Tool-mounted demolition robot with intelligent control system and method of controlling machine subsystem as part of demolition robot

Abstract

The invention relates to a demolition robot tool system comprising: a demolition robot (1) and a tool (14) in a movable arm (10) of the demolition robot (1); an operating subsystem (30: 1) comprising a control unit (20) having nominal operating data (WDnom) for the demolition robot; an electronic data storage device (21) having identification data (ID) of the tool (14); a sensor (31) that senses the presence of the tool (14); a controller (30) capable of receiving identification data (ID) from an electronic data storage device (21) of the tool via the communication interface (22). In order to control operating characteristics of the operating subsystem, the controller (30) may identify the tool (14) and perform at least one of: a) establish a connection to the cloud service (210) through the communication interface (22); receiving preferred working data (WDpref) for the identified tool from the cloud service (210) and manipulating a control signal of a control unit (20) in the operating subsystem (30: 1) under the guidance of the preferred working data; b) establishing a connection to an electronic data storage device (21) of the tool via the communication interface (22), receiving preferred working data (WDpref) for the identified tool (14) from the electronic data storage device (21) of the tool, and manipulating a control signal of a control unit (20) in the operating subsystem (30: 1) on the basis of the preferred working data.

Description

Field of the Invention

[0001] The present invention relates to a demolition robot with intelligent tool carriers for adjusting the operating characteristics of at least one machine subsystem included in a tool-carrying demolition robot according to the preamble of claim 1. The present invention also relates to a method for controlling the operating characteristics of a machine subsystem of a tool-carrying demolition robot according to the preamble of claim 12. The present invention also relates to a tool intended to be carried by a demolition robot according to claim 17. Background Art

[0002] A demolition robot is a tool-carrying robotic vehicle that is typically remotely controlled by an operator walking beside the demolition robot and by means of a remote control device (i.e., essentially a portable communication device supported on the operator's body via a tether, etc.).

[0003] Demolition robots typically have a lower carriage and an upper carriage. The lower carriage has a propulsion unit that may include crawlers, and the upper carriage is capable of rotating relative to the lower carriage in a horizontal plane. The upper carriage has a manipulable arm that has a tool attachment at its free end, i.e., a so-called quick attachment, by means of which the demolition robot can switch between carrying different types of tools. The tool currently carried by the demolition robot (such as a hydraulic hammer, a concrete cutter, a saw, etc.) depends on the actual application or task of the demolition robot. Operations are typically carried out through a combination of different operations, which may be, for example, crushing or chiseling concrete with a hydraulic hammer, cutting steel bars with a concrete cutter, and removing loose building materials with a bucket tool.

[0004] Each of the various tools that a demolition robot is designed to carry typically has different operating characteristics and thus imposes different requirements on the various machine subsystems of the demolition robot. The hydraulic system of a demolition robot is to a large extent such a machine subsystem or operating subsystem, and its current operating parameters affect the efficiency with which the tool attached to the arm can operate, because not only do different tools have different operating requirements, but similar tools of different brands can typically exhibit different operating requirements.

[0005] As an example, tools in the form of a hydraulic hammer or a saw typically require a large hydraulic fluid flow rate (l / min) to drive a high-power-required hydraulic motor currently equipped by the user, while, for example, a concrete cutter typically requires the opposite, i.e., the concrete cutter has a relatively small hydraulic flow rate requirement to drive its working hydraulic cylinder but requires a high hydraulic pressure.

[0006] Storing predetermined working data with control parameters for operations adapted to a limited number of different standard tools in a fixed memory of a demolition robot is a known process. With a regulator in the form of a microprocessor, an operator can manually manipulate the operating characteristics of an operating subsystem included in the hydraulic system of the demolition robot by appropriate programming so that the associated operating subsystem adapts to the current standard tool in the arm attached to the standard tool.

[0007] Generally, the programming is done by the operator via a user interface on a remote control device, for example in the form of a menu with graphical symbols representing various standard tools (such as a hammer or a saw). The adjustment of the operating characteristics is limited because the operator can only specify the general type of the tool currently attached to the arm. It should be understood that the term "attached" in this context means that the tool is supported to be held, fixed or locked in a holder of the arm.

[0008] Based on the operator's selection from various menus of a portable remote control device, the controller selects an appropriate operating mode by receiving predetermined control and limit parameters from the memory according to the tool type selected by the operator. If the operator does not make any tool selection and thus an appropriate operating mode is missing, the system automatically selects the stored default operating characteristic parameters.

[0009] The disadvantages of using the systems known so far to control the operating characteristics of the operating subsystem are not only that the programming operation itself involves operations that are cumbersome and annoying for the operator, but also that the predetermined control parameters stored in the memory for operating various types of tools are actually rough general estimates that do not necessarily correspond to reality, let alone to the preferred or optimal operating parameters of the tool in question.

