A demolition robot with an advanced dust control system

Abstract

A control unit (110) for a demolition robot (100), where the control unit (110) is configured to monitor movement by one or more parts (120, 130, 140, 150) of the demolition robot (100), where the one or more parts comprises at least a tool carrier arm (120) of the demolition robot (100), where the control unit (110) is configured to detect a dust generating action by the demolition robot (100) in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and where the control unit (110) is configured to selectively initiate a dust control operation in case a dust generating action by the demolition robot is detected.

Description

[0001] TITLE

[0002] A DEMOLITION ROBOT WITH AN ADVANCED DUST CONTROL SYSTEM

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to construction equipment, and in particular to hydraulically powered remote controlled tracked demolition robots. There are disclosed robots, control units, dust control systems and methods for automatically activating and deactivating a dust control system such as a misting system, a spray system, or an air cleaner.

[0005] BACKGROUND

[0006] Demolition robots are relatively light-weight and agile construction machines which can be used for various tasks, such as smaller excavation jobs, transportation, and of course demolition tasks. The robots are normally remote controlled by an operator walking next to the robot, but the operator may also be located further away from the robot. Autonomous or semi-autonomous demolition robots are also known in the art.

[0007] Demolition robots often generate dust during use, e.g., as the robot is used to tear down structures or move material from one place to another at a work site.

[0008] SE542391 C2 and SE19513324A1 relate to demolition robots with dust control systems comprising generation of water mist and / or water spray.

[0009] It is desired to control the amount of generated dust in an even more efficient manner.

[0010] SUMMARY

[0011] It is an objective of the present disclosure to provide improved techniques for controlling the amount of dust generated by construction equipment at a work site. This objective is at least in part obtained by a control unit for a demolition robot. The control unit is configured to monitor movement by one or more parts of the demolition robot, where the one or more parts comprise its tool carrier arm, and to detect a dust generating action by the demolition robot in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria. The control unit is also configured to selectively initiate a dust control operation such as a water spray mechanism or a water misting system in case a dust generating action by the demolition robot is detected. This way the dust control system is only activated when it is actually needed, i.e., when the demolition robot is actively generating dust as the tool carrier arm is moved, which is an advantage. The predetermined dust generating movement criteria can for instance comprise movement by a tool carrier interface on the tool carrier arm of the demolition robot, such as actuation of a distalmost hydraulic cylinder or a second distalmost hydraulic cylinder on the tool carrier arm. The predetermined dust generating movement criteria optionally also comprises actuation of tracks and / or of a rotatable tower on the demolition robot. The techniques described herein improves on the techniques disclosed in SE 542 391 C2, since a more effective dust control is obtained which covers more dust generating actions compared to the disclosure in SE 542 391 C2.

[0012] The control unit and the associated construction equipment described herein can for instance be configured to initiate a dust control operation comprising activation of a liquid spray or misting system when the tool carrier arm is moved with a loaded (curled) bucket tool or a loaded (closed) grapple tool, and not when the tool carrier arm is moved with an unloaded (uncurled) bucket tool or an unloaded (open) grapple tool. This way the dust control operation is only activated when needed, and not when the bucket or grapple tool is moved while empty.

[0013] According to an example of the techniques disclosed herein, the system detects when a bucket tool on the tool interface is curled to hold material, and the dust control operation is selectively initiated as the bucket tool holding the material is moved, since dust may then be generated. The dust control operation is then deactivated a while after the bucket tool has been uncurled and the material has been dumped from the bucket.

[0014] According to another example of the techniques disclosed herein, the dust control operation is selectively initiated when a grapple tool is used to pick up and move material from one place to another place. The dust control system is activated when the grapple tool is first closed and then moved. The dust control operation is then deactivated a while after the grapple tool has been opened again, since then the material has been dumped and it no longer makes sense to maintain the dust control operation. According to yet another example, the dust control operation is selectively initiated as part of a bucket-shaking operation, where a bucket tool is shaken to dislodge material that may have gotten stuck in the bucket.

[0015] The dust control operation may also comprise activation or reconfiguration of an external misting or spray system arranged separated from the demolition robot, as well as activation or operation mode configuration of an air cleaner at the work site. The demolition robot then functions as an activation means or automatic remote control for the external dust control system, which means that the external dust control system is not used more than necessary to control the dust generated by the demolition robot, which is an advantage. This function is akin to the known automatic light switches that react to motion in a room to activate lights. The external dust control system remains inactive as long as the demolition robot does not perform actions that may generate dust. However, as soon as the demolition robot performs any type of movement that satisfies the predetermined dust generating movement criteria, such as transporting material using a bucket or a grapple tool, then the external dust control system is automatically activated.

[0016] The predetermined dust generating movement criteria may advantageously be configured in dependence of a current type of tool in use by the demolition robot. The control unit can for instance be configured to receive configuration data indicative of a current type of tool in use and / or to automatically detect the current type of tool in use. By tailoring the dust control operation to a specific type of tool, an even more accurate control of the dust control operation is obtained. The predetermined dust generating movement criteria can for instance specifically comprise a curl and / or a dump operation if the current type of tool is a bucket. The predetermined dust generating movement criteria can specifically comprise closing and / or opening of a grapple tool if the current type of tool is a grapple tool. This way the dust control system is used when needed, and not otherwise. The external dust control system mentioned above can of course also be controlled in the same manner, i.e., in dependence of the type of tool currently mounted on the tool carrier arm of the demolition robot.

