Payload Estimation system

摘要

A payload control system includes a sensor system and a force sensor system. A controller determines a calibration machine state, a calibration linkage force, and machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force. The controller also determines a loaded implement machine state, a loaded implement linkage force, and a mass of the payload based at least in part upon the machine calibration parameters, the loaded implement machine state, and the loaded implement linkage force.

主权项

1. A system for determining a mass of a payload moved by a work implement, comprising:
a linkage member being movable along a path, the linkage member being operatively connected to move the work implement; a sensor system configured to provide a plurality of machine state signals indicative of a state of a machine; a force sensor system configured to provide a linkage force signal indicative of a force on the linkage member; and a controller configured to:
receive a first set of unloaded machine state signals as the work implement is moved in an unloaded condition;determine a calibration machine state based upon the first set of unloaded machine state signals and without moving the work implement in a loaded state;determine a calibration linkage force on the linkage member based at least in part upon a calibration linkage force signal generated as the work implement is moved in the unloaded condition and without input based upon moving the work implement in a loaded state;determine machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force and without input based upon moving the work implement in a loaded state;receive a second set of loaded machine state signals as the work implement is moved in a loaded condition;determine a loaded implement machine state based upon the second set of loaded machine state signals;determine a loaded implement linkage force on the linkage member based at least in part upon a loaded implement linkage force signal generated as the work implement is moved in the loaded condition; anddetermine a mass of the payload based at least in part upon the machine calibration parameters, the loaded implement machine state, and the loaded implement linkage force.