Load status estimation device and load status estimation method

Abstract

In the present invention, a loading determination unit determines whether a load held by a work implement provided on a loading machine has been loaded onto a receiver. A relative position identification unit identifies a relative positional relationship between the work implement and the receiver at the time when the load is loaded onto the receiver. A distribution estimation unit estimates the distribution of the load loaded onto the receiver on the basis of the viscosity of the load loaded onto the receiver.

Description

TITLE OF INVENTION: LOAD STATUS ESTIMATION DEVICE AND LOAD STATUS ESTIMATION METHOD 5 FIELD

[0001] The present disclosure relates to a load status estimation device and a load status estimation method. The present application claims priority on Japanese Patent Application No. 10   2022-174614, filed in Japan on October 31, 2022, the content of which is incorporated herein by reference. BACKGROUND

[0002] Japanese Unexamined Patent Application, First Publication No. 2022-56134 15 (Patent Document 1) discloses technology for detecting the shape of a load on a cargo bed based on an image capture device provided on a loading machine and calculating an area in which there is relatively little of the load as a target loading point in order to assist in loading cargo evenly over the entire area of a loading target.

[0003] 20             Any discussion of documents, acts, materials, devices, articles or the like which has been included in the present specification is not to be taken as an admission that any or all of these matters form part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each of the appended claims. 25 SUMMARY OF INVENTION 2023372860   20 Aug 2026 The load status of a cargo bed overall is difficult for an operator of a loading machine to recognize. Additionally, with the technology described in Patent Document 1, there is a possibility of blind spots arising in captured images depending on the positional 5 relationship between the image capture position and the loading target, and there is no guarantee that the shape of the load in the entire area of the loading target can always be detected. One or more embodiments of the present disclosure may be suitable for providing a load status estimation device and a load status estimation method that can 10 estimate the load status in the entire area of a loading target. One or more embodiments of the present disclosure address or ameliorate at least one disadvantage or shortcoming of prior techniques, or at least provide a useful alternative thereto.

[0005] 15           Some embodiments of the present disclosure relate to a load status estimation device. The device comprises: a loading determination unit that determines whether or not a load that was held by a work tool provided on a loading machine has been loaded on a loading target; a relative position identification unit that identifies a relative positional relationship between the work tool and the loading target at a time that the load 20 was loaded on the loading target; a load amount estimation unit that estimates an amount of the load that has been loaded; and a distribution estimation unit that estimates a distribution of the load that has been loaded on the loading target based on the relative positional relationship identified by the relative position identification unit, the amount of the load estimated by the load amount estimation unit, and a viscosity of the load that has 2023372860   20 Aug 2026 The term ‘comprising’ as used in this specification means ‘consisting at least in part of’. When interpreting each statement in this specification that includes the term ‘comprising’, features other than that or those prefaced by the term may also be present. Related terms such as ‘comprise’ and ‘comprises’ are to be interpreted in the same 5 manner. Some embodiments of the present disclosure relate to a load status estimation method comprising: determining whether or not a load held by a work tool provided on a loading machine has been loaded on a loading target; identifying a relative positional relationship between the work tool and the loading target at a time that the load was 10 loaded on the loading target; estimating an amount of the load that has been loaded; and estimating a distribution of the load that has been loaded on the loading target based on the identified relative positional relationship, the estimated amount of the load, and a viscosity of the load that has been loaded on the loading target. Disclosed herein is a load status estimation device that comprises a loading 15 determination unit that determines whether or not a load that was held by a work tool provided on a loading machine has been loaded on a loading target; a relative position identification unit that identifies a relative positional relationship between the work tool and the loading target at a time that the load was loaded on the loading target; and a distribution estimation unit that estimates a distribution of the load that has been loaded 20 on the loading target based on a viscosity of the load that has been loaded on the loading target.

[0006] One or more embodiments of the present disclosure may be suitable for providing a load status estimation device that can estimate the load status in the entire 2023372860   20 Aug 2026 BRIEF DESCRIPTION OF DRAWINGS

[0007] [FIG. 1] A diagram illustrating a configuration of a loading site according to a first embodiment. 5            [FIG. 2] A schematic view illustrating a configuration of a loading machine according to the first embodiment. [FIG. 3] A diagram illustrating a configuration of an interior of a driving cabin according to the first embodiment. [FIG. 4] A schematic block diagram illustrating a configuration of a control 10 device according to the first embodiment. [FIG. 5] A diagram illustrating an example of a viscosity input screen according to the first embodiment. [FIG. 6] An example of a distribution image according to the first embodiment. [FIG. 7] A flow chart indicating a distribution image display method according 15 to the first embodiment. [FIG. 8] A schematic block diagram illustrating a configuration of a control device according to a second embodiment. [FIG. 9] A flow chart indicating a distribution image display method according to the second embodiment. 20 DETAILED DESCRIPTION

