vehicle 10. The control system 50 may include at least one arm position sensor 75 for determining the arm position of the work vehicle 10. The at least one arm position sensor 75 may be mounted relative to the swivel device 11. The at least one arm 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 arm position sensor 75 attached 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 arm position sensor 75 may include at least one inertial measurement unit (IMU) attached 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 an arm 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 an arm position sensor 75, such as an IMU, for determining boom hydraulic piston rod extension and / or stick hydraulic piston rod extension of the work vehicle 10. - Boom head end pressure of the work vehicle 10. The control system 50 may include a boom pressure sensor 77 internal to the boom hydraulic cylinder 18 to determine the boom head end pressure of the work vehicle 10. - The configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by an operator via at least one input device 6, may be stored on memory 53, and / or may be automatically detected using work vehicle sensors. - the brake torque τ of the swing brake 34 of the work vehicle 10 b Brake torque τ b may be input by an operator via at least one input device 6, may be stored in memory 53, and / or may be estimated based on changes in component movement and / or acceleration during application of the swing brake 34. The applied brake torque τ at any time b may be based on an input to the at least one input device 6. 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 a may be input by an operator via at least one input device 6, may be stored on memory 53, and / or may be estimated based on changes in component movement and / or acceleration upon application of the swing actuator 30. a may be based on input to at least one input device 6. - Maximum operational swing speed of the work vehicle. The maximum operational swing speed of the work vehicle may be determined according to the methods of the present disclosure. - Maximum allowable turning speed ω of the work vehicle max Maximum allowable turning speed of the work vehicle ω max may be determined according to the methods of the present disclosure. - 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.

[0043] 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.

[0044] 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 max is the arm position data and the arm position data is the maximum allowable rotation speed ω max The method is performed by the control system 50.

[0045] The arm position data may be used to take into account the moment of inertia J of the swivel device 11. The extension of the arm arrangement 14 affects the moment of inertia J, as explained above. According to the present disclosure, the arm position data may be an indicator of the moment of inertia J. Maximum allowable swivel speed ωmax is based on the arm position data, the maximum allowable rotation speed ω max It may be possible to take the moment of inertia J into account when determining

[0046] Arm position data at maximum allowable rotation speed ω max The map relating the maximum allowable rotation speed ω based on arm position data may be a lookup table, algorithm, function, equation, or max , or any other suitable map for determining the arm position data. 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 arm position 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 created through experimentation and empirical methods to determine the appropriate maximum allowable swing speed ω for given arm position data. max You may find.

[0047] The extension of the arm arrangement 14 may be monitored using the stick angle 41 and / or the boom angle 39 and / or using cylinder extension data of the stick hydraulic actuator and / or the boom hydraulic actuator. When the stick angle 41 and / or the boom angle 39 are adjusted, the position of the arm arrangement 14 changes, thereby affecting the moment of inertia J. The stick angle 41 and / or the boom angle 39 are adjusted by the control system 50 to adjust the maximum allowable swing speed ω max may be used as a direct input in determining

[0048] Figure 5 shows how the arm position data is used in a map to calculate the maximum allowable rotation speed ω max5 illustrates a method for determining the maximum allowable swing speed ω. As shown in FIG. 5, the arm position data may include stick angle data and / or boom angle data. The arm position data may include cylinder extension data for the stick hydraulic actuator and / or the boom hydraulic actuator. FIG. 5 illustrates a method for determining the maximum allowable swing speed ω. max 4 illustrates how varies with stick angle 41 and / or boom angle 39.

[0049] As shown in FIG. 5, as the stick angle 41 increases, the maximum allowable turning speed ω max may be increased. Increasing the stick angle 41 may reduce the extension of the arm arrangement 14 of the work vehicle 10 and / or reduce the distance of the tool 15 from the pivot axis 33. This reduction may reduce the moment of inertia J. A greater maximum allowable swing speed ω max is the maximum angular stop displacement θ of the slewing device 11 based on the reduction of the moment of inertia J. s Therefore, the maximum allowable turning speed ω max may be increased.

