A method for determining the estimated payload weight of a work machine and an apparatus configured to determine the estimated payload weight value of a work machine.

Abstract

A method is provided for determining the estimated payload weight of a work machine, the work machine comprising a boom and a boom-lift electronic actuator configured to actuate the boom. The method includes determining a preliminary estimated payload weight value using the resultant force on the boom-lift electronic actuator and the boom position. The resultant force on the boom-lift actuator is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator. The method further includes adjusting the preliminary estimated weight value to provide an estimated payload weight value, the adjustment including filtering. The method further includes outputting the estimated payload weight value.

Description

Technical Field

[0001] The present disclosure relates to the field of work machines.

Background Art

[0002] Providing an actuator on a work machine or work tool configured to lift or carry a payload is well known. The actuator moves and controls components of the work machine so that the work machine can lift, manipulate, and carry the payload. For example, the work machine may include an arm. A wheel loader may include a boom and coupler connected to a work tool such as a bucket, while an excavator may include a boom, stick, and coupler. The work machine may include one or more actuators or cylinders configured to move and control one or more of the boom, stick, and bucket.

[0003] Conventionally, such an actuator is a hydraulic actuator or cylinder. The mass of the payload within the work tool can be measured or estimated based on the hydraulic pressure of a lift hydraulic cylinder or boom hydraulic cylinder.

[0004] Increasingly, the electrification of work vehicles and work machines is being considered. Replacing hydraulic cylinders with electric actuators or electromechanical actuators enables precise speed and acceleration control, as well as the management of forces on individual actuators. The speed and position of an electromechanical actuator can also be sensed. However, a simple measurement of the payload for a hydraulic cylinder is facilitated by the direct correlation between cylinder pressure and the payload. Replacing a hydraulic cylinder with an electric actuator means the loss of the ability to measure the payload using cylinder pressure. The object of the present disclosure is to provide a method for measuring the payload for a work machine having an electric actuator.

Summary of the Invention

[0005] Against this backdrop, a method is provided for determining the estimated payload weight of a work machine, the work machine comprising a boom and a boom-lift electronic actuator configured to actuate the boom. The method includes determining a preliminary estimated payload weight value using the boom position and the resultant force on the boom-lift electronic actuator, which is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator. The method further includes adjusting the preliminary estimated payload value to provide an estimated payload weight value, the adjustment including filtering. The method further includes outputting an estimated payload weight value.

[0006] In this way, it is possible to estimate the weight of the payload in a work tool for a work machine having an electronic actuator. The motor current of the electronic actuator can be used for estimation.

[0007] A device is also provided configured to determine an estimated payload weight value for a work machine, the work machine comprising a boom and a boom-lift electronic actuator configured to actuate the boom. The device is configured to determine a preliminary estimated payload weight value using the boom position and the resultant force of the boom-lift electronic actuator, which is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator. The device is further configured to adjust the preliminary estimated weight value to provide an estimated payload weight value, the adjustment including filtering. The device is further configured to output an estimated payload weight value. [Brief explanation of the drawing]

[0008] Herein, specific embodiments of the present disclosure will be described, for illustrative purposes only, with reference to the accompanying drawings.

[0009] [Figure 1]Figure 1 shows a schematic side view of a work machine configured to lift or carry a payload, and a method according to one embodiment of this disclosure may be used to determine the payload. [Figure 2] Figure 2 shows a side view of a section of a work machine configured to lift or carry a payload, and a method according to one embodiment of this disclosure may be used to determine the payload. [Figure 3] Figure 3 shows a schematic side view of a work machine configured to lift or carry a payload, and a method according to one embodiment of this disclosure may be used to determine the payload. [Figure 4] Figure 4 shows a flowchart illustrating a method for determining the payload of a work machine according to one embodiment of the present disclosure. [Figure 5] Figure 5 shows a flowchart illustrating a method for determining the payload of a work machine according to one embodiment of the present disclosure. [Figure 6] Figure 6 shows a flowchart illustrating a method for determining the payload of a work machine according to one embodiment of the present disclosure. [Figure 7] Figure 7 shows a flowchart illustrating a method for determining the payload of a work machine according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0010] A work machine may comprise one or more actuators configured to lift or carry a payload. One or more actuators control components of the work machine so that the work machine can lift, manipulate, or carry a payload. A method for determining the payload of the work machine is provided. The work machine comprises a boom and a boom-lift electronic actuator configured to actuate the boom. The boom may comprise any arm or component that can be actuated so that the work machine can lift, manipulate, or carry a payload. For example, the boom may be connected to the chassis of the work machine, and the boom electronic actuator may be configured to actuate the boom relative to the chassis. In certain embodiments, the boom may be configured to be connected to a work tool, and the work tool may be configured to hold a payload. The boom may be configured to be directly connected to the work tool at its distal end. The work tool may be movable relative to the boom. The work tool may be detachable from the boom. The boom may be configured to be connected to the work tool via another component of the work machine, such as a stick. The work tool may be movable relative to the stick or other component. The work tool may be detachable from the component. The work tool may include, for example, a bucket.

