WORK VEHICLE AND METHOD OF CONTROLLING WORK VEHICLE

摘要

A work vehicle includes a vehicular body, a work implement, an angle sensor, and a work implement control unit. A bucket is rotatable with respect to an arm around a bucket axis in parallel to an arm axis and a tilt axis orthogonal to a bucket axis. The angle sensor is provided in the bucket and detects an angle of inclination of the bucket with respect to a horizontal plane. The work implement control unit starts control of the work implement in which an operation of the work implement is controlled at least partially automatically when an angle of inclination of the bucket detected by the angle sensor is smaller than a first threshold value, and does not start control of the work implement when an angle of inclination of the bucket detected by the angle sensor is equal to or greater than the first threshold value.

主权项

1. A work vehicle, comprising:
a vehicular body; a work implement containing a boom rotatable with respect to said vehicular body around a boom axis, an arm rotatable with respect to said boom around an arm axis in parallel to said boom axis, and a bucket rotatable with respect to said arm around a bucket axis in parallel to said arm axis and a tilt axis orthogonal to said bucket axis; an angle sensor provided in said bucket and detecting an angle of inclination of the bucket with respect to a horizontal plane; and a work implement control unit executing control of the work implement in which an operation of said work implement is controlled at least partially automatically based on design topography representing an aimed shape of a target of working by said work implement, said work implement control unit starting control of said work implement when an angle of inclination of the bucket detected by said angle sensor is smaller than a first threshold value and not starting control of said work implement when an angle of inclination of the bucket detected by said angle sensor is equal to or greater than said first threshold value.