US 11,668,077 B2
System and method for determining the mass of a payload moved by a working device
Oliver Sawodny, Stuttgart (DE); Anton Renner, Stuttgart (DE); and Hannes Wind, Stuttgart (DE)
Assigned to Liebherr-France SAS, Colmar (FR)
Filed by Liebherr-France SAS, Colmar (FR)
Filed on Oct. 24, 2019, as Appl. No. 16/662,286.
Claims priority of application No. 10 2018 126 809.2 (DE), filed on Oct. 26, 2018.
Prior Publication US 2020/0157775 A1, May 21, 2020
Int. Cl. E02F 9/26 (2006.01); E02F 1/00 (2006.01); E02F 9/20 (2006.01); E02F 9/22 (2006.01); G01G 23/01 (2006.01); E02F 9/24 (2006.01)
CPC E02F 9/265 (2013.01) [E02F 1/00 (2013.01); E02F 9/2029 (2013.01); E02F 9/2246 (2013.01); G01G 23/01 (2013.01); E02F 9/24 (2013.01)] 13 Claims
OG exemplary drawing
 
1. System for determining mass of a payload moved by a working device of a machine, comprising:
a lifting-gear element that is movable along a path and is designed to move the working device;
a sensor system that is designed to provide a plurality of machine-status signals which indicate a status of the machine;
a force sensor system that is designed to provide a lifting-force signal that indicates a force on the lifting-gear element; and
a control device configured:
to use system parameters for load determination that are automatically initiated by using CAD data at a factory, and/or from continuous calibration of system parameters, and/or executing a system identification procedure and determining the mass of the payload at least in part on system parameters originating from CAD data pre-configured at the factory;
to carry out calibration using the pre-configured parameters as initialisation if unsatisfactory results are achieved, wherein the calibration is carried out when the performance of the load estimation drops;
to carry out the calibration in an unloaded state when the working device is empty, with automatically predefined stimulation trajectories being used for the machine or instructions being provided to the operator for stimulating the parameters;
to log the system statuses using the sensors and to carry out a system identification of this information; and
to determine the mass of the payload on the basis of identified and/or pre-configured system parameters and system statuses including at least one of a position, a speed, an acceleration of the lifting-gear element and/or a force or torque on the lifting-gear element.