[0010] Although the known systems generally enable the operator to manually select or adjust certain control parameters via a user interface (such as menus, controls or similar control means), such manual adjustment is an unnecessary and time-consuming task that usually places great demands on the operator's knowledge and experience. Additionally, it should be noted that depending on both the actual size (weight class) and the manufacturer of the tool, the operating requirements can vary significantly not only between different types of tools but also between tools of the same type.

[0011] Therefore, it is desirable to provide a demolition robot that can adjust the operating parameters of one or more of the many operating subsystems that are part of the demolition robot in a simpler and more efficient manner according to the actual operating requirements of the tool in question. Summary of the Invention

[0012] Accordingly, a first objective of the present invention is to create an intelligent demolition robot that can automatically adjust the operating characteristics of at least one machine subsystem included in the demolition robot according to the operating requirements of the tool carried by the demolition robot. A second objective of the present invention is to provide the following method: controlling the operating characteristics of the machine subsystem of the demolition robot according to each selection of the tool of the demolition robot. A third objective of the present invention is to propose a tool intended to be carried by the demolition robot according to the present invention.

[0013] These objectives of the present invention are achieved by a demolition robot tool system exhibiting the features and characteristics set forth in claim 1, a method for controlling the operating characteristics of the machine subsystem of the demolition robot set forth in claim 10, and a demolition robot tool set forth in claim 14. Other features and characteristics of the present invention are stated in the dependent claims.

[0014] According to one embodiment, the demolition robot tool system includes:

[0015] A demolition robot and a tool, the tool being interchangeably attached to the movable arm of the demolition robot,

[0016] An operation subsystem, which includes a control unit having nominal working data WDnom for the demolition robot,

[0017] An electronic data storage device having identification data ID of the tool,

[0018] A sensor configured to sense the presence of the tool,

[0019] A controller configured to receive the identification data ID from the electronic data storage device of the tool via a communication interface, wherein the controller is configured to identify the attached tool and perform at least one of the following operations:

[0020] a) Establish a connection to a cloud service through the communication interface;

[0021] Receive preferred working data WDpref for the identified tool from the cloud service and, under the guidance of the preferred working data, manipulate the control signal of the control unit in the operation subsystem;

[0022] b) Establish a connection to the electronic data storage device of the tool through the communication interface;

[0023] Receive preferred working data (WDpref) for the identified tool from the electronic data storage device of the tool and, under the guidance of the preferred working data, manipulate the control signal of the control unit in the operation subsystem;

[0024] c) Establish a connection to the electronic data storage device of the tool through the communication interface;

[0025] Receive the preferred working data (WDpref) of the identified tool specified by the operator via the input channel of the remote control device included in the demolition robot, and manipulate the control signal of the control unit in the operating subsystem under the guidance of the preferred working data.

[0026] According to another embodiment, a data storage device in the form of, for example, an RFID tag is assigned a unique ID number, which controls where the record or location information of the preferred working data WDpref about the tool is stored, that is, whether the preferred working data WDpref is immediately stored in the electronic data storage device of the tool or the preferred working data WDpref is stored in the cloud service.

[0027] According to one embodiment, the controller is configured to receive the preferred working data WDpref from the electronic data storage device of the tool or from the cloud service based on the location information in the data storage device identification data (ID). Description of the Drawings

[0028] The present invention will be described in more detail below using the example of the embodiments shown in the drawings, in which:

[0029] Figure 1 Schematically shows a demolition robot operated and controlled by an operator walking beside the machine, and how the preferred working data can be assigned to the demolition robot from the data storage device on the tool or from the cloud service;

[0030] Figure 2a Shows an example of the marked data on a hydraulic hammer with a relatively low working weight in the first embodiment;

[0031] Figure 2b Shows an example of the marked data on a hydraulic hammer in the second embodiment where the working weight is relatively higher than Figure 2a the working weight of the hydraulic hammer in

[0032] Figure 3 Schematically shows a block diagram of a control system for controlling different operating characteristics of at least one operating subsystem of a demolition robot according to the present invention;

[0033] Figure 4 Shows a flowchart of a method for adjusting at least one machine subsystem included in a demolition robot according to the present invention in the first embodiment,

[0034] Figure 5 Shows a flowchart of a method for providing an adjustment to at least one machine subsystem included in a demolition robot according to the present invention in the second embodiment.