[0008] <First Embodiment> Hereinafter, an embodiment will be explained in detail with reference to the drawings. 25            FIG. 1 is a diagram illustrating the configuration of a loading site according to a 2023372860   20 Aug 2026 first embodiment. At a work site, a loading machine 100 and a loading target 200 are deployed. The loading machine 100 operates at a construction site to excavate a construction target such as dirt, and loads the same, as a load L, on the loading target 200, such as a dump 5 truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, a rope shovel, etc. Additionally, the loading machine 100 may be electrically driven or may be hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 comprises a traveling body 110, a rotating body 120, work equipment 130, and a driving cabin 140. Examples of the loading target 10   200 include a dump truck, a hopper, etc. The loading target 200 comprises a vessel 210, which is a container for containing the load L. The vessel 210 comprises a payload meter 211 that measures the weight of the load L loaded on the vessel 210. Additionally, the loading target 200 comprises a position / direction calculator 220 and a communication device 230. The position / direction calculator 220 calculates the position and direction of 15 the loading target 200. The position / direction calculator 220 calculates the position and direction of the loading target 200, for example, based on positioning signals from an artificial satellite constituting a GNSS. The communication device 230 transmits measurement data from the payload meter 211 and the position / direction calculator 220 to the loading machine 100. The communication device 230 communicates with the 20 loading machine 100, for example, by near-field wireless communication, etc.

[0009] <<Configuration of loading machine 100>> FIG. 2 is a schematic diagram illustrating the configuration of the loading machine 100 according to the first embodiment. 25           The traveling body 110 supports the loading machine 100 so as to be capable of 2023372860   20 Aug 2026 traveling. The traveling body 110 comprises two endless tracks 111 provided on the left and right, and two travel motors 112 for driving the respective endless tracks 111. The traveling body 110 is an example of a support unit. The rotating body 120 is supported on the traveling body 110 so as to be capable 5 of rotating about a center of rotation. The work equipment 130 is driven by hydraulic pressure. The work equipment 130 is supported so as to be capable of being driven in the vertical direction on the front portion of the rotating body 120. The driving cabin 140 is a space that is boarded by an operator for operating the 10 loading machine 100. The driving cabin 140 is provided on the left front portion of the rotating body 120. In this case, the portion of the rotating body 120 to which the work equipment 130 is attached is referred to as the front portion. Additionally, regarding the rotating body 120, with reference to the front portion, the portion on the opposite side is referred 15 to as the rear portion, the portion on the left side is referred to as the left portion, and the portion on the right side is referred to as the right portion.

[0010] <<Configuration of rotating body 120>> The rotating body 120 comprises an engine 121, a hydraulic pump 122, a control 20 valve 123, and a rotation motor 124. The engine 121 is an engine for driving the hydraulic pump 122. The engine 121 is an example of a drive power source. The hydraulic pump 122 is a variable-capacity pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic fluid to respective actuators (a boom cylinder 25   131C, an arm cylinder 132C, a bucket cylinder 133C, the travel motor 112, and the 2023372860   20 Aug 2026 rotation motor 124) via the control valve 123. The control valve 123 controls the flow rate of the hydraulic fluid supplied from the hydraulic pump 122. The rotation motor 124 is driven by hydraulic fluid supplied from the hydraulic 5 pump 122 via the control valve 123 to rotate the rotating body 120.

[0011] <<Configuration of work equipment 130>> The work equipment 130 comprises a boom 131, an arm 132, a bucket 133 serving as a work tool, a boom cylinder 131C, an arm cylinder 132C, and a bucket 10 cylinder 133C. Other examples of the work tool include a clam bucket, a tilt bucket, a tilt-rotate bucket, etc.

[0012] A proximal end of the boom 131 is rotatably attached to the rotating body 120 by a boom pin. In the loading machine 100 illustrated in FIG. 2, the boom 131 is 15 provided at a central portion on the front face of the rotating body 120. However, there is no limitation thereto, and the boom 131 may be attached so as to be offset in the left or right direction. In this case, the center of rotation of the rotating body 120 is not positioned on the action plane of the work equipment 130. The arm 132 couples the boom 131 and the bucket 133. The proximal end of the 20 arm 132 is rotatably attached to the distal end of the boom 131 by an arm pin. The bucket 133 is rotatably attached to the distal end of the arm 132 by a pin. The bucket 133 functions as a container for containing the load L. The bucket 133 is attached so that an opening faces towards the rotating body 120 (rearward). That is, the loading machine 100, which is a backhoe shovel, performs excavation by pulling the 25 bucket 133 towards the front of the rotating body 120. 2023372860   20 Aug 2026 The boom cylinder 131C is a hydraulic cylinder for actuating the boom 131. The proximal end of the boom cylinder 131C is attached to the rotating body 120. The distal end of the boom cylinder 131C is attached to the boom 131. 5           The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The proximal end of the arm cylinder 132C is attached to the boom 131. The distal end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The proximal end of the bucket cylinder 133C is attached to the boom 131. The distal end of 10 the bucket cylinder 133C is attached to a link mechanism that makes the bucket 133 rotatable.

[0014] <<Configuration of driving cabin 140>> FIG. 3 is a diagram illustrating the configuration of the interior of the driving 15 cabin 140 according to the first embodiment. A driving seat 141, an operating terminal 142, and an operating device 143 are provided inside the driving cabin 140. The operating terminal 142 is provided near the driving seat 141, and is a user interface with a control device 160 to be described below. The operating terminal 142 is a display device composed of, for example, a touch panel, 20 and may have an operation unit operated by the operator and an input reception unit that receives operations. Additionally, during loading work, information relating to the distribution, on the vessel 210 of the loading target 200, of the load L that has been loaded onto the vessel 210 is displayed in order to assist in the loading work. The operating terminal 142 may comprise a display unit such as an LCD. The operating 25 terminal 142 is an example of the display device. Additionally, in another embodiment, 2023372860   20 Aug 2026 the loading machine 100 may comprise a head-up display that projects images onto a windshield of the driving cabin 140 instead of the operating terminal 142.

