Granted Patent B2

US 12,352,016 · App. 18/008,251 · Granted Jul 8, 2025

Inventors: Naoto Saito (Tokyo, JP); Shunsuke Goto (Tokyo, JP); Keisuke Tsuboi (Tokyo, JP)

Assignee: KOMATSU LTD.

E02F9/264E02F9/261

Abstract

Claims (34)

1. An information obtaining system comprising:

a work machine including a base portion and a movable portion movable relatively to the base portion;

a target portion attached to the movable portion;

a position measurement sensor that continuously measures positions of the target portion that moves with movement of the movable portion relative to the base portion; and

a processor that obtains three-dimensional information on the work machine based on a track of the target portion obtained by measurement, wherein

the movable portion includes a link mechanism in which a plurality of link members are rotatably connected relative to each other with a pin being interposed, and

the three-dimensional information includes information on a distance between a plurality of pins.

2. The information obtaining system according to claim 1 , wherein

the movable portion is rotatable relatively to the base portion.

3. The information obtaining system according to claim 2 , wherein

the track of the target portion is arc-shaped.

4. The information obtaining system according to claim 2 , wherein

the three-dimensional information is information on a central position of rotation of the movable portion relative to the base portion.

5. The information obtaining system according to claim 4 , wherein

the three-dimensional information is information on a distance between the central position and the target portion.

6. The information obtaining system according to claim 4 , wherein

the three-dimensional information includes information on a distance between the central position and the pin.

7. The information obtaining system according to claim 2 , wherein

the three-dimensional information is information on a plane defined by rotation of the movable portion relative to the base portion.

8. The information obtaining system according to claim 7 , wherein

the three-dimensional information is information on an inclination angle of the plane with respect to a horizontal plane.

9. The information obtaining system according to claim 8 , wherein

the work machine further includes an inclination sensor that detects an inclination angle of a ground where the work machine is located, and

the three-dimensional information is information on a difference of the inclination angle of the ground with respect to the inclination angle of the plane.

10. The information obtaining system according to claim 9 , wherein

the processor obtains based on the difference, a calibration value for the inclination angle of the ground detected by the inclination sensor.

11. The information obtaining system according to claim 1 , wherein

the target portion is attached to one part of the movable portion.

12. An information obtaining method of obtaining three-dimensional information on a work machine, the work machine including a base portion and a movable portion movable relatively to the base portion, a target portion being attached to the movable portion, the information obtaining method comprising:

moving the movable portion relatively to the base portion;

continuously measuring positions of the target portion that moves with movement of the movable portion relative to the base portion; and

obtaining the three-dimensional information based on a track of the target portion obtained by the measuring, wherein

the movable portion includes a link mechanism in which a plurality of link members are rotatably connected relative to each other with a pin being interposed, and

the three-dimensional information includes information on a distance between a plurality of pins.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (24)