Work vehicle and method of controlling work vehicle

Abstract

A work vehicle includes: a vehicular body; a work implement having a boom pivotable with respect to the vehicular body, an arm pivotable with respect to the boom, and a bucket pivotable with respect to the arm; and a controller configured to calculate an angle of the bucket with respect to the arm according to an operation command before start of excavation, and control the work implement such that the calculated angle becomes equal to a first angle.

1 . A work vehicle comprising:
 a vehicular body;   a work implement including
 a boom pivotable with respect to the vehicular body, 
 an arm pivotable with respect to the boom, and 
 a bucket pivotable with respect to the arm; and 
   a controller configured to
 calculate an angle of the bucket with respect to the arm according to an operation command before start of excavation, and 
 control the bucket such that the calculated angle becomes equal to a first angle. 
   
     
     
         2 . The work vehicle according to  claim 1 , wherein
 the controller is configured to
 determine whether or not a soil ejecting operation is performed according to the operation command, 
 when it is determined that the soil ejecting operation is performed, calculate the angle of the bucket with respect to the arm, and 
 control the bucket such that the calculated angle becomes equal to the first angle. 
   
     
     
         3 . The work vehicle according to  claim 1 , wherein
 the controller is configured to
 calculate a bucket-horizontal line angle formed between a horizontal line and a line segment that connects a bucket pin as a center of rotation of the bucket and a cutting edge of the bucket, and 
 when the bucket-horizontal line angle is equal to or greater than a second angle, control the bucket such that the calculated angle of the bucket with respect to the arm becomes equal to the first angle. 
   
     
     
         4 . The work vehicle according to  claim 1 , further comprising a load detection unit configured to detect a load applied to the work implement, wherein
 the controller is configured to
 calculate the angle of the bucket with respect to the arm according to the operation command before start of excavation and a detection result from the load detection unit during excavation, and 
 control the bucket such that the calculated angle becomes equal to the first angle. 
   
     
     
         5 . The work vehicle according to  claim 1 , further comprising a receiver configured to receive the operation command, wherein
 the controller is configured to
 calculate the angle of the bucket with respect to the arm according to the operation command before start of excavation, the operation command being received in the receiver before start of excavation, and 
 control the bucket such that the calculated angle becomes equal to the first angle. 
   
     
     
         6 . The work vehicle according to  claim 1 , further comprising a bucket cylinder configured to drive the bucket according to the operation command before start of excavation, wherein
 the controller is configured to
 calculate the angle of the bucket with respect to the arm based on a stroke length of the bucket cylinder, and 
 control the bucket such that the calculated angle becomes equal to the first angle. 
   
     
     
         7 . A method of controlling a work vehicle including a work implement that includes a boom pivotable with respect to a vehicular body, an arm pivotable with respect to the boom, and a bucket pivotable with respect to the arm, the method comprising:
 receiving an operation command before start of excavation;   calculating an angle of the bucket with respect to the arm according to the operation command; and   controlling the bucket such that the calculated angle becomes equal to a first angle.