| 主权项 |
1. A calibration device for a work machine, the work machine comprising:
a work machine body; working equipment swingably connected to the work machine body, the working equipment comprising:
a first actuation unit swingably connected to the work machine body, the first actuation unit being configured to be actuated by a first hydraulic cylinder provided to the work machine body; anda second actuation unit swingably connected to the first actuation unit, the second actuation unit being configured to be actuated by a second hydraulic cylinder provided to the first actuation unit; a first swing angle detector configured to detect swing angle information of the first actuation unit relative to the work machine body; a second swing angle detector configured to detect swing angle information of the second actuation unit relative to the first actuation unit; an attitude calculating unit configured to calculate respective attitudes of the first actuation unit and the second actuation unit based on the detected swing angle information of the first actuation unit and the second actuation unit; and an estimated position calculating unit configured to calculate an estimated position of a reference point of the first actuation unit based on a working equipment parameter related to a member of the first actuation unit and the attitude of the first actuation unit calculated by the attitude calculating unit and calculate an estimated position of a reference point of the second actuation unit based on a working equipment parameter related to a member of the second actuation unit and the attitude of the second actuation unit calculated by the attitude calculating unit, the calibration device being provided to the work machine to calibrate the working equipment parameters, the calibration device comprising: a measurement value acquiring unit configured to acquire a measurement value of a reference point of the work machine body, a measurement value of the reference point of the first actuation unit and a measurement value of the reference point of the second actuation unit, the measurement values being measured using an external measurement device; a working equipment parameter acquiring unit configured to acquire the working equipment parameter related to the member of the first actuation unit and the working equipment parameter related to the member of the second actuation unit, the working equipment parameters being used by the estimated position calculating unit; a first calibration unit configured to calibrate the working equipment parameter related to the member of the first actuation unit based on the respective measurement values of the reference points of the work machine body and the first actuation unit measured by the measurement value acquiring unit; and a second calibration unit configured to calibrate the working equipment parameter related to the member of the second actuation unit based on the working equipment parameter related to the member of the first actuation unit calibrated by the first calibration unit and the respective measurement values of the reference points of the work machine body, the first actuation unit and the second actuation unit acquired by the measurement value acquiring unit. |
