Importance

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Abstract

Methods and apparatuses for determining a mass of a payload in a work machine. The work machine has a chassis, a cab coupled with the chassis, and a boom coupled with the cab. A first actuator is coupled with the boom and the cab and moves the boom relative to the cab. The work machine has a stick coupled with the boom, and a second actuator coupled with the stick and the boom that moves the stick relative to the boom. The work machine also has a bucket operable to receive the payload. The bucket is coupled with the stick, and a third actuator is coupled with the bucket and the stick and moves the bucket relative to the stick. A first joint angle of the boom relative to the cab is determined at at least two instances in time. A second joint angle of the stick relative to the boom is determined at at least two instances in time. A third joint angle of the bucket relative to the stick is determined at at least two instances in time. A first actuator force exerted on the first actuator is determined at at least two instances in time. A second actuator force exerted on the second actuator is determined at at least two instances in time. A third actuator force exerted on the third actuator is determined at at least two instances in time. A plurality of physical characteristics of the work machine is determined. The mass of the bucket and payload is determined as a function of the first joint angles, the second joint angles, the third joint angles, the first actuator forces, the second actuator forces, the third actuator forces, and the plurality of predetermined physical characteristics.

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First Claim