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.
Claims4
A control device for a work vehicle including work equipment supported by a vehicle body so as to be movable in up-down directions, the control device comprising:
- a pitch angle acquisition unit that is configured to acquire a pitch angle of the vehicle body;
- a work equipment position calculation unit that is configured to calculate a position of the work equipment relative to the vehicle body;
- a traveling direction specification unit that is configured to specify a traveling direction of the vehicle body based on the pitch angle and the position of the work equipment;
- a speed acquisition unit that is configured to acquire a speed of the vehicle body;
- a position specification unit that is configured to specify a position of the vehicle body based on the speed and the traveling direction of the vehicle body;
- a target height specification unit that is configured to 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
- a work equipment control unit that is configured to output a control signal of the work equipment based on the target height and the traveling direction.
A method for specifying a direction of a work vehicle including work equipment supported by a vehicle body so as to be movable in up-down directions, the method comprising the steps of:
- 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.
Dependencies are inferred from the claim text.