US 11,834,812 B2
Method for calibrating work machine, controller for work machine, and work machine
Shota Yamawaki, Tokyo (JP); and Shogo Miyazaki, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/426,364
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Mar. 18, 2020, PCT No. PCT/JP2020/012064
§ 371(c)(1), (2) Date Jul. 28, 2021,
PCT Pub. No. WO2020/203314, PCT Pub. Date Oct. 8, 2020.
Claims priority of application No. 2019-067316 (JP), filed on Mar. 29, 2019.
Prior Publication US 2022/0098834 A1, Mar. 31, 2022
Int. Cl. E02F 9/26 (2006.01); E02F 3/28 (2006.01); E02F 3/43 (2006.01); E02F 9/22 (2006.01)
CPC E02F 9/264 (2013.01) [E02F 3/283 (2013.01); E02F 3/431 (2013.01); E02F 9/2271 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for calibrating a work machine including a main body, a boom configured to drive with respect to the main body, a work tool connecting to the boom, the work tool being configured to drive with respect to the boom, an actuator connecting to the main body and the work tool respectively, the actuator being configured to drive the work tool, and a sub-link configured to transmit drive of the actuator to the work tool, the method comprising:
outputting a detection value to detect an angle of the sub-link with respect to the boom in a predetermined posture of the boom and a work tool posture, which are specified;
converting the detection value as a measurement angle of the sub-link with respect to the boom based on a conversion value; and
calibrating the conversion value based on a relationship between the measurement angle and an actual angle in the work tool posture which is specified.
 
8. A controller for a work machine including a main body, a boom configured to drive with respect to the main body, a working tool connecting to the boom, the work tool being configured to drive with respect to the boom, an actuator connecting to the main body and the working tool respectively, the actuator being configured to drive the work tool, and a sub-link configured to transmit drive of the actuator to the work tool, the controller comprising:
an acquisition section configured to acquire a detection value to detect an angle of the sub-link with respect to the boom;
a display section configured to display information to specify a predetermined posture of the boom and a work tool posture when calibrating a conversion value to convert the detection value as a measurement angle of the sub-link with respect to the boom; and
a calibration section configured to calibrate the conversion value by a relationship of an actual angle in a specified work tool posture and the measurement angle obtained by converting the detection value in a specified predetermined posture of the boom and the specified work tool posture, which are input based on a display on the display section, based on the conversion value.