[0035] Reference Figure 1 , a demolition robot tool system is shown, which includes a demolition robot 1 having means for controlling the operation characteristics of at least one of a number of different operating subsystems included in the demolition robot according to a current tool selection. The following terms operating subsystem or machine subsystem refer to each of the different systems having such tasks of electronically controlling and diagnosing different parts of the demolition robot using a control unit (microcomputer).

[0036] In FIG. 2, by way of example, the dash-dot contour lines show some 30:1, 30:2, 30:3 of a large number "n" of subsystems included in the demolition robot 1, the operation characteristics of which will be changed according to the present invention to present an example.

[0037] The present invention will be described hereinafter essentially only from the perspective of the hydraulic operating subsystem of the demolition robot and how the present invention is applied to this subsystem. However, it should be understood that the present invention is applicable to the control of the operating parameters of each nth operating subsystem 30:1 to 30:30 included in the demolition robot. However, each of the three operating subsystems listed below will be described:

[0038] A first operating subsystem 30:1 including a hydraulic system;

[0039] A second operating subsystem 30:2 including an electric motor control system;

[0040] A third operating subsystem 30:3 including an operator manipulation system.

[0041] As an introduction, it should also be mentioned that in the hydraulic system, the selected operating parameters may refer to flow pressure limits, limits of the allowable movement range of the hydraulic flow consumption means of the tool, etc. In the electric motor control system, the selected operating parameters may include dynamic control of the electric motor to meet the power requirements of the hydraulic system, speed control for noise reduction for tools with low power requirements, current limit control; and in the operator manipulation system, the selected operating parameters may refer to the selection of joystick functions, steering wheel button functions adapted to the tool under discussion. In addition, it may be mentioned that the control units included in each operating subsystem may form one or more computer networks at different levels and are typically of the CAN bus type, etc.

[0042] Referring again to Figure 1, which shows the way that the operator 2 walks beside the demolition robot 1 and remotely controls the demolition robot wirelessly via the remote control device 3. The chassis is generally denoted by 4, and this chassis 4 has a bogie including an upper carriage 5 and a lower carriage 6. The upper carriage 5 is pivotally supported on the lower carriage 6 for pivoting in a horizontal plane about a vertical axis. The lower carriage 6 is provided with a propulsion device including a right crawler and a left crawler 8. The legs operated by associated hydraulic cylinders are denoted by 9, and the manipulable arm supported on the upper carriage 5 and manipulable by means of a hydraulic cylinder 11 is denoted by 10. The above hydraulic components form part of the above-mentioned first operating subsystem 30:1, and this first operating subsystem 30:1 includes the demolition robot hydraulic system.

[0043] The cable for connecting to a fixed power grid to supply power to the demolition robot 1 is denoted by 12. In addition to various motor control electronics (not shown), the cable 12 forms part of the above-mentioned second operating subsystem 30:2, and this second operating subsystem 30:2 includes the electric motor control system of the demolition robot 1.

[0044] The arm 10 is provided with a tool attachment 13 at its free end, and different types of tools 14 (such as a hydraulic hammer, a hydraulic cutter, and a bucket) can be interchangeably attached to this tool attachment 13, and are also connected for hydraulic operation if necessary. The tools 14 are included in the demolition robot tool system of the present invention. The hydraulic hammer, saw, and hydraulic cutter respectively constitute such typical hydraulically driven tools 14, and their functions can be operated and controlled by the remote control device 3.

[0045] The remote control device 3 includes a joystick 3a, buttons and the like, and the joystick 3a, buttons and the like can be actuated by the operator 2 to operate and control various functions of the demolition robot. The operator 2 can set the demolition robot 1 to different driving settings, namely so-called modes, via the remote control device 3. According to the selected driving mode, the joystick 3a and other control devices will control different functions of the demolition robot. Some examples of such driving modes are "drive function lower carriage" and "drive function arm system", and in these driving modes, the demolition robot can be operated and controlled by the actions of the joystick. The selected driving mode can be displayed on the user interface of the remote control device 3 using symbols. Therefore, the above-mentioned control lever and control devices form part of the above-mentioned third operating subsystem 30:3, and this third operating subsystem 30:3 includes the operator manipulation system.

[0046] For a better understanding of the present invention, Figure 2a and Figure 2b shows an example of how the marked data and thus preferably the working data can be significantly different between two known hydraulic hammers of the same brand but different weight classes.

[0047] InFigure 3 Some of the main components included in the hydraulic system 15 of the demolition robot 1 are schematically shown. The hydraulic system 15 includes a plurality of hydraulic flow consumption devices, wherein the above-mentioned hydraulic cylinder 11 of the arm 10 constitutes one of the plurality of hydraulic motors 16. Among the plurality of hydraulic motors, the external hydraulic motor can constitute a drive unit for tools (hydraulic hammers, saws), while the other internal hydraulic motors included in the demolition robot are generally used to drive the crawlers 8 of the demolition robot and rotate the upper bracket 5 relative to the lower bracket 6. The hydraulic system 15 further includes an electronically controlled proportional hydraulic valve 17 located between the hydraulic pump 18 and each of the consumption devices.