[0050] When the first stick angle is less than 101, the maximum allowable turning speed ω max may be a lower limit 111 below which the maximum allowable turning speed ω max may be set as an upper limit 113 beyond which the maximum allowable turning speed ω max By selecting the stick angle 41 and the rate of increase at which ω starts to increase and stops increasing at 103 through experimentation and empirical methods, an appropriate maximum allowable turning speed ω for a given stick angle 41 can be determined. max may be found.

[0051] Also, as shown in FIG. 5, as the boom angle 39 increases, the maximum allowable rotation speed ω max may be decreased, and then the maximum allowable turning speed ω maxmay be held constant and then increased. Increasing the boom angle 39 from a small angle may increase the extension of the arm arrangement 14 of the work vehicle 10 and / or increase the distance of the tool 15 from the pivot axis 33. This increase may increase the moment of inertia J. When the swing device 11 reaches a predetermined maximum angular stop displacement θ s a smaller maximum allowable turning speed ω to allow the aircraft to decelerate to zero within max Therefore, the maximum allowable turning speed ω max may be decreased.

[0052] Increasing the boom angle 39 by an angle of approximately 70 to 110 degrees may have no effect on the extension of the arm arrangement 14 of the work vehicle 10 and / or on the distance of the tool 15 from the pivot axis 33. Thus, the moment of inertia J may be maintained approximately constant. max is the maximum angular stop displacement θ of the swivel device 11. s Therefore, the maximum allowable turning speed ω max may be maintained constant. Increasing the boom angle 39 from an angle of about 110 degrees may decrease the extension of the arm arrangement 14 of the work vehicle 10 and / or decrease the distance of the tool 15 from the pivot axis 33. This increase may decrease the moment of inertia J. A larger maximum allowable swing speed ω max Furthermore, the rotation device 11 is rotated at a predetermined maximum angular stop displacement θ s Therefore, the maximum allowable turning speed ω max may be increased.

[0053] At a first boom angle less than 105 and at a second boom angle greater than 107, the maximum allowable rotation speed ω max may be an upper limit value 113 beyond which it will not increase. Between the third boom angle 108 and the fourth boom angle 109, the maximum allowable swing speed ω max may be a lower limit 111 below which the maximum allowable turning speed ωmax The boom angle 39 at which the rotational speed ω begins to decrease, stops decreasing at 108, increases at 109, and stops increasing at 107, and the rate of decrease and increase are selected through experiments and empirical methods to determine the appropriate maximum allowable rotational speed ω for a given boom angle 39. max may be found.

[0054] The arm position data may include boom position data and stick position data. The boom position data and stick position data may be combined with each other. The arm position data may be an index relating to the extension of the arm arrangement 14 of the swivel device 11. As shown in FIG. 6, the maximum allowable swivel speed ω max may decrease as the extension of the arm arrangement 14 increases. max may be the first maximum allowable rotation speed 121 when the extension of the arm configuration 14 is at the first extension 131. max may be the second maximum allowable rotation speed 123 when the extension of the arm configuration 14 is at the second extension 133. The first maximum allowable rotation speed 121 may be greater than the second maximum allowable rotation speed 123, and the second extension 133 may be greater than the first extension 131.

[0055] Maximum allowable turning speed ω max may be equal to the first maximum allowable swing speed 121 when the extension of the arm configuration 14 is less than the first extension 131. The first maximum allowable swing speed 121 may be input by an operator via at least one input device 6 and / or may be stored on the memory 53. The first maximum allowable swing speed 121 may be set by safety considerations and / or by vehicle limitations. The first maximum allowable swing speed 121 may be equal to the upper limit value 113 described above with reference to FIG. 5 . The maximum allowable swing speed ω when the extension of the arm configuration 14 is less than the first extension 131 max By setting equal to the first maximum allowable rotation speed 121, a configuration with a small moment of inertia J (a configuration corresponding to an extension less than the first extension 131) can achieve a maximum allowable rotation speed ω maxThis results in improved performance since the .times. ...