[0015] The operating device 143 is a device for driving the traveling body 110, the 5 rotating body 120, and the work equipment 130 by means of manual operations by an operator.

[0016] <<Configuration of measurement system>> As illustrated in FIG. 2, the loading machine 100 comprises a position / direction 10 calculator 151, an inclination measuring instrument 152, a boom stroke sensor 153, an arm stroke sensor 154, and a bucket stroke sensor 155.

[0017] The position / direction calculator 151 calculates the position of the rotating body 120 and the direction in which the rotating body 120 is facing. The position / direction 15 calculator 151 comprises two receivers that receive positioning signals from artificial satellites constituting a GNSS. The two receivers are installed at respectively different positions on the rotating body 120. The position / direction calculator 151 detects the position of a representative point (the origin of a shovel coordinate system) on the rotating body 120 in a site coordinate system based on the positioning signals received by 20 the receivers. The position / direction calculator 151 uses the positioning signals received by the two receivers to calculate the direction faced by the rotating body 120 in terms of the relationship of the installation position of one receiver with respect to the installation position of the other receiver. The direction faced by the rotating body 120 refers to the 25 direction orthogonal to the front face of the rotating body 120. Additionally, the direction 2023372860   20 Aug 2026 faced by the rotating body 120 is equivalent to the horizontal component of the extension direction of a straight line extending from the boom 131 to the bucket 133 of the work equipment 130.

[0018] 5           The inclination measuring instrument 152 measures the acceleration and angular velocity of the rotating body 120 and detects the orientation (e.g., the roll angle, the pitch angle, and the yaw angle) and the rotation velocity of the rotating body 120 based on the measurement results. The inclination measuring instrument 152 is installed, for example, on the lower surface of the rotating body 120. As the inclination measuring instrument 10   152, for example, an inertial measurement unit (IMU) can be used.

[0019] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted to the relative angle of the boom 131 with respect to the rotating 15 body 120. The arm stroke sensor 154 is attached to the arm cylinder 132C and detects the cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted to the relative angle of the arm 132 with respect to the boom 131. The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects 20 the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted to the relative angle of the bucket 133 with respect to the arm 132. The loading machine 100 according to the first embodiment uses the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155 to identify 25 the angles of the respective link components of the work equipment 130. However, other 2023372860   20 Aug 2026 embodiments are not limited thereto. For example, in other embodiments, potentiometers for detecting the relative rotation angles of the link components may be provided instead of the stroke sensors, or inclination sensors for detecting the ground angles of the respective link components may be provided. 5

[0020] <<Configuration of control device 160>> FIG. 4 is a schematic block diagram illustrating the configuration of the control device 160 according to the first embodiment. The loading machine 100 comprises a control device 160. The control device 10   160 may be mounted on the operating terminal 142, or may be provided separately from the operating terminal 142 so as to receive inputs / outputs from the operating terminal 142. The control device 160 receives operation signals from the operating device 143. The control device 160 drives the work equipment 130, the rotating body 120, and the traveling body 110 by outputting, to the control valve 123, the received operation signals 15 or operation signals generated for automatic control. Hereinafter, the operation signals received from the operating device 143 will also be referred to as manual operation signals, and the operation signals generated for automatic control will also be referred to as automatic operation signals. The automatic operation signals include operation signals for driving the rotating body 120 and the work equipment 130, and do not include 20 operation signals for driving the traveling body 110. If manual operation signals by an operator are received during automatic control, the control device 160 may stop the automatic control.

[0021] The control device 160 is a computer comprising a processor 610, a main 25 memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The 2023372860   20 Aug 2026 processor 610 reads the program from the storage 650 and loads it in the main memory 630, then executes processes in accordance with the program.

[0022] Examples of the storage 650 include semiconductor memory, magnetic discs, 5 magneto-optic discs, optical discs, etc. The storage 650 may be internal media directly connected to a common communication line in the control device 160, or may be external media connected to the control device 160 via an interface 670. The main memory 630 and the storage 650 are non-transitory, tangible storage media.

[0023] 10           By executing the program, the processor 610 comprises a data acquisition unit 611, a data reception unit 612, a viscosity input unit 613, a bucket orientation identification unit 614, a relative position identification unit 615, a loading determination unit 616, a loaded amount estimation unit 617, a distribution estimation unit 618, and a display control unit 619. 15

[0024] The data acquisition unit 611 acquires measurement data from the measurement system in the loading machine 100. Specifically, the data acquisition unit 611 acquires measurement data from the position / direction calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket 20 stroke sensor 155. The data acquisition unit 611 computes the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclination measuring instrument 152. The data reception unit 612 receives measurement data regarding the position and direction of the loading target 200 and the weight of the load L from the 25 communication device 230 in the loading target 200. 2023372860   20 Aug 2026 The viscosity input unit 613 receives an input of the viscosity of the load L by an operation by an operator. The viscosity of the load L affects the manner of spreading when the load L is loaded and the angle of the bucket 133 at which the load L separates 5 from the bucket 133. For example, if the viscosity of the load L is low, the load L loaded in the vessel 210 becomes distributed widely and shallowly. On the other hand, if the viscosity of the load L is high, the load L loaded in the vessel 210 becomes distributed compactly and highly. Additionally, if the viscosity of the load L is low, the load L begins to separate from the bucket 133 before the angle of the bucket 133 is directed vertically 10 downward. On the other hand, if the viscosity of the load L is high, the load L separates from the bucket 133 after the angle of the bucket 133 has past beyond vertically downward.