[0011] Referring to Figures 1 to 3, embodiments of a work machine equipped with boom and boom lift electronic actuators are shown. These are illustrative, and other configurations of boom and boom lift electronic actuators are possible. For example, the work machine may be equipped with a Z-bar linkage mechanism.

[0012] Figure 1 shows a wheel loader 100. The wheel loader comprises a chassis 110. The wheel loader 100 further comprises a boom 120 connected to the chassis 110, and the boom 120 is movable relative to the chassis 110. The boom 120 is configured to be actuated by a boom lift electronic actuator 121. The wheel loader 100 further comprises a coupling 130 for connecting to a work tool 140, and the work tool 140 comprises a bucket. The coupling 130 is configured to be actuated by a tilt electronic actuator 131. The wheel loader 100 further comprises wheels 150 and a cab 160, and the cab 160 is connected to the chassis 110.

[0013] Figure 2 shows a section of the excavator 200 comprising a chassis 210. The excavator 200 comprises a boom 220 connected to the chassis 210, the boom 220 being movable relative to the chassis 210. The boom 220 is configured to be actuated by a boom-lift electronic actuator 221. The excavator further comprises a stick 230 connected to the distal end of the boom 220, the stick 230 being movable relative to the boom 220. The stick 230 is configured to be actuated by a stick electronic actuator 231 so that the stick 230 rotates around a connection point between the boom 220 and the stick 230. The stick 230 may be configured to be attached to a work tool via a coupler at the distal end 232 of the stick 230. The coupler may be configured to be actuated by a tilt electronic actuator. The excavator 200 further comprises a cab 240.

[0014] Figure 3 shows an excavator 300 comprising a chassis 310. Similar to the excavator 200 shown in Figure 2, the excavator 300 comprises a boom 320 connected to the chassis 310, and the boom 320 is movable relative to the chassis 310. The boom 320 is configured to be actuated by a boom-lift electronic actuator 321. For the excavator 200, the boom-lift electronic actuator 221 actsuated from above the boom 220. For the excavator 300, the boom-lift electronic actuator 321 actsuated from below the boom 320. The excavator further comprises a stick 330 connected to the distal end of the boom 320, and the stick 330 is movable relative to the boom 320. The stick 330 is configured to be actuated by a stick electronic actuator 331 so that the stick 330 rotates around the connection point between the boom 320 and the stick 330. The stick 330 may be configured to be attached to a work tool via a coupler at its distal end 332. The coupler may be configured to be actuated by a tilting electronic actuator. The excavator 300 further comprises a cab 340.

[0015] The methods and apparatus described herein may be used with any work machine equipped with a boom and boom-lift electronic actuator, including but not limited to the work machines shown in Figures 1-3. The linkage mechanism of the work machine used herein may include any component of the work machine used to lift, carry, or manipulate a payload. For example, the linkage mechanism may include a boom, stick, coupling, or work tool.

[0016] A method is provided for determining the payload of a work machine. The work machine comprises a boom and a boom-lift electronic actuator configured to actuate the boom. Referring to Figure 4, the method includes determining a preliminary estimated weight value of the payload in step 410. Step 410, which determines the preliminary estimated weight value of the payload, uses the resultant force on the boom-lift electronic actuator 411 and the boom position 412. The resultant force on the boom-lift electronic actuator 411 is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. The motor torque may represent the force on the actuator when a brake or load holder attached to the actuator is released or not activated. The torque may be used in the boom position 412 to provide the resultant force on the boom actuator. The boom position 412 may include the boom angle and length. The method further includes adjusting the preliminary estimated weight value in step 420 to provide an estimated payload weight value, the adjustment including filtering. In step 430, the method includes outputting an estimated payload weight value.