[0056] Maximum allowable turning speed ω max may be equal to the second maximum allowable swing speed 123 when the extension of the arm configuration 14 exceeds the second extension 133. The second maximum allowable swing speed 123 is determined by the predetermined maximum angular stop displacement θ of the swing device configured with maximum inertia. s and the deceleration rate. The second maximum allowable swing speed 123 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. The second maximum allowable swing speed 123 may be equal to the lower limit value 111 described above with reference to FIG. 5. By limiting the second maximum allowable swing speed 123, it may be ensured that the work vehicle 10 can stop within a safe distance when configured with maximum inertia. When the extension exceeds the second extension 133, the maximum allowable swing speed ω max By setting equal to the second maximum allowable rotation speed 123, even a configuration with a large moment of inertia J (a configuration corresponding to an extension exceeding the second extension 133) can be stopped within a safe distance.

[0057] The method may further include changing and / or causing a change in the arm position of the work vehicle 10 by the control system 50. The maximum allowable swing speed ω max may be updated based on the new arm position data and a map relating the arm position 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.

[0058] 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. maxmay be dynamically redetermined and / or updated.

[0059] 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]

[0060] Thus, the method 50 uses arm position data to determine an appropriate maximum allowable rotation speed ω max Using the arm position data at the current arm position of the work vehicle 10, an appropriate maximum allowable swing speed ω for this particular arm position may be determined. max is determined. Excessive restrictions on the rotation speed ω due to the larger moment of inertia J at other arm positions do not occur. Therefore, the maximum allowable rotation speed ω max can be maximized since it is based on the current arm position. This allows for a predetermined maximum angular stopping displacement θ across different arm positions 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

[0061] 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 arm position. This is achieved using only one arm position sensor 75, thereby minimizing the number of sensors on the work vehicle 10.

Claims

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

2. The method of claim 1 , wherein the at least one arm position sensor includes a stick position sensor, and the arm position data includes stick position data.

3. The method of claim 1 or 2, wherein the at least one arm position sensor includes a boom position sensor, and the arm position data includes boom position data.

4. The method according to any one of claims 1 to 3, wherein the arm position data is a measure of the extension of the arm configuration of the swivel device.

5. 5. The method of claim 4, wherein the maximum allowable rotation speed is a first maximum allowable rotation speed when the extension of the arm configuration is a first extension, and the maximum allowable rotation speed is a second maximum allowable rotation speed when the extension of the arm configuration is a second extension, the first maximum allowable rotation speed being greater than the second maximum allowable rotation speed, and the second extension being greater than the first extension.

6. The method of claim 5 , wherein the maximum allowable pivot speed is equal to the first maximum allowable pivot speed when the extension of the arm configuration is less than the first extension.

7. 7. The method of claim 5 or 6, wherein the maximum allowable pivot speed is equal to the second maximum allowable pivot speed when the extension of the arm configuration exceeds the second extension.

8. 8. The method of claim 7, wherein the work vehicle is configurable in a plurality of different configurations with different inertias, 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.

9. The method of any one of claims 1 to 8, wherein the arm position data includes stick angle data and / or boom angle data.

10. 10. The method of claim 1, wherein the work vehicle further includes a stick hydraulic actuator and / or a boom hydraulic actuator, and the arm position data includes cylinder extension data of the stick hydraulic actuator and / or the boom hydraulic actuator.

11. The method includes, by the control system: changing the arm position of the work vehicle; The maximum allowable rotation speed of the rotation device is New arm position data and updating the arm position data based on the map relating the arm position data to the maximum allowable rotation speed; The method of any one of claims 1 to 10, further comprising: limiting the maximum operational swing speed of the swing device to the updated maximum allowed swing speed.

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, the work vehicle comprising: a swivel device rotatable about a swivel axis, the swivel device including an arm configuration including a stick and a boom; at least one arm position sensor attached to the swivel device for generating arm position data indicative of a position of the stick and / or the boom; The controller To take into account the moment of inertia of the swivel device, Arm position data; determining the maximum allowable rotation speed of the pivot device rotating about the pivot axis based on a map relating arm position data to a maximum allowable rotation speed; and limiting a maximum operational swing speed of the swing device to the maximum allowable swing speed.

14. A work vehicle, a swivel device rotatable about a swivel axis, the swivel device including an arm configuration including a stick and a boom; at least one arm position sensor attached to the swivel device for generating arm position data indicative of a position of the stick and / or the boom; and a control system including the controller of claim 13.

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