[0026] FIG. 5 is a diagram illustrating an example of a viscosity input screen according 15 to the first embodiment. The viscosity input unit 613 displays a viscosity input screen as illustrated in FIG. 5 on the operating terminal 142 and may receive viscosity inputs by operations on the input screen. In the example illustrated in FIG. 5, a slider U1 and a model image U2 are displayed on the input screen. The slider U1 is an input interface for setting viscosity values by moving a handle to the left or right. For example, the slider 20 U1 indicates a higher viscosity as the handle is positioned further to the left, and indicates a lower viscosity as the handle is positioned further to the right. The model image U2 indicates the distribution of the load L discharged from the bucket 133 and the angle of the bucket 133 at which the load L separates in the case in which the load L has a viscosity in accordance with the position of the handle on the slider U1. The model 25 image U2 is updated each time the handle on the slider U1 is moved. For example, the 2023372860   20 Aug 2026 operator compares the angle of the bucket 133 and the distribution of the load L when a load L is actually discharged with the model image U2. The operator moves the handle on the slider U1 to the right upon determining that the viscosity of the actual load L is lower than the viscosity of the load L indicated by the model image U2. As a result 5 thereof, the bucket 133 displayed on the model image U2 becomes further inclined in the excavation direction and the load L becomes lower in height and larger in width. On the other hand, the operator moves the handle on the slider U1 to the left upon determining that the viscosity of the actual load L is lower than the viscosity of the load L indicated by the model image U2. As a result thereof, the bucket 133 displayed on the model image 10 U2 becomes further inclined in the dumping direction and the load becomes higher in height and smaller in width. Thus, by checking the model image U2, the operator can input the viscosity of the load L so as to approximate the behavior of the actual load L. The viscosity value input to the viscosity input unit 613 is recorded in the main memory 630. The relationship of the viscosity of the load L with respect to the bucket angle and 15 the distribution of the load L is identified in advance and incorporated into the program, or is recorded in the main memory 630 or in the storage 650.

[0027] The bucket orientation identification unit 614 identifies the position and the orientation (ground angle) of a blade tip of the bucket 133 in a global coordinate system 20 based on measurement data acquired by the data acquisition unit 611. Specifically, the bucket orientation identification unit 614 computes the position and angle of the blade tip of the bucket 133 in a vehicle body coordinate system, defined with reference to the rotating body 120, based on measurement data from the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, and known shape data of the boom 25    131, the arm 132, and the bucket 133. Additionally, the bucket orientation identification 2023372860   20 Aug 2026 unit 614 converts the position and angle of the blade tip of the bucket 133 in the vehicle body coordinate system to a position and coordinates in the global coordinate system based on measurement data from the position / direction calculator 151 and the inclination measuring instrument 152. 5

[0028] The relative position identification unit 615 identifies the relative positional relationship between the bucket 133 and the vessel 210 on the loading target 200. Specifically, the relative position identification unit 615 identifies the range in which the vessel 210 of the loading target 200 exists in the global coordinate system based on the 10 position and orientation of the loading target 200 and the known shape of the loading target 200. The relative position identification unit 615 identifies the relative positional relationship between the bucket 133 and the vessel 210 based on the position of the bucket 133 identified by the bucket orientation identification unit 614 and the identified range in which the vessel 210 exists. 15

[0029] The loading determination unit 616 determines whether or not the load L has been loaded on the loading target 200 based on the relative positional relationship between the bucket 133 and the vessel 210 identified by the relative position identification unit 615, the position and orientation of the loading target 200 received by 20 the data reception unit 612, and the viscosity of the load L input to the viscosity input unit 613. Specifically, the loading determination unit 616 according to the first embodiment determines whether or not the load L has been loaded on the loading target 200 by means of the procedure below. The loading determination unit 616 determines whether or not the bucket 133 is positioned above the vessel 210 based on the relative 25 positional relationship between the bucket 133 and the vessel 210 identified by the 2023372860   20 Aug 2026 relative position identification unit 615. The loading determination unit 616 identifies the angle at which the load L separates from the bucket 133 based on the viscosity input to the viscosity input unit 613. The loading determination unit 616 determines that the load L has been loaded on the loading target 200 in the case in which the bucket 133 is 5 positioned above the vessel 210 and the angle of the bucket 133 is inclined in the dirt discharge direction beyond the angle at which the load L separates.

[0030] The loaded amount estimation unit 617 identifies the loaded amount of the load L based on the weight of the loading target 200 received by the data reception unit 612. 10 Specifically, the difference between the weight of the loading target 200 at the time the previous load was loaded and the weight of the loading target 200 after the load L has been loaded is estimated to be the weight of the load L. Furthermore, the loaded amount estimation unit 617 estimates the volume (loaded amount) of the load L based on the weight and viscosity of the load L. The weight of the load L and the volume of the load L 15 are each an example of a loaded amount of the load L.