[0048] Refer again to Figure 1 , which shows how the hydraulic system 15 can include a plurality of sensors 19a to 19c (see Figure 3 ). Among the plurality of sensors, mention can be made of a length sensor 19a for sensing the longitudinal displacement of each hydraulic cylinder 11, an angle / speed sensor 19b for sensing the rotational movement of the hydraulic motor, and thus this angle / speed sensor 19b should be used to determine the relative angular position of the upper bracket 5 and thus also the arm 10 relative to the lower bracket 6 in the horizontal plane. The hydraulic system 15 can also include an angle sensor 19c, which is arranged to sense the relative angular position of different arm portions included in the arm 10. Based on the information from the sensors 19a to 19c (i.e., the length sensor 19a and the angle sensors 19b, 19c in this example), both the position and the moving speed of the tool 14 in a coordinate system in a three-dimensional space (3D space) can be calculated, which can also be used to operate and control the tool to move along a path in a predetermined route or to check whether the tool is within the allowable working area of the tool and / or does not exceed a predetermined moving speed.

[0049] As mentioned above, the remote control device 3 includes a joystick 3a, buttons, and a steering wheel, which can be actuated by the operator 2 to operate and control various functions of the demolition robot 1. Via the electro-hydraulic valve 17, the functions of various consumption devices are controlled, and thus the movement of the demolition robot as a whole is controlled. The controller 30 is used to transmit control commands to the control unit 30 based on signals from the control switch 3a to control the hydraulic valve 17, whereby this unit is designed to control the hydraulic valve 17 according to a predetermined function stored in the data storage device 23 belonging to the control unit 30.

[0050] In Figure 1Among them, reference numeral 31 denotes a tool sensor device configured to sense the presence of the tool 14 attached to the arm. The tool sensor device 31 may in its simplest form include a mechanical switch which is actuated by the attached tool 14 when the bracket is in its locked position, but the tool sensor device 31 is advantageously selected from any known sensors allowing contactless presence detection, for example, of the type using radio waves or light to sense the presence and position of the tool 14 in the bracket 13.

[0051] The dismantling robot 1 further includes a tool reading device 32 which includes a communication interface 22 that may be arranged to communicate with the electronic data storage device 21 of the tool 14 to retrieve the identification data ID and preferably the working data WDpref of the tool 14 attached to the arm 10. The tool reading device 32 is capable of reading data from the data storage device 21 on the tool 14 when receiving a signal from the tool sensor device 31 that the tool 14 is located in the bracket 13 of the arm member 10. The tool reading device 32 suitably includes means for short-range data communication using radio waves in an unlicensed area, such as near-field communication (NFC) or Bluetooth communication (BLE). The tool reading device 32 may also be of the so-called RFID type (radio frequency identification) which can read from a transponder and memory (i.e., the so-called RFID tag) at a certain distance. These RFID tags include a unique ID number and, if they are of the so-called passive type, can generally transmit a few decimeters without their own power supply. The RFID transponder stores all information in a database. The record or location where the information is stored is usually associated with the unique ID number of the RFID transponder. Thus, the location of the stored record can be controlled by the unique ID number of the RFID transponder.

[0052] In an embodiment where the electronic data storage device 21 of the tool 14 includes both the identification data ID and the preferably working data WDpref of the tool, active or semi-passive RFID tags may be used, whereby the data combination can be read by the tool reading device 32.

[0053] In an alternative embodiment of the present invention, the dismantling robot system is designed to establish a connection to the cloud service 210 through the communication interface 22, and receive the preferably working data WDpref of the identified tool from the cloud service 210, and under the guidance of the preferably working data, manipulate the control signal of the control unit 20 in the operation subsystem 30:1. The unique ID number of the RFID tag can conveniently be used to indicate information about the record of the preferably working data WDpref of the current tool 14 is stored in the cloud service 210.

[0054] The demolition robot 1 may be suitably equipped with a wireless communication interface 22 to communicate directly or indirectly with the cloud service 210 by communicating via another device such as a server, a personal computer, or a smart phone. Examples of such wireless communication devices are (IEEE 802.11b), Global System for Mobile Communications (GSM) and LTE (Long Term Evolution), to name just a few. Where applicable, the controller 30 is configured to receive the preferred working data WDpref from the cloud service 210 based on the location information in the identification data ID of the data storage device 21.

