Provided is a weight estimation system (S) including: a change amount calculation device (2) which acquires a height of a loading platform (N) before loading a vehicle and a height of the loading platform (N) after loading the vehicle and calculates an amount of change between the heights of the loading platform (N) between before and after the loading; and a loaded weight estimation device (4) which estimates a loaded weight on the basis of a correlation between the amount of change and a loaded weight stored in advance.

A robot state estimation method, a computer-readable storage medium, and a legged robot are provided. The method includes: obtaining force information of a left leg of a robot and a right leg of the robot; calculating a ZMP of the robot in a world coordinate system based on the force information of the left leg and the force information of the right leg; and calculating a position of a center of mass (CoM) of the robot based on a preset linear inverted pendulum model. In this manner, a brand-new linear inverted pendulum model is constructed in advance, which uses the ZMP of the robot as a supporting point of the model, thereby fully considering the influence of the change of the position of the ZMP of the robot on the position of the CoM.

A method for balancing disc blades comprising the steps of: determining the initial position of the center of mass of the disc blade to be balanced with respect to its main axis; calculating/determining the number, the position and/or the dimensions of one or more balancing holes eccentric with respect to said main axis and necessary for removing an amount of material sufficient to bring the center of mass of the disc blade at a distance from the main axis lower than a predetermined maximum limit value; and forming said balancing hole or holes on the central disc in an eccentric position with respect to said main axis.

The invention relates to an adapter for a gravity pendulum, which adapter comprises a support for fastening a gravity body to be measured and at least two seat parts arranged at the support. The at least two seat parts comprise ellipsoid caps which can be held on a holder or on seating faces of a holder and are used to oscillate the adapter.

The present disclosure relates to a cargo loading system and a cargo loading method using the same. The present disclosure includes an input unit configured to receive first information including one or more of the volumes and weights of cargos and generate cargo information, a loading unit configured to generate loading information by determining the state in which the cargos have been disposed in a container by using the cargo information, and an output unit configured to output the loading information through an output device.

Vehicle center of gravity (CoG) height and mass estimation techniques utilize a light detection and ranging (LIDAR) sensor configured to emit light pulses and capture reflected light pulses that collectively form LIDAR point cloud data and a controller configured to estimate the CoG height and the mass of the vehicle during a steady-state operating condition of the vehicle by processing the LIDAR point cloud data to identify a ground plane, identifying a height difference between (i) a nominal distance from the LIDAR sensor to the ground plane and (ii) an estimated distance from the LIDAR sensor to the ground plane using the processed LIDAR point cloud data, estimating the vehicle CoG height as a difference between (i) a nominal vehicle CoG height and the height difference, and estimating the vehicle mass based on one of (i) vehicle CoG metrics and (ii) dampening metrics of a suspension of the vehicle.

A vending device has at least one display area and an evaluator. The display area is formed by a rigid body, and has at least two, spatially-separated product areas, the rigid body of the display area being held by force transmission areas of at least two weighing cells. The evaluator is configured to, at periodic intervals or when a total weight detected by the at least two weighing cells changes: determine new coordinates of a center of gravity from data of the weighing cells, and transmit the new coordinates to a controller. The controller is configured to: determine a product area within the display area based upon changes in the coordinates of the center of gravity, determine, from the change in a total weight, the weight of goods removed from or added to the determined product area, and update an inventory, stored in a memory, for the product.

An agricultural combine having a chassis, an intermediate member connected to the chassis, a first actuator connecting the chassis to the intermediate member, a first gauge configured to measure a first force generated by the first actuator, a header movably connected to the intermediate member, a second actuator connecting the header to the intermediate member, a second gauge configured to measure a second force generated by the second actuator, and a processing unit operatively connected to the first gauge and to the second gauge and comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, are configured to evaluate the first force and the second force to determine a position of a center of gravity of the header relative to the chassis. A method for determining the position of the center of gravity and weight of the header are also provided.

A real-time commercial vehicle weight loading system is disclosed. The system employs a number of vehicle weight sensors, configured to provide vehicle weight data for a respective zone of the vehicle. The system may also utilize at least one cargo weight sensor to provide weight data of not-yet loaded cargo. A system controller is in communication with the weight sensors and is configured to, upon receiving cargo to be loaded information, send an indication of optimal cargo placement including identifying the cargo to be loaded, the location on the vehicle the cargo is to be loaded, and monitoring the loading of the vehicle. This same system may also provide total vehicle weight and broadcast real-time vehicle weights when pinged by a query device, which will allow for uninterrupted transit of the vehicle and cargo. This system may also provide data for improved vehicle stability.

The present invention relates to a method for determining the mass and the centre of mass of a demountable platform by using a mathematical model, the parameters of which are estimated using an iterative procedure.