[0031] The distribution estimation unit 618 estimates the distribution of the load L on the vessel 210 by means of a simulation using the position of the bucket 133 with respect to the loading target 200 at the time that the load L was loaded on the loading target 200, 20 the loaded amount estimated by the loaded amount estimation unit 617, and the viscosity of the load L. For example, the distribution estimation unit 618 estimates the distribution of the load L in the vessel 210 by means of a particle simulation in which the load L is constituted by particles. The distribution estimation unit 618 according to another embodiment may, for example, estimate the distribution of the load L on the vessel 210 25 by means of a simulation using the viscosity of the load L and a predetermined loaded 2023372860   20 Aug 2026 amount (e.g., the maximum load amount of the bucket) instead of the loaded amount estimated by the loaded amount estimation unit 617.

[0032] The display control unit 619 displays the distribution of the load L estimated by 5 the distribution estimation unit 618 on a display unit of the operating terminal 142. FIG. 6 is an example of a distribution image according to the first embodiment. The distribution image is an image indicating the load status of the load L displayed on the operating terminal 142. The distribution image illustrated in FIG. 6 is an image in which the loading target 200 is drawn in plan view as seen from above, the vessel 210 portion 10 of the loading target 200 is partitioned by a mesh, and the height of soil for each mesh unit is displayed as a heat map. The distribution image according to another embodiment may be drawn as a contour diagram rather than as a heat map display, or may be drawn with three-dimensional graphics to which shadows have been added. According to the distribution image illustrated in FIG. 6, it can be seen that much of the load L has been 15 loaded on the rear left side of the vessel and that there is little of the load L on the front right side. In another embodiment, in the case in which the loading machine 100 comprises a display device not having input functions instead of the operating terminal 142, the display control unit 619 may display the distribution image on such a display device. 20

[0033] <<Display of distribution image>> FIG. 7 is a flow chart indicating a distribution image display method according to the first embodiment. The control device 160, when starting the distribution image display process, repeatedly executes the process in the flow chart indicated in FIG. 7. It is 25 assumed that, before starting the distribution image display process, the viscosity value is 2023372860   20 Aug 2026 recorded in the main memory 630 by the viscosity input unit 613 in advance. Additionally, an initial setting value of the viscosity may also be recorded in the main memory 630.

[0034] 5            First, the data acquisition unit 611 acquires measurement data from the position / direction calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155 (step S1). Next, the data reception unit 612 receives measurement data regarding the position and direction of the loading target 200, as well as the weight of the load L, from the 10 communication device 230 of the loading target 200 (step S2). Next, based on the measurement data acquired in step S1, the bucket orientation identification unit 614 identifies the position and orientation of the blade tip of the bucket 133 in a global coordinate system (step S3).

[0035] 15            The relative position identification unit 615 identifies the position or the range in which the vessel 210 of the loading target 200 exists in a global coordinate system based on the measurement data of the position and orientation of the loading target 200 received in step S2 and the known shape of the loading target 200 (step S4). As a result thereof, the relative position identification unit 615 can identify the relative positions of 20 the bucket 133 and the vessel 210 from the position or the range in which the vessel 210 exists and the position of the blade tip of the bucket 133 identified in step S3. Next, the loading determination unit 616 determines whether or not the bucket 133 is positioned above the vessel 210 based on the relative positional relationship between the bucket 133 and the vessel 210 (step S5). That is, the loading determination unit 616 determines 25 whether or not the position identified in step S3 exists inside the range specified in step 2023372860   20 Aug 2026 S4. At this time, the loading determination unit 616 identifies the relative position of the bucket 133 with respect to the vessel 210.

[0036] If the bucket 133 is positioned above the vessel 210 (step S5: YES), the loading 5 determination unit 616 identifies the angle at which the load L separates from the bucket 133 based on the viscosity stored in the main memory 630 (step S6). Next, the loading determination unit 616 determines whether or not the angle of the bucket 133 identified in step S3 exceeds the angle identified in step S6 (step S7).

[0037] 10           If the angle of the bucket 133 exceeds the angle at which the load L separates (step S7: YES), the data reception unit 612 receives weight measurement data from the loading target 200 (step S8). The data reception unit 612 continues to receive the weight measurement data from the loading target 200 until the amount of change in the weight becomes less than a prescribed threshold value. As a result thereof, the data reception 15 unit 612 can receive the weight at the time all of the load L accommodated in the bucket 133 was loaded on the loading target 200.

[0038] The loaded amount estimation unit 617 estimates the volume of the load L based on the viscosity of the load L and the difference between the weight of the loading target 20   200 received in step S8 and the weight of the loading target 200 at the time the previous load was loaded (step S9). The loaded amount estimation unit 617 records the weight measurement data received in step S8 in the main memory 630 for use in the next computation.

[0039] 25 Next, the distribution estimation unit 618 estimates the distribution of the load L 2023372860   20 Aug 2026 on the vessel 210 by simulating the behavior of the load L loaded on the vessel 210 based on the relative position of the bucket 133 with respect to the vessel 210, i.e., the loading position of the load L identified in step S5, the viscosity of the load L, and the loaded amount of the load L (step S10). The distribution estimation unit 618 records the results 5 of the simulation by step S10 in the main memory for use in the next computation. Furthermore, the display control unit 619 generates a distribution image indicating the distribution of the load L estimated in step S10, and causes the operating terminal 142 to display the distribution image (step S11).

