Patent ID: 11965319
Assignee: KOMATSU LTD.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E  G

Claim 10:
11. A method executed by a processor for calibrating a work machine by using an external measurement apparatus, the work machine including a vehicle body, a work implement attached to the vehicle body, an attitude sensor that outputs attitude data indicative of an attitude of the vehicle body, and a positional sensor attached to the vehicle body, the method comprising:
acquiring the attitude data;
storing machine data in a storage device, the machine data being indicative of a position of the positional sensor in a vehicle body coordinate system;
acquiring calibration data including
positions of at least two predetermined measurement points on the work machine measured by the external measurement apparatus, the at least two predetermined measurement points being spaced apart in a vehicle width direction of the work machine and the positions of the at least two predetermined measurement points being measured in an external coordinate system different from the vehicle body coordinate system, and
a position of the positional sensor in the external coordinate system measured by the external measurement apparatus; and

calculating a deviation between an azimuth of the vehicle body coordinate system and an azimuth of the external coordinate system based on the at least two predetermined measurement points; and
calibrating the machine data based on the attitude data, the deviation, and the position of the positional sensor in the external coordinate system.