Granted Patent B2

US 12,352,017 · App. 17/909,521 · Granted Jul 8, 2025

Inventors: Kentaro Takayama (Tokyo, JP); Toru Kurakane (Tokyo, JP); Eiji Ishibashi (Tokyo, JP); Junji Harada (Tokyo, JP); Yasuo Wakabayashi (Tokyo, JP)

Assignee: KOMATSU LTD.

E02F9/265E02F9/267

Abstract

Claims (64)

1. A system for calibrating a bearing of a work machine calculated based on positions of a plurality of positional sensors mounted to the work machine, the system comprising:

a first positional sensor mounted to the work machine, the first positional sensor including a first receiver and a first antenna, the first receiver being configured to receive a first positioning signal from a satellite, calculate a position of the first antenna based on the first positioning signal, and generate first position data indicative of the position of the first antenna;

a second positional sensor mounted to the work machine, the second positional sensor including a second receiver and a second antenna, the second receiver being configured to receive a second positioning signal from the satellite, calculate a position of the second antenna based on the second positioning signal, and generate second position data indicative of the position of the second antenna; and

a controller configured to communicate with the first positional sensor and the second positional sensor, the controller being further configured to

acquire the first position data and the second position data,

calculate a first bearing indicative of the bearing of the work machine based on the first position data and the second position data,

calculate a position of the work machine based on at least one of the first position data and the second position data,

calculate a second bearing indicative of the bearing of the work machine based on a change in the position of the work machine in a predetermined zone when a determination condition, including a travel condition indicating that the work machine is traveling in a straight line, is satisfied within the predetermined zone,

calculate a correction value of the bearing of the work machine within the predetermined zone based on a difference between the first bearing and the second bearing,

correct the first bearing based on the correction value,

determine a target design topography, and

control the work machine to operate in accordance with the target design topography based on the position of the work machine and the first bearing or to automatically drive the work machine to a destination based on the position of the work machine and the first bearing.

2. The system according to claim 1 , wherein

the travel condition includes an amount of a change of the first bearing within the predetermined zone is less than or equal to a first threshold.

3. The system according to claim 1 , wherein

the travel condition includes the work machine not turning.

4. The system according to claim 1 , further comprising

a roll angle sensor configured to detect a roll angle of the work machine,

the travel condition including an amount of a change of the roll angle of the work machine within the predetermined zone being less than or equal to a second threshold.

5. The system according to claim 1 , further comprising

a pitch angle sensor configured to detect a pitch angle of the work machine,

the travel condition including an amount of a change of the pitch angle of the work machine within the predetermined zone being less than or equal to a third threshold.

6. The system according to any one of claim 1 , further comprising

a roll angle sensor configured to detect a roll angle of the work machine,

the travel condition including the roll angle of the work machine within the predetermined zone being less than or equal to a fourth threshold.

7. The system according to claim 1 , further comprising

a pitch angle sensor configured to detect a pitch angle of the work machine,

the travel condition including the pitch angle of the work machine within the predetermined zone being less than or equal to a fifth threshold.

8. The system according to claim 1 , wherein

the work machine includes a work implement, and

the determination condition further includes a non-working condition indicative of the work implement not being operated.

9. The system according to claim 8 , wherein

the work machine further includes an operating device for operating the work implement, and

the non-working condition includes the operating device being in a non-operating state.

10. The system according to claim 8 , wherein

the non-working condition includes a height position of the work implement being at least a predetermined height or higher.

11. The system according to claim 1 , wherein

the controller is configured to

repeatedly execute to calculate the correction value a plurality of times, and

update the correction value with an average value of the correction values from the plurality of times.

12. The system according to claim 1 , wherein

the work machine includes a work implement.

13. The system according to claim 1 , wherein

the travel condition further includes a travel velocity of the work machine being greater than or equal to a predetermined velocity threshold.

14. A method for calibrating a bearing of a work machine calculated based on positions of a plurality of positional sensors including a first positional sensor and a second positional sensor mounted to the work machine,

the first positional sensor including a first receiver and a first antenna, the first receiver being configured to receive a first positioning signal from a satellite, calculate a position of the first antenna based on the first positioning signal, and generate first position data indicative of the position of the first antenna, and

the second positional sensor including a second receiver and a second antenna, the second receiver being configured to receive a second positioning signal from the satellite, calculate a position of the second antenna based on the second positioning signal, and generate second position data indicative of the position of the second antenna,

the method comprising:

acquiring the first position data and the second position data;

calculating a first bearing indicative of the bearing of the work machine based on the first position data and the second position data;

calculating a position of the work machine based on at least one of the first position data and the second position data;

calculating a second bearing indicative of the bearing of the work machine based on a change in the position of the work machine in a predetermined zone when a determination condition including a travel condition, indicating that the work machine is traveling in a straight line within the predetermined zone, is satisfied;

calculating a correction value of the bearing of the work machine based on a difference between the first bearing and the second bearing within the predetermined zone;

correcting the first bearing based on the correction value,

determining a target design topography, and

controlling the work machine to operate in accordance with the target design topography based on the position of the work machine and the first bearing or to automatically drive the work machine to a destination based on the position of the work machine and the first bearing.

15. The method according to claim 14 , wherein

the work machine includes a work implement, and

the determination condition further includes a non-working condition indicating that the work implement is not being operated.

16. The method according to claim 14 , further comprising

repeatedly executing to calculate the correction value a plurality of times, and

updating the correction value with an average value of the correction values from the plurality of times.

17. The method according to claim 14 , wherein

the work machine includes a work implement.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (47)