[0055] The device according to the invention operates to be able to effectively adjust or limit at least one operating parameter of at least one of the many operating subsystems 30:1 to 30:n included in the demolition robot 1. The electronic tool data storage device 31 provided for each tool 14 includes the identification data ID of the tool and the preferred working data WDpref of the tool 14, wherein the preferred working data includes data for controlling at least one operating parameter OP of at least one of the operating subsystems 30:1 included in the demolition robot.

[0056] In an alternative embodiment, it is conceivable that the cloud service 210 is configured to collect the operating settings of the parameter-adjusted nominal working data WDnom of the operating subsystem 30:1 and send the collected data together with the identification data ID of the tool 14 and the logging task for the collected data to the cloud service 210. Since the tool-specific settings for different tools 14 can be collected at the point of use during operation and the collected data is sent to the cloud 210 together with the logging task, the material becomes searchable and can be used, for example, by machine manufacturers for tracking, tracing, and tool and / or machine development, or to provide the owner of the demolition robot machine fleet with desired information about the operating conditions of the machine.

[0057] The operating information included in the preferred working data WDpref stored and readable on each tool 14:1 to 14:n may include predetermined operating values for a particular tool 14, such as the no-load weight of the tool, the working length, or other characteristics that limit the movement of the tool in space to avoid collisions and the risk of tipping over the demolition robot due to an adverse movement of the center of gravity caused by the weight of the tool.

[0058] As described above, the demolition robot 1 includes at least one operating subsystem 30:1, each of such operating subsystems including a control unit 20 which includes nominal operating data WDnom stored in a data storage device 23 for controlling various functions of the operating subsystem. A tool 14 is generally also attached to the arm 10 of the demolition robot 1. Hereinafter, the term nominal value refers to the operating data or parameters declared by the equipment manufacturer. Also compare the term marked data, which in context can be considered substantially equivalent to the term nominal value used herein.

[0059] An electronic data storage device 21 is associated with the tool 14, such a device having a unit for storing data including identification data ID of the tool. A sensor device 31 arranged on the arm 10 is configured to sense the presence of the tool 14 attached to the arm 10, and a controller 30 is configured to retrieve the identification data ID from the electronic data storage device 21 of the attached tool via a communication interface 22, wherein the controller 30 is further configured to identify the attached tool 14.

[0060] The controller 30 is configured to receive the identification data ID from the electronic data storage device 21 of the tool 14 via the communication interface 22, wherein the controller 30 is configured to identify the attached tool 14 and perform at least one of the following operations:

[0061] a) Establish a connection to a cloud service 210 via the communication interface 22;

[0062] Receive preferred operating data WDpref of the identified tool from the cloud service 210 and, under the guidance of the preferred operating data, manipulate control signals of the control unit 20 in the operating subsystem 30:1;

[0063] b) Establish a connection to the electronic data storage device 21 of the tool via the communication interface 22;

[0064] Receive preferred operating data WDpref of the identified tool 14 from the tool electronic data storage device 21 and, under the guidance of the preferred operating data, manipulate control signals of the control unit 20 in the operating subsystem 30:1.

[0065] The controller 30 may be configured to provide manipulation control of the operating subsystem 30:1 by replacing at least one nominal operating parameter OPnom included in the operating subsystem 30:1 or by parameter adjustment of at least one nominal operating parameter Opnom of the operating subsystem 30:1.

[0066] According to the present invention, the term "manipulation" refers to any type of deformation, parameter adjustment, or exchange of one or more operating parameters OP of the nominal working data WDnom included in the control unit 20 of each operating subsystem of the demolition robot.

[0067] The controller 30 is configured to provide manipulation control for at least one operating subsystem 30:1 using the preferred working data WDpref from the data storage device 21 of the tool 14. That is, the controller 30 is configured to identify the attached tool 14 and use the preferred working data WDpref to manipulate the control signals of the controller 20 in the operating subsystem 30:1. In one embodiment of the present invention, the controller 30 may be configured to manipulate the operating subsystem 30:1 based on the preferred working data (WDpref) to control each operating parameter OP of the operating subsystem.

[0068] In an alternative embodiment of the present invention, the demolition robot 1 may include: a first data storage device 23 that contains nominal working data WDnom representing an allowable range for controlling at least one nominal operating parameter OPnom in at least one operating subsystem 30:1; a second data storage device 24 that contains preferred working data WDpref received from the attached tool 14 for controlling at least one preferred operating parameter OPpref in at least one operating subsystem 30:1; a data interface 26 for communication between the controller 30 and the respective data storage devices 23, 24, and for comparing the preferred working data WDpref with the allowable range of the nominal working data WDnom, wherein if the value of at least one of the preferred operating parameters OPpref of the preferred working data WDpref is within the allowable range, the operating parameter is selected from the preferred working data WDpref for controlling the operating subsystem 30:1, and if the value of at least one of the preferred operating parameters OPpref of the preferred working data WDpref is outside the allowable range, the nominal working data WDnom is selected for controlling the operating subsystem 30:1.

