System and method for determining the mass of a payload moved by a working device

The present invention relates to a system for determining the mass of a payload moved by a working device of a machine, comprising:a lifting-gear element that is movable along a path and is designed to move the working device;a sensor system that is designed to provide a plurality of machine-status signals which indicate a status of the machine;a force sensor system that is designed to provide a lifting-force signal that indicates a force on the lifting-gear element; anda control device that is designed:to use system parameters for load determination that originate from pre-configured CAD data, preferably CAD data that has been pre-configured at the factory, and/or from continuous calibration of system parameters;to carry out calibration using the pre-configured parameters as initialisation if unsatisfactory results are achieved;to carry out the calibration in an unloaded state, i.e. when the working device is empty, with automatically predefined stimulation trajectories being used for the machine or instructions being provided to the operator for stimulating the parameters;to log the system statuses using the sensor and to carry out a system identification of this information; andto determine a mass of the payload on the basis of identified and/or pre-configured system parameters and system statuses, preferably on the basis of a position, a speed, an acceleration of the lifting-gear element and/or a force or torque on the lifting-gear element.