[0040] 10           If the bucket 133 is not positioned above the vessel 210 (step S5: NO) or if the orientation of the bucket 133 does not exceed the angle at which the load L separates (step S7: NO), the control device 160 ends the process without updating the distribution image displayed on the operating terminal 142.

[0041] 15 <<Functions and effects>> Thus, the control device 160 according to the first embodiment comprises a relative position identification unit 615, a loaded amount estimation unit 617, and a distribution estimation unit 618. The relative position identification unit 615 identifies the relative positional relationship between the bucket 133 and the loading target 200 at 20 the time the load L was loaded on the loading target 200. The distribution estimation unit 618 estimates the distribution of the load L loaded on the loading target 200 based on the viscosity of the load loaded on the loading target. Thus, the control device 160 according to the first embodiment can estimate the load status in the entire area of the loading target 200, regardless of blind spots in image capture devices, because the distribution of the 25 load L is estimated from the loading position of the load L. 2023372860   20 Aug 2026

[0042] Additionally, the control device 160 according to the first embodiment comprises a display control unit for displaying an image indicating the distribution of the load L on the operating terminal 142. Thus, the operator can easily recognize a position 5 on the vessel 210 at which a load L should be loaded by viewing the operating terminal 142.

[0043] <Second Embodiment> The control device 160 according to the first embodiment estimates the loading 10 position of the load L based on a viscosity input to the viscosity input unit 613. In contrast therewith, the control device 160 according to the second embodiment automatically estimates the viscosity of the load L.

[0044] <<Configuration of control device 160>> 15            FIG. 8 is a schematic block diagram illustrating the configuration of the control device 160 according to the second embodiment. The control device 160 according to the second embodiment comprises a viscosity estimation unit 620 instead of the viscosity input unit 613 according to the first embodiment. Additionally, in the control device 160 according to the second embodiment, the process in the loading determination unit 616 is 20 different from that in the first embodiment.

[0045] The loading determination unit 616 according to the second embodiment determines whether or not the load L has been loaded based on the amount of change in the weight of the loading target 200. Specifically, the loading determination unit 616 25 determines that the load L has been loaded when the amount of change in the weight of 2023372860   20 Aug 2026 the loading target 200 has exceeded a threshold value.

[0046] The viscosity estimation unit 620 estimates the viscosity of the load L based on the angle of the bucket 133 at the time it is determined that loading has started by the 5 loading determination unit 616. That is, while the control device 160 according to the first embodiment identifies the angle of the bucket 133 at which the load L separates based on the viscosity of the load L, the control device 160 according to the second embodiment estimates the viscosity of the load L based on the angle of the bucket 133 at which the load L separates. 10

[0047] <<Display of distribution image>> FIG. 9 is a flow chart indicating a distribution image display method according to the second embodiment. The control device 160, when starting the distribution image display process, repeatedly executes the process in the flow chart indicated in FIG. 9. 15

[0048] First, the data acquisition unit 611 acquires measurement data from the position / direction calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155 (step S21). Next, the data reception unit 612 receives measurement data regarding the position 20 and direction of the loading target 200, as well as the weight of the load L, from the communication device 230 of the loading target 200 (step S22). Next, based on the measurement data acquired in step S21, the bucket orientation identification unit 614 identifies the position and orientation of the blade tip of the bucket 133 in a global coordinate system (step S23). 2023372860   20 Aug 2026 The relative position identification unit 615 identifies the position or the range in which the vessel 210 of the loading target 200 exists in a global coordinate system based on the measurement data of the position and orientation of the loading target 200 received in step S22 and the known shape of the loading target 200 (step S24). The 5 relative position identification unit 615 identifies the relative positional relationship between the bucket 133 and the vessel 210 based on the position or the range in which the vessel 210 exists and the position of the bucket 133 identified in step S23. Next, the loading determination unit 616 determines whether or not the bucket 133 is positioned above the vessel 210 based on the relative positional relationship between the bucket 133 10 and the vessel 210 (step S25). At this time, the loading determination unit 616 identifies the relative position of the bucket 133 with respect to the vessel 210.

[0050] If the bucket 133 is positioned above the vessel 210 (step S25: YES), the loading determination unit 616, based on the measurement data of the weight of the loading 15 target 200 received in step S2, calculates the amount of change in the weight of the load L (step S26). Next, the loading determination unit 616 determines whether or not the amount of change in the weight of the load L has exceeded a prescribed threshold value (step S27).

[0051] 20           If the amount of change in the weight of the load L has exceeded the prescribed threshold value (step S27: YES), the loading determination unit 616 determines that the load L has been loaded on the loading target 200. The viscosity estimation unit 620 estimates the viscosity of the load L based on the angle of the bucket at the time it was determined that the load L was loaded on the loading target 200 (step S28). 2023372860   20 Aug 2026 Next, the data reception unit 612 receives the weight measurement data from the loading target 200 until the amount of change in the weight becomes less than a prescribed threshold value, and identifies the weight at the time all of the load L accommodated in the bucket 133 has been loaded on the loading target 200 (step S29) 5

[0053] The loaded amount estimation unit 617 estimates the volume of the load L based on the viscosity of the load L and the difference between the weight of the loading target 200 received in step S29 and the weight of the loading target 200 at the time the previous load was loaded (step 30). The loaded amount estimation unit 617 records the weight 10 measurement data received in step S29 in the main memory 630 for use in the next computation.