[0017] Filtering estimated weight values ​​may include removing one or more of the following: noise, mechanical resonance, and motor vibration. Filtering may include low-pass and band-pass filters. Filtering may include time averaging of weight values.

[0018] The method may further include compensating for acceleration by using filtered angular acceleration. The step of compensating for acceleration may occur after the filtering step 420. Step 420 may include filtering preliminary estimated weight values ​​to provide filtered estimated weight values, and the method may further include adjusting the filtered estimated weight values ​​to compensate for acceleration by using filtered angular acceleration to provide estimated payload weight values. The step of compensating for acceleration may occur before the filtering step so that the preliminary estimated weight values ​​are adjusted to compensate for acceleration and the compensated weights are used in the filtering step 420.

[0019] Compensating for the estimated weight value of acceleration may involve estimating angular acceleration using a weighing range. The weighing range may include the boom's starting lift position and boom's ending lift position. The weighing range may be configurable. In certain embodiments, the user of the work machine may provide the weighing range. The difference between the boom's angular velocity entering the weighing range and the boom's angular velocity leaving the weighing range can be determined. The time taken to pass through the weighing range can also be determined. The estimated angular acceleration can then be determined by dividing the difference in angular velocity by the time taken. Using the estimated angular acceleration, the moment of inertia of the link mechanism, and the estimated weight value, it is possible to estimate how much additional force is induced and measured by acceleration compared to the force induced and measured by the actual payload. The acceleration force can be subtracted from the measured force to derive a compensated estimate of the force associated with the actual payload.

[0020] In certain embodiments, step 410 of determining a preliminary estimated weight value may include using a weight look-up table or a weight look-up map. The weight look-up table or map may include friction compensation based on the speed of the boom lift electronic actuator, and determining the preliminary estimated weight value may further use the speed of the boom lift electronic actuator. Friction compensation may be determined during calibration by raising and lowering the boom at two or more speeds with the same payload. This may be repeated for two or more payloads.

[0021] In certain embodiments, the work machine may further include a tilt actuator. For example, the work machine may include a coupler configured to connect to a work tool, and the tilt actuator is configured to operate the coupler. The method may further include steps of compensating for the tilt angle using the position of the tilt actuator. In certain embodiments, the known kinematics of the work machine's linkage mechanism and the assumed center of gravity of the payload may be used to determine a portion of the payload supported by the tilt actuator without directly determining any force on the tilt actuator. In other embodiments, the resultant force on the tilt electronic actuator may be determined from the motor current of the tilt electronic actuator.

[0022] In certain embodiments, the method further includes using the tilt electronic actuator position to adjust the preliminary estimated weight value to compensate for the tilt angle. In certain embodiments, the step of determining a preliminary estimated weight value of the payload is

[0023] It may include determining the support torque around the pin based on the combined force on the boom lift electronic actuator, the combined force on the tilt cylinder, the position of the boom, and the position of the tilt electronic actuator. The combined force on the boom lift electronic actuator is determined from the motor current of the boom lift electronic actuator, the motor current indicates the motor torque, and the motor torque indicates the force on the actuator. The combined force on the tilt cylinder is determined from the motor current of the tilt electronic actuator, the motor current indicates the motor torque, and the motor torque indicates the force on the actuator. The preliminary estimated weight value may be determined based on the support torque and the position of the boom. Determining the preliminary estimated weight value based on the support torque and the position of the boom may further include using the mechanical pitch and the position of the tilt electronic actuator. The preliminary estimated weight value may be determined using a nominal link mechanism model based on the support torque, the position of the boom, the mechanical pitch, and the position of the tilt electronic actuator. In certain embodiments, the nominal link mechanism model may include a system of simultaneous equations based on the free body diagrams of the link mechanism components. The pin may connect the boom to the chassis such that the boom is rotatable around the pin.