[0069] The operating subsystem 30:1 controlled in a manipulation manner by the controller 30 may include at least one of the following: a hydraulic subsystem, a subsystem for self-controlled or autonomous operation of the travel path of the tool 14 along a predetermined route in three-dimensional space.

[0070] The identification data ID of the tool 14 may include at least one of the following tool types: hammer, grab, scissors, saw, cutter, bucket.

[0071] The preferred operating data WDpref may include at least one of the following: recommended oil flow rate (l / min), specified tool weight (kg); recommended machine weight bearing (kg), specified tool dimensions (working tool diameter, working length of the working tool).

[0072] In one embodiment of the present invention, the manipulation of the control signal of the control unit 20 in the operating subsystem 30:1 may include adjusting the control signal of the operating subsystem 30:1 relative to the weight of the tool 14 to automatically cancel the deflection of the arm 10 of the loading torque during the parallel movement of the tool 14.

[0073] In another embodiment of the present invention, the manipulation of the control signal of the control unit 20 in the operating subsystem 30:1 may include automatically limiting the maximum travel distance of the tool 14 to avoid an undesired shift of the center of gravity assigned to the demolition robot.

[0074] In another embodiment of the present invention, the manipulation of the control signal of the control unit 20 in the operating subsystem 30:1 may include automatically limiting the maximum lifting height of the tool 14.

[0075] The preferred operating data WDpref may include the tool weight and include at least one of the following: adjustment of the hydraulic system when the tool is moved in parallel, limitation of the maximum travel distance of the tool. In an embodiment of the present invention, the preferred operating parameter OPPref may be the maximum travel distance of the tool 14.

[0076] In one embodiment, the preferred operating parameter OPPref may be the maximum height to which the tool 14 can be lifted. In one embodiment, the communication interface 22 may include any of the following methods: short-range data communication technology using radio waves; near-field communication (NFC); Bluetooth communication (BLE).

[0077] According to another embodiment, the demolition robot remote control device 3 may be equipped with an input device 3b, which has a user interface in the form of a display, a graphic display device with buttons, an electronic port (USB) or a similar unit, which allows the input device to receive the preferred operating data WDpref specified by the operator of the tool 14 identified by the tool electronic data storage device 21 and manipulate the control signal of the control unit 20 in the operating subsystem 30:1 under the guidance of the preferred operating data WDpref.

[0078] Figure 4A flowchart is shown that describes a method of the present invention for adjusting at least one of the machine subsystems included therein by 30:1 in an example of the first embodiment. The process starts at step S1. At step S2, the presence of the tool 14 in the holder 13 of the arm 10 is detected. If this is not the case, the system returns to the starting position in step S1. According to the tool 14 positioned in the holder 13, in step S3, identification data ID is retrieved from the electronic data storage device 21 of the positioned tool 14. At step S4, at least one preferred operating parameter OPpref from the preferred operating data WDpref is selected from the tool 14 to control at least one of the subsystems 30:1 to 30:n of the demolition robot, while the control unit 20 controls the operating subsystem 30:1 using a signal manipulated by the controller 30 under the guidance of the received preferred operating data WDpref.

[0079] Figure 5 A flowchart is shown that describes a process according to the present invention for adjusting at least one of the machine subsystems included therein by 30:1 in an example of the second embodiment. The process starts at step S10. At step S20, the presence of the tool 14 in the holder 13 of the arm 10 is detected. If this is not the case, the system returns to the starting position S10. In step S30, according to the tool 14 positioned in the holder 13, the controller 30 retrieves identification data ID from the electronic data storage device 21 of the positioned tool 14. In step S40, the preferred operating data WDpref stored in the first data storage device 23 is compared with the nominal operating data WDnom stored in the second data storage device 24. In step S40, if the controller finds that the preferred operating data WDpref is lower than or equal to the nominal operating data WDnom, then in step S50, the preferred operating data is selected. In step S40, if the controller finds that the preferred operating data WDpref is higher than the nominal operating data, then in step S50, the nominal operating data WDnom of the tool is selected, while the control unit 20 controls the operating subsystem 30:1 using a signal manipulated by the controller 30 based on the received preferred operating data WDpref.

[0080] If the tool 14 has no information about the identification data ID, or if the preferred operating data WDpref of the tool is missing, the nominal operating data WDnom is selected.

[0081] According to the present invention, the controller 30 controls at least one of the following operating subsystems in a manipulated manner:

[0082] A first operating subsystem 30:1 including a hydraulic system;

[0083] A second operating subsystem 30:2 including an electric motor control system;

[0084] A third operating subsystem 30:3 including an operator operating system.

[0085] A method for controlling an operating subsystem of a demolition robot according to the present invention includes a tool 14, which is designed to be interchangeably mounted in the free end of an arm 10 of the demolition robot. The tool includes an electronic data storage device 21 in which tool-related data including identification data ID of the tool has been stored to use preferred working data WDpref, which is also stored in the data storage device 21 together with the identification data or retrieved from a cloud service 210, for adjusting operating characteristics of at least one operating subsystem 13:1 of the demolition robot.

Claims

1. A demolition robot tool system, comprising: a demolition robot (1) and a tool (14), the tool being interchangeably attached to a movable arm (10) of the demolition robot (1), an operation subsystem (30:1), the operation subsystem including a control unit (20), the control unit having nominal working data (WDnom) for the demolition robot, an electronic data storage device (21), the electronic data storage device having identification data (ID) of the tool (14), a sensor (31), the sensor being configured to sense the presence of the tool (14), a controller (30), the controller (30) being configured to receive the identification data (ID) from the electronic data storage device (21) of the tool via a communication interface (22), wherein the controller (30) is configured to identify the attached tool (14) and perform at least one of the following operations: a) Establish a connection to a cloud service (210) through the communication interface (22); Receive preferred working data (WDpref) for the identified tool from the cloud service (210), and under the guidance of the preferred working data, manipulate the control signal of the control unit (20) in the operation subsystem (30:1); b) Establish a connection to the electronic data storage device (21) of the tool through the communication interface (22); Receive the preferred working data (WDpref) for the identified tool (14) from the electronic data storage device (21) of the tool, and under the guidance of the preferred working data, manipulate the control signal of the control unit (20) in the operation subsystem (30:1); c) Establish a connection to the electronic data storage device (21) of the tool through the communication interface (22); Receive the preferred working data (WDpref) of the identified tool (14) specified by an operator (2) via an input channel (3b) of a remote control device (3) included in the demolition robot, and under the guidance of the preferred working data, manipulate the control signal of the control unit (20) in the operation subsystem (30:1).

2. The demolition robot tool system according to claim 1, wherein the controller (30) is configured to receive preferred working data (WDpref) from the electronic data storage device (21) of the tool or from the cloud service (210) based on the position information in the identification data (ID) of the data storage device (21).

3. The demolition robot tool system according to any one of claims 1 to 2, wherein The controller (30) is configured to manipulate the operating subsystem (30:1) by replacing at least one nominal operating parameter (OPnom) included in the nominal operating data (WDnom) of the operating subsystem (30:1) or by adjusting at least one nominal operating parameter (OPnom) in the nominal operating data (WDnom) of the operating subsystem (30:1) based on the preferred operating data (WDpref).

4. The demolition robot tool system according to any one of claims 1 to 3, wherein, the controller (30) is configured to manipulate the operating subsystem (30:1) based on the preferred operating data (WDpref) to control each operating parameter (OP) in the operating system.

5. The demolition robot tool system according to any one of claims 1 to 4, comprising: a first data storage device (23) that contains nominal operating data (WDnom) representing an allowable range for controlling at least one nominal operating parameter (OPnom) in the operating subsystem (30:1); a second data storage device (24) that contains preferred operating data (WDpref) for controlling at least one preferred operating parameter (OPpref) in the first operating subsystem (30:1); a data interface (26) for communication between the controller (30) and the corresponding data storage devices (23, 24) and for comparing the preferred operating data (WDpref) with the allowable range of the nominal operating data (WDnom), wherein if the value of at least one of the preferred operating parameters (OPpref) of the preferred operating data (WDpref) is within the allowable range, the operating parameter is selected from the preferred operating data (WDpref) for controlling the operating subsystem (30:1), and if the value of at least one of the preferred operating parameters (OPpref) of the preferred operating data (WDpref) is outside the allowable range, the nominal operating data WDnom (WDnom) is selected for controlling the operating subsystem (30:1).

6. The demolition robot tool system according to any one of claims 1 to 5, wherein, the controller (30) controlls in a manipulative manner at least one of the following operating subsystems: a first operating subsystem (30:1) including a hydraulic system; a second operating subsystem (30:2) including an electric motor control system; a third operating subsystem (30:3) including an operator manipulation system.

7. The demolition robot tool system according to any one of claims 1 to 6, wherein, the identification data (ID) includes at least one of the following tool types: hammer, grab, scissors, saw, cutter, bucket, skid, cutting tool, plasma thermal tool, breaker.

8. The demolition robot tool system according to any one of claims 1 to 7, wherein the preferred working data (WDpref) includes at least one of the following: recommended oil flow rate (l / min), recommended pressure (Pa), specified tool weight (kg); recommended machine weight bearing (kg), specified tool dimensions (working tool diameter, working length of the working tool), recommended power of the electric tool.

9. The demolition robot tool system according to any one of claims 1 to 8, wherein, the control signals for manipulating the control unit (20) in the operating subsystem (30:1) include at least one of the following measures: adjusting the control signals of the operating subsystem (30:1) with respect to the weight of the tool (14) to automatically cancel the deflection of the arm (10) that loads the torque during the parallel movement of the tool (14); automatically limiting the maximum travel distance of the tool (14) to avoid an undesired shift in the center of gravity assigned to the demolition robot; automatically limiting the maximum lifting height of the tool (14).

10. The demolition robot tool system according to any one of claims 1 to 9, wherein, the communication interface (22) includes any of the following means: short - range data communication technology using radio waves; near - field communication (NFC); Bluetooth communication (BLE).

11. The demolition robot tool system according to any one of claims 1 to 10, wherein, the controller (30) is further configured to collect the operating settings of the parameter - adjusted nominal working data (WDnom) from the operating subsystem (30:1), and send the collected data together with the identification data (ID) of the tool and the log storage task to the cloud service (210).

12. A method for controlling the operating characteristics of a demolition robot tool system (1), the demolition robot tool system comprising: a demolition robot and a tool (14), the tool being interchangeably attached to a movable arm (10) of the demolition robot (1); an operating subsystem (13:1), the operating subsystem having a control unit (20), the control unit having nominal working data (WDnom) for the demolition robot, the method comprising the following operating steps: a) Assigning an electronic data storage device (21) having the identification data (ID) of the tool (14) to the tool; b) Assigning a sensor (31) configured to sense the presence of the tool (14) to the demolition robot; c) Assigning a controller (30) to the demolition robot, the controller being configured to receive the identification data (ID) from the electronic data storage device (21) of the tool via a communication interface (22), wherein the controller (30) is configured to identify the attached tool (14), and perform at least one of the following operations: d) Establishing a connection to a cloud service (210) through the communication interface (22); Receiving preferred working data (WDpref) for the identified tool from the cloud service (210), and under the guidance of the preferred working data, manipulating the control signal of the control unit (20) in the operating subsystem (30:1); e) Establishing a connection to the electronic data storage device (21) of the tool through the communication interface (22); Receiving the preferred working data (WDpref) for the identified tool (14) from the electronic data storage device (21) of the tool, and under the guidance of the preferred working data, manipulating the control signal of the control unit (20) in the operating subsystem (30:1); f) Establishing a connection to the electronic data storage device (21) of the tool through the communication interface (22); Receiving the preferred working data (WDpref) of the identified tool (14) specified by the operator (2) via the input channel (3b) of the remote control device (3) included in the demolition robot, and manipulating the control signal of the control unit (20) in the operating subsystem (30:1) under the guidance of the preferred working data.

13. The method according to claim 12, further comprising the steps of: g) The controller (30) is configured to receive the preferred working data (WDpref) from the electronic data storage device (21) of the tool (14) or receive the preferred working data (WDpref) from the cloud service (210) based on the position information in the identification data (ID) of the data storage device (21).

14. The method according to claim 13, further comprising the steps of: h) Comparing the preferred working data (WDpref) with the nominal working data (WDnom), wherein if the controller (30) finds that the preferred working data (WDpref) is lower than or equal to the nominal working data (WDnom), then the preferred working data (WDpref) is selected, and if the controller finds in step S40 that the preferred working data (WDpref) is higher than the nominal working data (WDnom), then the nominal working data is selected for the tool in step S50.

15. The method according to any one of claims 12 to 14, wherein if the tool (14) has no information about the identification data (ID), or if the position information about the preferred working data (WDpref) of the tool is missing, then the nominal working data (WDnom) is selected.

16. The method according to any one of claims 12 to 15, wherein at least one of the following operating subsystems is controlled in a manipulated manner by the controller (30): The first operating subsystem 30:1 including a hydraulic system; The second operating subsystem 30:2 including an electric motor control system; The third operating subsystem 30:3 including an operator manipulation system.

17. A tool (14), the tool being designed to be interchangeably mounted at the free end of the arm (10) of a demolition robot (1), characterized in that comprising an electronic data storage device (21) having position information for identification data (ID) of the tool (14) and for preferred working data (WDpref) of the tool.

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