Measurement system of external shape of work machine, display system of external shape of work machine, control system of work machine and working machine

摘要

The measurement controller 20 is a plane S1 showing the side of the work machine in the photographing apparatus coordinate system Co1, based on the image of the side of the work machine 1A taken by the photographing apparatus 19 and the internal parameters of the photographing apparatus. ) Is calculated, and based on the position information and the position of the plane S1 on the picked-up image of any pixel constituting the work machine on the picked-up image, the photographing device coordinate system of the point on the work machine corresponding to the arbitrary pixel ( The coordinate value in Co1) is calculated, and the coordinate value in the coordinate system of the photographing apparatus coordinate system of the point on the work machine corresponding to the arbitrary pixel is converted to the coordinate value in the work machine coordinate system Co3, and the hydraulic excavator 1 Output to the working machine controller 50.