[0024] In certain embodiments, the method may further include calibrating the preliminary estimated weight value using a calibration scale and an offset coefficient.

[0025] In certain embodiments, the tilt actuator may include a tilt electronic actuator. In certain embodiments, the tilt actuator may include another actuator such as a hydraulic actuator.

[0026] In certain embodiments, the center of gravity of the payload is assumed to be similar to the center of gravity used for the calibrated payload.

[0027] Referring to Figure 5, a method for determining the payload of a work machine according to one embodiment of the present disclosure is shown. The work machine comprises a boom, a boom-lift electronic actuator configured to actuate the boom, and a tilt actuator configured to actuate a coupling, the coupling being configured to connect to a work tool. The tilt actuator may not have an electronic actuator. The center of gravity of the payload may be assumed to be similar to the center of gravity used for a calibrated payload. The method includes determining a preliminary estimated weight of the payload in step 510. Step 510 for determining the preliminary estimated weight of the payload uses the resultant force 511 on the boom-lift electronic actuator, the boom position 512, and the speed 513 of the boom-lift electronic actuator. The preliminary estimated weight is determined using a weight lookup map or table having the resultant force 511 on the boom-lift electronic actuator and the boom position 512, the weight lookup map or table taking into account friction compensation based on the speed 513 of the boom-lift electronic actuator. The resultant force 511 of the boom lift electronic actuator is determined from the motor current of the boom lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. The method further includes adjusting a preliminary estimated weight value to provide an estimated payload weight value. Adjustment step 520 includes adjusting the preliminary estimated weight value in step 530 to compensate for the tilt angle and provide a tilt-adjusted estimated weight value using the tilt actuator position 531. Adjustment step 520 further includes filtering the tilt-adjusted estimated weight value in step 540 to provide a filtered estimated weight value. Adjustment step 520 further includes adjusting the filtered estimated weight value for acceleration in step 550 using the filtered angular acceleration 551. In step 560, the method includes outputting an estimated payload weight value. The adjustment steps 520 may be performed in a different order.

[0028] Referring to Figure 6, a method for determining the payload of a work machine according to an embodiment of the present disclosure is shown. The work machine comprises a boom, a boom-lift electronic actuator configured to actuate the boom, and a tilt electronic actuator configured to actuate a coupling, the coupling being configured to connect to a work tool. The center of gravity of the payload may be assumed to be similar to the center of gravity used for a calibrated payload. The method includes determining a preliminary estimated weight value of the payload in step 610. Step 620 includes calculating the torque around a component configured to attach the boom to the work machine, such as a pin. Step 620 uses known kinematics and resultant force 621 on the boom-lift electronic actuator, resultant force 622 on the tilt electronic actuator, boom position 623, and tilt electronic actuator position 624. The resultant force 621 on the boom-lift electronic actuator is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. The resultant force 622 on the tilt electronic actuator is determined from the motor current of the tilt electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. In step 630, a preliminary estimated weight value is determined using the torque, boom position 623, boom lift electronic actuator speed 631, and a weight lookup map or table. The weight lookup map or table takes into account friction compensation based on boom lift electronic actuator speed 631. The method further includes adjusting the preliminary estimated weight value to provide an estimated payload weight value. Adjustment step 640 includes filtering the preliminary estimated weight value in step 650 to provide a filtered estimated weight value. Adjustment step 640 further includes adjusting the filtered estimated weight value for acceleration in step 670 using the filtered angular acceleration 661. In step 670, the method includes outputting an estimated payload weight value. The adjustment steps 640 may be performed in a different order.

[0029] Referring to Figure 7, a method for determining the payload of a work machine according to an embodiment of the present disclosure is shown. The work machine comprises a boom, a boom-lift electronic actuator configured to actuate the boom, and a tilt electronic actuator configured to actuate a coupling, the coupling being configured to connect to a work tool. The difference between the center of gravity of the payload and the center of gravity used for a calibrated payload is compensated for. The method includes determining a preliminary estimated weight value of the payload in step 710. Step 720 includes calculating the torque around a component configured to attach the boom to the work machine, such as a pin. Step 720 uses known kinematics and resultant force 721 on the boom-lift electronic actuator, resultant force 722 on the tilt electronic actuator, boom position 723, and tilt electronic actuator position 724. The resultant force 721 on the boom-lift electronic actuator is determined from the motor current of the boom-lift electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. The resultant force 722 on the tilt electronic actuator is determined from the motor current of the tilt electronic actuator, where the motor current represents the motor torque, and the motor torque represents the force on the actuator. In step 730, friction compensation based on the speed 731 of the boom lift electronic actuator is determined using a weight lookup map or table. In step 740, a preliminary estimated weight value is determined using the torque, friction compensation, nominal linkage mechanism model, and the boom position 723, the tilt electronic actuator position 724, the boom lift electronic actuator speed 731, and the working machine pitch 741. The method further includes adjusting the preliminary estimated weight value to provide an estimated payload weight value. Adjustment step 750 includes applying a calibration scale and offset in step 760 to provide a calibrated estimated weight value. In step 770, the calibrated estimated weight value is filtered to provide a filtered estimated weight value. Adjustment step 750 further includes adjusting the filtered estimated weight value for acceleration in step 780 using the filtered angular acceleration 781.In step 790, the method includes outputting an estimated payload weight value. The adjustment step 750 may be performed in a different order.

[0030] In certain embodiments, the work machine comprises a boom, a boom-lift electronic actuator configured to actuate the boom, and a tilt electronic actuator configured to actuate a coupling, the coupling configured to connect to a work tool, a stick connected to the distal end of the boom, and a stick electronic actuator configured to actuate the stick. The coupling may also be connected to the distal end of the stick, or the coupling may be configured to connect to the work tool. The method described above can be used to determine an estimated payload weight value.

[0031] The step of determining the preliminary estimated weight of the payload may use one or more of the stick position and the coupling position. In certain embodiments, determining the preliminary estimated weight of the payload may use one or more of the velocity and acceleration of one or more of the boom, stick, and bucket.

[0032] Position, velocity, and acceleration information may be provided by one or more of the following: position feedback sensors, motor position, and / or actuator position.

[0033] The positions of components referred to herein may refer to the positions of the components or the positions of actuators configured to actuate those components. For example, the position of a boom may refer to any position on the boom, including the position of the boom itself, the position of the boom actuator, and the positions of one or more of the boom's linkage elements. The position may be determined by an encoder on the actuator, which provides the control unit with the actuator's length or extension and velocity feedback. Based on the actuator length of the linkage and known kinematics, the linkage position and angular velocity can be determined. Position feedback sensors may be mounted on the linkage or elsewhere on the components and may comprise one or more of a position-sensing cylinder, an inertia measuring unit, and a rotary linkage sensor. The forces calculated in the manner described above may include forces on the actuator or forces on the linkage elements. For example, in certain embodiments, a preliminary weight estimate may be determined using forces on the actuator and the positions of the linkage elements. In other embodiments, a preliminary weight estimate may be determined using one or more linkage elements and the forces on one or more of the linkage elements' positions, velocities, and accelerations.

[0034] Once an estimated payload weight is determined, it can be recorded for the corresponding loading event. The recorded payload weight can be added to the total payload. The total payload may be for a work machine. The total payload may be for the life of the work machine, the shifts of the work machine, a job for a work machine that involves multiple shifts, or any period over which the work machine is used, whether continuous or separate. For example, the total payload may be for a day, a week, a month, or a year. The total payload may be for multiple work machines or work sites.

[0035] The estimated payload weight value can be compared to a threshold weight value. For example, the estimated payload weight value can be used to check whether a work machine is carrying a payload within a specific tolerance. The estimated payload weight value can also be used to determine the productivity or efficiency of a work machine.

[0036] The methods described above may be carried out continuously or at intervals.

[0037] The method described above may further include an initial step of checking whether the payload determination mechanism is installed on the work machine and whether the payload determination mechanism is calibrated.

[0038] As mentioned above, the electric actuator may comprise any electric or electromechanical actuator, including cylinder actuators and any linear actuators. The work tool may comprise any work tool configured to carry, lift, or manipulate the payload. For example, the work tool may comprise a bucket or a fork.

