Calibration system, work machine, and calibration method

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.