Work vehicle, control device for work vehicle, and method for specifying direction of work vehicle
AssigneeKomatsu Ltd.
InventorsTakaomi Komura, Kazuya Ojiri
Life of this patent
Estimating the term…
Abstract
A pitch angle acquisition unit is configured to acquire a pitch angle of a vehicle body. A blade position calculation unit is configured to calculate a position of a blade with reference to the vehicle body. A traveling direction specification unit is configured to specify a traveling direction of the vehicle body based on the pitch angle and the position of the blade.
Claims5
A control device for a work vehicle, the work vehicle including work equipment that is supported by a vehicle body and movable in up-down directions, the control device comprising:
- a processor configured to:
- acquire a pitch angle of the vehicle body;
- calculate a position of the work equipment relative to the vehicle body;
- specify a traveling direction of the vehicle body based on the pitch angle and the position of the work equipment;
- acquire a speed of the vehicle body;
- specify a position of the vehicle body based on the speed and the traveling direction of the vehicle body;
- specify a target height of an excavation target at the specified position of the vehicle body based on design surface data indicating a target shape of the excavation target;
- and
- output a control signal of the work equipment based on the target height and the traveling direction,
- wherein the processor is further configured to:
- based on the position of the work equipment being below a ground contact portion of a travel device of the vehicle body, specify the traveling direction of the vehicle body as a direction extending from the ground contact portion to the position of the work equipment position, and
- based on the position of the work equipment being above the ground contact portion, specify the traveling direction of the vehicle body as a direction according to the pitch angle.
A method for specifying a direction of a work vehicle, the work vehicle including work equipment that is supported by a vehicle body and movable in up-down directions, the method comprising:
- measuring a pitch angle of the vehicle body;
- calculating a position of the work equipment with respect to the vehicle body;
- determining a traveling direction of the vehicle body based on the pitch angle and a position of the work equipment;
- acquiring a speed of the vehicle body;
- specifying a position of the vehicle body based on the speed and the traveling direction of the vehicle body;
- specifying a target height of an excavation target at the specified position of the vehicle body based on design surface data indicating a target shape of the excavation target;
- and
- outputting a control signal of the work equipment based on the target height and the traveling direction,
- wherein determining the traveling direction of the vehicle body comprises:
- based on the position of the work equipment being below a ground contact portion of a travel device of the vehicle body, specifying the traveling direction of the vehicle body as a direction extending from the ground contact portion to the position of the work equipment position, and
- based on the position of the work equipment being above the ground contact portion, specifying the traveling direction of the vehicle body as a direction according to the pitch angle.
Dependencies are inferred from the claim text.