Intelligent mechanical linkage performance system

A work machine having an intelligent mechanical linkage performance system, the work machine comprising:

• a frame and a ground-engaging mechanism, the ground-engaging mechanism configured to support the frame on a surface;
• a boom assembly coupled to the frame wherein the boom assembly comprises
• a first section pivotally coupled to the frame and moveable relative to the frame by a first actuator, a first boom position sensor coupled to the first section, and
• a second section pivotally coupled to the first section and moveable relative to the first section by a second actuator, a second boom position sensor coupled to the second section;
• a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload;
• a pin coupled to the second section at a location distal from the first section, the pin having an envelope of movement throughout which the pin is moveable by the first section and the second section;
• and
• a controller configured to receive a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and the load signal from the load measuring device,
• wherein the controller is further configured to calculate a map of hydraulic capacities within the envelope of movement for one or more of the first and the second actuators based on the first position signal, the second position signal, and the load signal, and generate a movement envelope of movement of the pin through at least a portion of
• the envelope based on the hydraulic capacities, the movement envelope being smaller than the envelope.

The intelligent mechanical linkage performance system for a work machine for a payload moving operation, the system comprising:

• a first boom position sensor coupled with a first section of a boom assembly of the work machine for generating a first position signal indicative of a position of a first actuator;
• a second boom position sensor coupled with a second section of a boom assembly of the work machine for generating a second position signal indicative of a position of a second actuator;
• a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload;
• a pin coupled to the second section at a location distal from the first section, the pin having an envelope of movement throughout which the pin is moveable by the first section and the second section;
• the pin coupled to an implement, the implement configured to engage a payload;
• and
• a controller configured to
• receive the first position signal from the first boom position sensor, the second position signal from the second actuating sensing system, and the load signal,
• calculate a map of hydraulic capacities for one or more of the first and second actuators based on the first position signal, the second position signal, and the load signal,
• generate a movement envelope of movement of the pin through at least a portion of the envelope of movement based on the hydraulic capacities, the movement envelope being smaller than the envelope of movement.

A method of an intelligent mechanical linkage performance of a work machine for movement of a payload, the work machine having a frame with a ground-engaging mechanism configured to support the frame on a surface, a boom assembly coupled to the frame, the boom assembly having a first section pivotally coupled to the frame and moveable relative to the frame by a first actuator, a first boom position sensor coupled to the first section;

• a second section pivotally coupled to the first section and moveable relative to the first section be a second actuator, a second boom position sensor coupled to the second section;
• and a pin coupled to the second section at a location distal from the first section, the pin having an envelope throughout which the pin is moveable by the first section and the second section, the method comprising:
• transmitting a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and a load signal from a load measuring device coupled to the boom assembly and configured to generate a signal indicative of a payload, to a controller located on the work machine;
• receiving the first position signal, the second position signal, and the load signal by the controller;
• determining a relative position of the pin within the envelope of movement by the controller based on the first position signal and the second position signal;
• calculating a map of hydraulic capacities for one or more of the first and second actuators based on the load signal and the relative position of the pin by the controller wherein the controller extrapolates values throughout the envelope of movement from the relative position of the pin, the load signal, and a theoretical performance data module;
• and
• generating a movement envelope of movement of the pin through at least a portion of an envelope of movement based on the hydraulic capacities, the movement envelope being smaller than the envelope of movement.