System for estimating a mass of a payload in a hauling machine

A method of estimating a payload in a bed of a machine, the method comprising:

• storing an angle of inclination threshold;
• storing an inclination rate of change threshold;
• storing an acceleration threshold;
• storing an unloaded mass of the machine in an unloaded condition;
• determining an output torque from a prime mover;
• determining an angle of inclination of the machine based upon signals from a grade detector;
• comparing the angle of inclination of the machine to the angle of inclination threshold;
• driving the machine on a work surface wherein, when driving the machine, the angle of inclination of the machine is greater than the angle of inclination threshold;
• determining a rate of change in the angle of inclination;
• comparing the rate of change in the angle of inclination to the inclination rate of change threshold;
• driving the machine on a work surface wherein, when driving the machine, the rate of change in the angle of inclination is less than the inclination rate of change threshold;
• determining a rate of machine acceleration;
• comparing the rate of machine acceleration to the acceleration threshold;
• and
• driving the machine on a work surface wherein, when driving the machine, the machine acceleration is less than the acceleration threshold;
• and
• determining an estimate of the payload in the bed based on the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass while:
• the angle of inclination of the machine is greater than the angle of inclination threshold;
• the rate of change in the angle of inclination is less than the inclination rate of change threshold;
• and
• the machine acceleration is less than the acceleration threshold.

A hauling machine comprising

• a plurality of ground engaging elements;
• a prime mover operatively connected to the plurality of ground engaging elements;
• a bed adapted to carry a payload;
• a transmission operatively connected to the prime mover and the plurality of ground engaging elements and adapted to operate in a plurality of gears;
• a torque sensor for determining an output torque from the prime mover;
• a grade detector for determining an angle of inclination of the hauling machine;
• a sensor for determining machine acceleration;
• and
• a controller configured to:
• store an angle of inclination threshold;
• store an inclination rate of change threshold;
• store an acceleration threshold;
• store an unloaded mass of the hauling machine in an unloaded condition;
• determine the output torque from the prime mover;
• determine the angle of inclination of the hauling machine based upon signals from the grade detector;
• compare the angle of inclination of the hauling machine to the angle of inclination threshold;
• determine a rate of change in the angle of inclination;
• compare the rate of change in the angle of inclination to the inclination rate of change threshold;
• determine the machine acceleration;
• compare the machine acceleration to the acceleration threshold;
• and
• only if:
• a) the angle of inclination of the hauling machine is greater than the angle of inclination threshold;
• b) the rate of change in the angle of inclination is less than the inclination rate of change threshold;
• and
• c) the machine acceleration is less than the acceleration threshold,
• determine an estimate of the payload in the bed based upon the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass.