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US 11,237,566 B2Granted
Control device for unmanned vehicle and control method for unmanned vehicle
AssigneeKomatsu Ltd.
InventorsMasanori Ogihara, Ryuu Yamamura, Akinori Baba
Life of this patent
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Abstract
A control device for an unmanned vehicle includes a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle, and a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data.
Claims19
A control device for an unmanned vehicle comprising:
- a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle;
- a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data;
- a temperature sensor detecting a temperature of the hydraulic oil in a flow path connected to a steering cylinder of the steering device;
- and
- a temperature sensor detecting a temperature of the hydraulic oil in a hydraulic oil tank of the steering device;
- wherein the temperature data acquisition unit acquires temperature data indicating a temperature of the hydraulic oil, supplied to the steering cylinder, detected by the temperature sensors.
3 more elements
A control method for an unmanned vehicle comprising:
- acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle with a temperature data acquisition unit;
- outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data;
- detecting a temperature of the hydraulic oil in a flow path connected to a steering cylinder of the steering device;
- and
- detecting a temperature of the hydraulic oil in a hydraulic oil tank of the steering device;
- wherein temperature data indicating a temperature of the hydraulic oil, supplied to the steering cylinder, is acquired.
3 more elements
A control device for an unmanned vehicle comprising:
- a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle;
- and
- a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data,
- wherein the hydraulic oil circulates and a temperature of the hydraulic oil is raised due to a frictional resistance with a flow path, and accordingly the temperature of the hydraulic oil housed in a hydraulic oil tank is raised,
- whereby the hydraulic oil is supplied from a hydraulic pump to a steering cylinder to actuate the steering cylinder in the steering device, and the hydraulic oil in the hydraulic oil tank, the temperature of which is raised, is supplied to the steering cylinder,
- wherein in a state in which the hydraulic oil, the temperature of which is raised, is supplied to the steering cylinder, travel of the unmanned vehicle is started, and
- whereby the hydraulic oil, the temperature of which is raised, is supplied to the steering cylinder and a steering responsiveness of the steering device is restricted from being lowered.
4 more elements
Dependencies are inferred from the claim text.