Patent ID: 11906641
Assignee: HITACHI CONSTRUCTION MACHINERY CO., LTD.
Field: Civil engineering (Other fields)
Classification: CPC E  G | IPC E  G

Claim 0:
1. A work machine including a controller that is configured to convert geographic-coordinate-system coordinates of a certain point into site-coordinate-system coordinates by using a coordinate conversion parameter generated on a basis of geographic-coordinate-system coordinates and site-coordinate-system coordinates of a reference point installed at a work site, the work machine comprising:
a machine body;
a work implement that is attached to the machine body, and is driven by a hydraulic cylinder;
an image-capturing device that captures an image of the reference point;
a GNSS antenna that is attached to the machine body, and receives a navigation signal; and
a posture sensor that detects a posture of the work implement, wherein
the controller is configured to
calculate geographic-coordinate-system coordinates of the image-capturing device on a basis of the navigation signal received at the GNSS antenna, and a distance between the image-capturing device and the GNSS antenna,
calculate a distance and direction from the image-capturing device to the reference point by performing image processing on the image of the reference point captured by the image-capturing device,
calculate the geographic-coordinate-system coordinates of the reference point on a basis of the calculated distance and direction from the image-capturing device to the reference point, and the calculated geographic-coordinate-system coordinates of the image-capturing device,
calibrate the coordinate conversion parameter on a basis of the calculated geographic-coordinate-system coordinates of the reference point, and the site-coordinate-system coordinates of the reference point,
calculate geographic-coordinate-system coordinates of the machine body on a basis of the navigation signal received at the GNSS antenna,
calculate geographic-coordinate-system coordinates of a control point set for the work implement on a basis of the geographic-coordinate-system coordinates of the machine body, and information about the posture of the work machine detected by the posture sensor,
convert the geographic-coordinate-system coordinates of the control point into site-coordinate-system coordinates by using the coordinate conversion parameter calibrated by the controller, and
perform control on a basis of the converted site-coordinate-system coordinates.