US 12,352,017 B2
System and method for calibrating bearing of work machine
Kentaro Takayama, Tokyo (JP); Toru Kurakane, Tokyo (JP); Eiji Ishibashi, Tokyo (JP); Junji Harada, Tokyo (JP); and Yasuo Wakabayashi, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/909,521
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed May 25, 2021, PCT No. PCT/JP2021/019774
§ 371(c)(1), (2) Date Sep. 6, 2022,
PCT Pub. No. WO2021/261153, PCT Pub. Date Dec. 30, 2021.
Claims priority of application No. 2020-109977 (JP), filed on Jun. 25, 2020.
Prior Publication US 2023/0295902 A1, Sep. 21, 2023
Int. Cl. E02F 9/26 (2006.01)
CPC E02F 9/265 (2013.01) [E02F 9/267 (2013.01)] 17 Claims
OG exemplary drawing
 
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.