[0054] Next, the distribution estimation unit 618 estimates the distribution of the load L on the vessel 210 by simulating the behavior of the load L loaded on the vessel 210 based 15 on the loading position of the load L identified in step S25, the viscosity of the load L estimated in step S28, and the loaded amount of the load L (step S31). The distribution estimation unit 618 records the results of the simulation by step S31 in the main memory for use in the next computation. Furthermore, the display control unit 619 generates a distribution image indicating the distribution of the load L estimated in step S31, and 20 causes the operating terminal 142 to display the distribution image (step S32).

[0055] If the bucket 133 is not positioned above the vessel 210 (step S25: NO) or if the amount of change in the weight of the load L does not exceed the prescribed threshold value (step S27: NO), the control device 160 ends the process without updating the 25 distribution image displayed on the operating terminal 142. 2023372860   20 Aug 2026

[0056] <<Functions and effects>> Thus, the control device 160 according to the second embodiment comprises a viscosity estimation unit that estimates the viscosity of the load L that has been loaded. 5 As a result thereof, the control device 160 can estimate the distribution of the load L based on the viscosity without receiving viscosity inputs by the operator.

[0057] The control device 160 according to the second embodiment estimates the viscosity of the load L that has been loaded and determines whether or not the load L has 10 been loaded based on the change in the weight of the loading target 200. However, there is no limitation thereto. For example, the control device 160 in another embodiment may comprise a viscosity input unit 613 for receiving inputs regarding the viscosity of the load L, and may determine whether or not the load L has been loaded based on the change in the weight of the loading target 200, as in the first embodiment. Additionally, 15 for example, the control device 160 according to another embodiment may estimate the viscosity of the load L that has been loaded, then may determine whether or not the load L has been loaded based on the angle of the bucket 133, as in the first embodiment. In this case, the viscosity estimation unit 620 may determine loading based on information other than the angle at the time the load L is loaded. For example, the viscosity 20 estimation unit 620 may estimate the viscosity from the magnitude of the resistive force received by the work equipment 130 at the time of excavation.

[0058] <Other embodiments> While an embodiment has been explained in detail with reference to the 25 drawings above, the specific configuration is not limited to that described above, and 2023372860   20 Aug 2026 various design changes, etc. are possible. That is, in another embodiment, the order of the above-described processes may be changed as appropriate. Additionally, some of the processes may be executed in parallel. The control device 160 in the above-described embodiments may be constituted 5 by a single computer, or the configuration of the control device 160 may be distributed among multiple computers, and the multiple computers may cooperate with each other to function as the control device 160. In this case, some of the computers constituting the control device 160 may be installed in the loading machine, and the other computers may be provided outside the loading machine. For example, in the case in which the loading 10 machine 100 is remotely operated, some of the computers constituting the driving cabin 140 and the control device 160 may be provided at a location remote from the loading machine 100. Additionally, in the case in which the loading machine 100 is remotely operated, all of the computers constituting the control device 160 may be provided at a location remote from the loading machine 100. In the case in which the loading machine 15   100 is remotely driven, the loading machine 100 comprises an image capture device and the remote driving cabin 140 comprises a display device for displaying images captured by the image capture device. In this case, the distribution image may be displayed on the display device.

[0059] 20           The control device 160 according to the above-described embodiments displays the distribution image on the operating terminal 142. However, there is no limitation thereto. For example, the control device 160 according to another embodiment may display the distribution image on a transmissive head-mounted display worn by the operator. The distribution image in this case need not be a top view as illustrated in FIG. 25   6, and may, for example, display a three-dimensional model representing the distribution 2023372860   20 Aug 2026 of the load L so as to be overlaid on the loading target 200 seen through the transmissive head-mounted display. At this time, the display control unit 619 determines the position and the direction of the three-dimensional model of the load L based on the position and the orientation of the loading target 200 received by the data reception unit 612 and the 5 position of the operator's viewpoint. Additionally, the display control unit 619 may generate a see-through image of the load L by displaying a wire frame highlighting the outline of the vessel 210 together with the three-dimensional model of the load L.

[0060] Additionally, in another embodiment, there is no limitation to the diagram 10 illustrated in FIG. 6, and the distribution image displayed on the operating terminal 142 may be a bird's-eye image seen from diagonally above, or may be a side view. In the case in which the distribution image is represented by a side view, the distribution of the load L is represented as a graph in which the horizontal axis represents the position in the lengthwise direction of the loading target 200 and the vertical axis represents the height 15 of the load L. Since the distribution in the width direction of the loading target 200 does not appear in the side view, the distribution image may include, for example, graphs drawn with different types of lines for different positions in the width direction. Additionally, the distribution image according to another embodiment may display symbol information such as "rear left: o, front right: x". 20

[0061] Additionally, the control device 160 according to another embodiment may provide a notification of the distribution by voice rather than as a distribution image. For example, the control device 160 may cause a speaker provided inside the driving cabin 140 to generate speech indicating a loading position that is recommended from the 25 distribution of the load L. Additionally, the control device 160 according to yet another 2023372860   20 Aug 2026 embodiment may output speech prompting a change in the loading position when the bucket 133 is at a position of the vessel 210 close to the height to which the load L can be loaded.

