# US 12,006,656 B2 · Work vehicle, control device for work vehicle, and method for specifying direction of work vehicle

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- Number: US 12,006,656 B2
- Document ID: US12006656B2
- Status: Granted
- Kind: B2
- Application number: 17/425,452
- Filed: 2020-03-27
- Published: 2022-03-24
- Granted: 2024-06-11
- Earliest claimed: 2019-03-29
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Takaomi Komura; Kazuya Ojiri
- Web page: https://patentgrep.com/patent/US12006656B2

## CPC

- E02F 3/841: {Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine (construction of roads E01C19/008)}
- E02F 3/844: {for positioning the blade, e.g. hydraulically}
- E02F 3/845: {using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums}
- E02F 9/2041: {Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence)}
- E02F 3/7609: {Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers}
- E02F 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein the processor is configured to:
determine a deviation angle defined between a plane of the ground contact portion and the direction extending from the ground contact point to the position of the work equipment;
based on the deviation angle being less than zero, determine that the position of the work equipment is below the ground contact portion of the travel device of the vehicle body; and
based on the deviation angle being greater than or equal to zero, determine that the position of the work equipment is above the ground contact portion of the travel device of the vehicle body.

### Claim 3 (depends on 2)

The control device for a work vehicle according to claim 2, wherein the processor is configured to, based on the deviation angle being less than zero, specify the traveling direction of the vehicle body by adding the deviation angle to the pitch angle.

### Claim 4 (depends on 1)

A work vehicle comprising:
a vehicle body;
work equipment supported by the vehicle body so as to be movable in up-down directions; and
the control device according to claim 1.

### Claim 5

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.