[0039] According to one embodiment of the present disclosure, the apparatus is configured to determine the payload weight of a work machine, and the work machine comprises a boom and a boom-lift electronic actuator configured to actuate the boom. The apparatus is configured to perform any of the methods described herein. The apparatus may also include a control device configured to perform the method.

[0040] The device is configured to determine a preliminary estimated payload weight using the resultant force on the boom lift electronic actuator and the boom position. The resultant force is determined from the motor current of the boom lift electronic actuator, the motor current represents the motor torque, and the motor torque represents the force on the actuator. The device is further configured to adjust the preliminary estimated weight to provide an estimated payload weight, the adjustment including filtering. The device is further configured to output an estimated payload weight.

Claims

1. A method for determining the estimated payload weight of a work machine, wherein the work machine comprises a boom and a boom-lift electronic actuator configured to operate the boom, and the method is: The process involves determining the preliminary estimated weight of the payload, The resultant force on the boom lift electronic actuator determined from the motor current of the boom lift electronic actuator, wherein the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator, and The position of the boom mentioned above is used to determine, Adjusting the preliminary estimated weight value in order to provide an estimated payload weight value, wherein the adjustment includes filtering, and A method comprising outputting the estimated payload weight value.

2. The method according to claim 1, wherein the adjustment further comprises compensating for acceleration by using filtered angular acceleration.

3. The method according to claim 1 or 2, wherein the step of determining the preliminary estimated weight value includes using a weight lookup table.

4. The method according to claim 3, wherein the weight lookup table includes friction compensation based on the speed of the boom lift electronic actuator.

5. The aforementioned work machine is A coupler configured to connect to a work tool, The method according to any one of claims 1 to 4, further comprising a tilting electronic actuator configured to operate the coupler.

6. The method according to claim 5, further comprising using the position of the tilt electronic actuator to adjust the preliminary estimated weight value to compensate for the tilt angle.

7. The step of determining the preliminary estimated weight of the payload is: This involves determining the support torque around the pin, The resultant force on the boom lift electronic actuator determined from the motor current of the boom lift electronic actuator, wherein the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator, and The resultant force on the tilting cylinder determined from the motor current of the tilting electronic actuator, wherein the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator, and The position of the boom and, Based on the position of the tilt electronic actuator, and The method according to claim 5 or 6, comprising determining the preliminary estimated weight value based on the support torque and the position of the boom.

8. The method according to claim 7, wherein determining the preliminary estimated weight value based on the support torque and the position of the boom further comprises using the mechanical pitch and the position of the tilting electronic actuator, the preliminary estimated weight value is determined using a nominal linkage mechanism model based on the support torque, the position of the boom, the mechanical pitch, and the position of the tilting electronic actuator.

9. The aforementioned work machine is A stick connected to the distal end of the boom, The system further comprises a stick electronic actuator configured to operate the aforementioned stick, The method according to any one of claims 5 to 8, wherein the connector is connected to the distal end of the stick.

10. Determining the preliminary estimated weight of the payload is: The position of the aforementioned stick and, The method according to claim 9, further using one or more of the positions of the coupler.

11. The method according to claim 9 or 10, wherein determining the preliminary estimated weight of the payload further uses one or more of the speeds and accelerations of one or more of the boom, the stick, and the bucket.

12. The method according to any one of claims 1 to 11, further comprising recording the estimated payload weight value for the corresponding loading event.

13. The aforementioned payload value is, The aforementioned work machine, The period of use of the aforementioned work machine, and The method according to claim 12, which is added to the total payload for one or more work periods at a work site.

14. The method according to any one of claims 1 to 13, further comprising comparing the estimated payload weight with a threshold weight.

15. A device configured to determine the estimated payload weight of a work machine, wherein the work machine comprises a boom and a boom lift electronic actuator configured to operate the boom, and the device, The process involves determining the preliminary estimated weight of the payload, The resultant force on the boom lift electronic actuator determined from the motor current of the boom lift electronic actuator, wherein the motor current represents the motor torque, and the motor torque represents the resultant force on the actuator, and The position of the boom mentioned above is used to determine, Adjusting the preliminary estimated weight value in order to provide an estimated payload weight value, wherein the adjustment includes filtering, and A device configured to output the estimated payload weight value.

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