[0062] 5           The control device 160 according to the above-mentioned embodiments identifies the weight of the load L based on measurement data from the payload meter 211 provided on the vessel 210. However, there is no limitation thereto. For example, the control device 160 according to another embodiment may be computed based on vehicle body lowering amounts etc. computed from measurement data from inertial sensors or 10 from measurement data from strain sensors for measuring strain on the tires or the vehicle body of the loading target 200. Additionally, the control device 160 according to another embodiment may identify the weight of the load L based on measurement data from a payload meter provided on the loading machine 100. The payload meter provided on the loading machine 100 may measure the payload, for example, from the inclination 15 of the rotating body 120 and the load exerted on the boom cylinder. Additionally, the control device 160 according to another embodiment may compute the volume based on image capture data from an image capture device capturing an image of the inside of the bucket 133 without computing the volume from the weight of the load L. 20

[0063] The control device 160 according to the above-described embodiments receives measurement data regarding the position and the direction from the loading target 200. However, there is no limitation thereto. For example, the control device 160 according to another embodiment may identify the position and the direction of the loading target 200 25 based on image capture data from an image capture device provided in front of the 2023372860   20 Aug 2026 rotating body 120.

[0064] According to the embodiments described above, the load status estimation device can estimate the load status in the entire area of a loading target. 5 REFERENCE SIGNS LIST

[0065] 100 Loading machine 110 Traveling body 111 Endless track 10 112 Travel motor 120 Rotating body 121 Engine 122 Hydraulic pump 123 Control valve 15 124 Rotation motor 130 Work equipment 131 Boom 131C Boom cylinder 132 Arm 20 132C Arm cylinder 133 Bucket 133C Bucket cylinder 140 Driving cabin 141 Driving seat 25 142 Operating terminal 2023372860   20 Aug 2026 143 Operating device 151 Position / direction calculator 152 Inclination measuring instrument 153 Boom stroke sensor 5 154 Arm stroke sensor 155 Bucket stroke sensor 160 Control device 200 Loading target 210 Vessel 10 211 Payload meter 220 Position / direction calculator 230 Communication device 610 Processor 611 Data acquisition unit 15 612 Data reception unit 613 Viscosity input unit 614 Bucket orientation identification unit 615 Relative position identification unit 616 Loading determination unit 20 617 Loaded amount estimation unit 618 Distribution estimation unit 619 Display control unit 630 Main memory 650 Storage 25 670 Interface 2023372860   20 Aug 2026 Load

Claims

1. A load status estimation device comprising:a loading determination unit that determines whether or not a load that was held by a work tool provided on a loading machine has been loaded on a loading target;5             a relative position identification unit that identifies a relative positionalrelationship between the work tool and the loading target at a time that the load was loaded on the loading target;a load amount estimation unit that estimates an amount of the load that has been loaded; and10            a distribution estimation unit that estimates a distribution of the load that hasbeen loaded on the loading target based on the relative positional relationship identified by the relative position identification unit, the amount of the load estimated by the load amount estimation unit, and a viscosity of the load that has been loaded on the loading target.15

2. The load status estimation device according to claim 1, further comprising: a viscosity estimation unit that estimates a viscosity of the load that has been loaded.20

3. The load status estimation device according to claim 1, further comprising: a viscosity input unit that receives an input of a viscosity of the load that has been loaded.

4. The load status estimation device according to claim 2, wherein the viscosity 25 estimation unit estimates the viscosity of the load based on an angle of the work tool at2023372860   20 Aug 2026which the load was loaded on the loading target.

5. The load status estimation device according to any one of claims 1 to 3, wherein the loading determination unit determines whether or not the load has been5 loaded on the loading target based on an angle of the work tool.

6. The load status estimation device according to any one of claims 1 to 4, wherein the loading determination unit determines whether or not the load has been loaded on the loading target based on a change in measurement data of a weight sensor10 that measures a weight of the loading machine or the loading target.

7. The load status estimation device according to any one of claims 1 to 4, wherein the distribution estimation unit estimates a distribution of the load at maximum capacity of a bucket, which is the work tool.15

8. The load status estimation device according to any one of claims 1 to 4, further comprising:a display control unit that causes an image indicating a distribution of the load to be displayed.20

9. A load status estimation method comprising:determining whether or not a load held by a work tool provided on a loadingmachine has been loaded on a loading target;identifying a relative positional relationship between the work tool and the25 loading target at a time that the load was loaded on the loading target;2023372860   20 Aug 2026estimating an amount of the load that has been loaded; andestimating a distribution of the load that has been loaded on the loading target based on the identified relative positional relationship, the estimated amount of the load, and a viscosity of the load that has been loaded on the loading target.5

10. The load status estimation device according to claim 1, wherein the distribution estimation unit estimates the distribution of the load that has been loaded on the loading target by simulating using the identified relative positional relationship, the estimated amount of the load, and the viscosity of the load.10

11. The load status estimation device according to claim 1, wherein the loading determination unit determines that the load has been loaded on the loading target in a case where the work tool is positioned above the loading target and an angle of the work tool exceeds an angle, which is identified based on the viscosity of the load, at which the 15 load separates from the work tool.

12. The load status estimation device according to claim 1, wherein the load amount estimation unit estimates a volume of the load, as the amount of the load, based on the viscosity of the load and a difference between a weight of the loading target at a 20 time a previous load was loaded and a weight of the loading target after the load is loaded.

Images