Patent ID: 9739038
Date: 2017-08-22
CPC Classifications: E02F,G01C

Claim:
1. A posture computing apparatus for a work machine, to obtain a posture angle of the work machine including a work implement, the posture computing apparatus comprising: a detection apparatus that detects angular velocity and acceleration, the detection apparatus being provided to the work machine; a first posture angle computing unit that obtains a posture angle of the work machine from the angular velocity and the acceleration detected by the detection apparatus, the first posture angle computing unit being provided to the detection apparatus; a low-pass filter that allows the posture angle obtained by the first posture angle computing unit to pass therethrough to output the posture angle whose high-frequency components are reduced as a first posture angle; a second posture angle computing unit that outputs, as a second posture angle, a posture angle obtained from the angular velocity and the acceleration detected by the detection apparatus, a responsiveness of the second posture angle to a change in the posture of the work machine being higher than that of the first posture angle; and a selecting unit that obtains an amount of change in the posture angle of the work machine, and determines change in the posture of the work machine based on the amount of change in the posture angle, and outputs the first posture angle when the amount of change in the posture angle is smaller than or equal to a predetermined threshold value, and the second posture angle when the amount of change in the posture angle exceeds the predetermined threshold value, to control the work machine including the work implement.