Calibration system, work machine, and calibration method

Patent metadata

Field	Value
Publication number	US-9790666-B2
Application number	US-201514915743-A
Country	US
Kind code	B2
Filing date	Sep 30, 2015
Priority date	Sep 30, 2015
Publication date	Oct 17, 2017
Grant date	Oct 17, 2017

Abstract

A calibration method includes: detecting a predetermined position of a work machine according to first and second methods in a different posture of the work machine; and obtaining a conversion information item used to convert a position detected by the first method from a coordinate system in the first method into a coordinate system different from that of the first method or obtaining a conversion information item used to convert a position detected by the second method from a coordinate system of the second method into a coordinate system different from that of the second method by using a first position information item as information for the predetermined position detected by the first method and a second position information item as information for the predetermined position detected by the second method in a posture of the work machine when the predetermined position is detected by the first method.

First claim

The invention claimed is:

1. A calibration system comprising:
a first position detecting unit which is provided in a work machine including a working implement so as to detect a position of an object; and
a processing unit which obtains and outputs (i) a conversion information item used to convert the position detected by the first position detecting unit from a coordinate system of the first position detecting unit into a coordinate system different from the coordinate system of the first position detecting unit or (ii) a conversion information item used to convert the position detected by a second position detecting unit, which is different from the first position detecting unit, from a coordinate system of the second position detecting unit into a coordinate system different from the coordinate system of the second position detecting unit, by using a first position information item as an information item for a predetermined position of the work machine detected by the first position detecting unit and a second position information item as an information item for the predetermined position detected by the second position detecting unit in a same posture of the work machine when the first position detecting unit detects the predetermined position.

2. The calibration system according to claim 1 ,
wherein the first position information item corresponds to a plurality of information items obtained when the first position detecting unit detects the predetermined position in a different posture of the work machine, and
wherein the second position information item corresponds to a plurality of information items obtained when the second position detecting unit detects the predetermined position in a different posture of the work machine.

3. The calibration system according to claim 1 ,
wherein the first position detecting unit is a stereo camera including at least a pair of image capturing devices, and
wherein the second position detecting unit is a sensor provided in the work machine so as to detect an operation amount of an actuator operating the working implement.

4. The calibration system according to claim 3 ,
wherein the predetermined position corresponds to a plurality of positions of the work machine in an arrangement direction of the pair of image capturing devices constituting the stereo camera.

5. A work machine comprising:
a working implement; and
the calibration system according to claim 1 .

6. A calibration method comprising:
detecting a predetermined position of a work machine according to a first method and a second method in a different posture of the work machine, the second method being different from the first method; and
obtaining a conversion information item used to (i) convert a position detected by the first method from a coordinate system in the first method into a coordinate system different from the coordinate system of the first method or (ii) convert a position detected by the second method from a coordinate system of the second method into a coordinate system different from the coordinate system of the second method, by using a first position information item as an information item for the predetermined position detected by the first method and a second position information item as an information item for the predetermined position detected by the second method in a same posture of the work machine when the predetermined position is detected by the first method.

7. The calibration method according to claim 6 ,
wherein the first position information item and the second position information item are a plurality of information items obtained in various states and respectively obtained when the work machine takes a different posture during an operation of the work machine.

8. The calibration method according to claim 6 ,
wherein the first method is to stereoscopically and three-dimensionally measure the predetermined position, and
wherein the predetermined position corresponds to a plurality of positions of the work machine in an arrangement direction of a pair of image capturing devices used for the stereoscopic and three-dimensional measurement.

9. A calibration system comprising:
an image capturing device which is provided in a work machine including a working implement so as to detect a position of an object;
an angle detecting unit configured to detect a rotation angle of the work implement;
and a processing unit configured to:
detect a first position information item as an information item for a predetermined position of the work machine in an image capturing device coordinate system based on an image captured by the image capturing device;
detect a second position information item as an information item for the predetermined position in a vehicle body coordinate system based on a detected value detected by the angle detecting unit in a same posture of the work machine when the image capturing device detects the predetermined position; and
output a conversion information item used for a conversion between the image capturing device coordinate system and the vehicle body coordinate system.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Kawamoto Shun
• Sugawara Taiki
• Yamaguchi Hiroyoshi

Classifications

• E02F9/2203

  Arrangements for controlling the attitude of actuators, e.g. speed, floating function · CPC title

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title