Adaptive Swing Speed Limits for Work Vehicle Safe Stopping
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Solution Overview
Problem
Work vehicles, such as excavators, face challenges in stopping their swing speed within a safe distance and angle due to varying configurations and moments of inertia, which are not adequately addressed by existing technologies, especially with the updated European regulation EN 474 requiring stopping within every configuration.
Innovation Solution
A method and system that determines the maximum allowable swing speed based on arm position data using a map that links arm position with swing speed, accounting for the moment of inertia, and limits the swing speed to ensure safe stopping, using arm position sensors and a control system to adjust the swing speed accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the maximum operational swing speed is limited to ensure stopping within safe distance, then safety is improved, but productivity deteriorates
Solution Approach 1:
The patent applies dynamics by making the maximum allowable swing speed adaptive rather than fixed. The control system dynamically adjusts the swing speed limit based on real-time arm position data, moment of inertia calculations, and operating configuration. This allows the system to optimize safety by limiting speed only when necessary (e.g., when arm extension increases moment of inertia) while maintaining higher speeds during safer configurations, thus resolving the contradiction between safety and productivity.
Solution Approach 2:
The patent changes the parameter of maximum swing speed based on multiple factors including arm position, moment of inertia, and vehicle configuration. By continuously monitoring arm position sensors and calculating moment of inertia, the system adjusts the swing speed parameter dynamically. This parameter change approach allows the system to maintain safety requirements while optimizing operational efficiency across different working conditions.
2Reliability
If the maximum operational swing speed is reduced to account for varying moment of inertia across configurations, then stopping safety is improved, but operational efficiency deteriorates
Solution Approach 1:
The system dynamically adjusts the swing speed limit based on real-time moment of inertia calculations derived from arm position data. Rather than applying a uniform speed limit across all configurations, the control system adapts the speed parameter to match the current operational state, ensuring safe stopping capability while maintaining operational efficiency in configurations with lower moment of inertia.
Solution Approach 2:
The patent implements parameter changes by continuously modifying the maximum allowable swing speed based on calculated moment of inertia values. The control system uses arm position sensors to determine current configuration and adjusts the speed parameter accordingly, allowing operators to maintain optimal speeds for each configuration while ensuring safety requirements are met.
3Reliability
If a uniform maximum swing speed limit is applied across all configurations, then stopping safety is ensured, but adaptability to different operating conditions deteriorates
Solution Approach 1:
The patent applies dynamics by transitioning from a static, uniform speed limit to a dynamic, adaptive speed limit. The control system continuously monitors arm position and calculates moment of inertia to determine the appropriate speed limit for each configuration. This dynamic approach ensures that the swing speed limit is always appropriate for the current operating conditions, improving both safety and adaptability.
Solution Approach 2:
The implementation changes the swing speed parameter based on multiple factors including arm position, moment of inertia, and vehicle configuration. The control system uses sensor data to determine current configuration and adjusts the speed parameter accordingly, enabling the system to adapt to different operating conditions while maintaining safety requirements.
Data Source
AI summary
PURPOSE: To control crane operation in safety and high working efficiency by limiting upper limit value of swing angle speed automatically, corresponding to a working radius calculated from the length and angle of a boom and a load factor of a crane. CONSTITUTION: A working radius R is searched from a boom angle beta and a boom length L detected with detectors 1, 2, with a computing element 3, and an allowable maximum swing angle speed omegamax is computed by a first function generating means 7. Meanwhile, from a cane load W detected with a detector 4, working radius R, and boom length L, a rated value Wa with a computing element 5, moreover a load factor P with a dividing apparatus 6 are searched, and a decreasing factor of swing angle speed K is calculated with a second function generating means 8. omegamax.K is searched with a multiplicator 9, and output as a control signal which sets it as the upper limit value of swing angle speed, to a swing driving mechanism A. Hereby, the swing angle speed corresponding to various working radii and load factors are obtained. The maximum swing angle speed is limited according to the working condition, and controlling of crane operation can be performed in safety and high working efficiency.