Payload Estimation System
First Claim
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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 machine state signals as the work implement is moved in an unloaded condition;
determine a calibration machine state based upon the first set of machine state signals;
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;
determine machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force;
receive a second set of 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 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; and
determine 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.
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Abstract
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.
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Citations
20 Claims
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1. A system for determining a mass of a payload moved by a work implement, comprising:
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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 machine state signals as the work implement is moved in an unloaded condition; determine a calibration machine state based upon the first set of machine state signals; 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; determine machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force; receive a second set of 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 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; and determine 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A controller implemented method of determining a mass of a payload moved by a work implement, comprising:
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receiving a first set of machine state signals as a work implement is moved in an unloaded condition; determining a calibration machine state based upon the first set of machine state signals; determining a calibration linkage force on a linkage member based at least in part upon a calibration linkage force signal generated as the work implement is moved in the unloaded condition; determining machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force; receiving a second set of machine state signals as the work implement is moved in a loaded condition; determining a loaded implement machine state based upon the second set of machine state signals; determining 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; and determining 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. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A machine comprising:
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a work implement; 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 the 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 machine state signals as the work implement is moved in an unloaded condition; determine a calibration machine state based upon the first set of machine state signals; 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; determine machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force; receive a second set of 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 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; and determine 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.
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Specification