[0017] According to some aspects, the control unit is configured to execute a bucket shake operation comprising repeated reciprocating actuation of one or more distal hydraulic cylinders of the tool carrier arm in order to efficiently dislodge material that has gotten stuck in the bucket. The control unit can then be configured to initiate the dust control operation in coordination with the bucket shake operation, which is an advantage since the bucket shake operation often generates dust. According to an example, a liquid spray system or a misting system is automatically activated a short time period before the bucket shaking starts and deactivated a time period after the bucket shaking has stopped. The operator only has to trigger the bucket shake operation since the dust control operation is automatically initiated in coordination with the bucket shake operation.

[0018] The control unit can also, as mentioned above, be configured to inactivate the dust control operation with a fixed or configurable delay in case no dust generating action by the demolition robot is detected. This means that the dust control operation, i.e., water spraying or a misting system, remains active for some time after the dust has been generated, in order to better remove the dust from the ambient air.

[0019] The control unit is preferably configurable in a plurality of different dust control modes, where each dust control mode is associated with respective predetermined dust generating movement criteria. This allows an operator more control of the dust control operations performed by the demolition robot, which is an advantage.

[0020] According to some aspects, the control unit is arranged to obtain data from a dust sensor at the work site, which data is indicative of a dust concentration at the work site. The dust sensor data complements the dust generation detection performed by the control unit, to obtain an even better control of the dust mitigation measures.

[0021] Aspects of the present disclosure relate to construction equipment comprising the control unit discussed above, where the control unit is also configured to selectively initiate the dust control operation in response to an operator generated manual spray signal and / or configured to increase an amount of liquid used in the dust control operation in response to an operator generated boost signal.

[0022] There are also disclosed herein methods, dust control systems, remote control devices, computer programs and computer program products associated with the same advantages as discussed above.

[0023] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. The skilled person realizes that different features of the present invention may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention.

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present disclosure will now be described in more detail with reference to the appended drawings, where:

[0026] Figure 1 illustrates an example demolition robot;

[0027] Figure 2 illustrates details of an example demolition robot;

[0028] Figures 3A-D show some example tools that can be used with a demolition robot;

[0029] Figure 4 shows an example tool carrier arm for a demolition robot;

[0030] Figure 5 illustrates details of a bucket tool;

[0031] Figure 6 shows an automated bucket shake operation;

[0032] Figure 7 illustrates an example remote control device;

[0033] Figure 8 is a flow chart illustrating methods;

[0034] Figure 9 schematically illustrates a control unit; and

[0035] Figure 10 schematically illustrates a computer program product.

[0036] DETAILED DESCRIPTION

[0037] Aspects of the present disclosure will now be described more fully with reference to the accompanying drawings. The different devices and methods disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.

[0038] The terminology used herein is for describing aspects of the disclosure only and is not intended to limit the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0039] Figure 1 illustrates an example demolition robot 100 at a work site. A demolition robot is a light-weight construction machine which can be used for various work tasks, such as smaller demolition tasks and for handling material at a work site. A demolition robot can, for instance, be used to transport material from one place to another at a work site using a bucket tool or a grapple tool. This material movement is likely to generate some dust, at least when the material is dumped.

[0040] A demolition robot is often tracked, i.e., it comprises tracks 130 for support on the ground surface and for propulsion. Most demolition robots also comprise a rotatable tower 140, as illustrated in Figure 1.

[0041] A tracked demolition robot is an example of more general construction equipment. The present disclosure is not limited to tracked demolition robots of the kind illustrated in the drawings. On the contrary, many if not all of the devices and techniques discussed herein are applicable in more general construction equipment.

[0042] The example robot 100 is powered via a cable 105 arranged to connect the robot 100 to electrical mains. Battery electric versions of demolition robots are also known, as well as hybrid electric designs powered partly from a battery bank and partly from electrical mains.

[0043] The demolition robot 100 normally comprises a hydraulic system that powers the different actuators on the robot, such as the actuator cylinders 125 that control the pose of the three-segmented tool carrier arm 120, the tool carrier interface 150 comprised on the tool carrier arm 120, the rotation of the tower 140, and the tracks 130. The hydraulic system comprises a hydraulic pump driven by a motor. Different types of hydraulic pump systems are known, such as fixed speed variable displacement pump arrangement, and variable speed fixed displacement pump arrangements. The three-segmented tool carrier arm 120 will be discussed in more detail below in connection to Figure 2 and Figure 4. The present disclosure is not limited to any particular form of hydraulic system, and can be used also with other actuators, such as electric motor drive systems and the like.

[0044] A control unit 1 10 on-board the demolition robot controls the various operations of the machine. The control unit 1 10 is often configured to communicate with a remote control device carried by an operator walking next to the machine. An example remote control device 700 will be discussed in more detail below in connection to Figure 7. The robot 100 may, however, also be controlled from a more remote location distanced many kilometers from the robot, or be arranged for autonomous operation, where no operator is present.

[0045] It is appreciated that the control unit 1 10 can be a single processing unit located in the demolition robot, or a distributed control unit comprising several processing subunits separated from each other. One such sub-unit can be arranged in the remote control device 700. Thus, it is understood that some or all of the different dust control techniques described herein can be controlled by a control unit arranged in the demolition robot, and / or by a control unit arranged in a remote control device, and / or by a control unit arranged separated from both the demolition robot and from the remote control device.

[0046] The tool carrier interface 150 of the tool carrier arm 120 is configured to support a tool, such as steel shears, a grapple, a bucket, or a breaker. Figure 2 shows a tool carrier arm 120 which supports an example tool 200 at its distal end, here exemplified by a bucket. Figure 4 illustrates a tool carrier arm 120 for construction equipment in more detail. These tool carrier arms comprise three arm segments 210, 220, 230, and the pose of the arm 120 is controlled by four hydraulic cylinders C1 , C2, C3, C4. The control unit 1 10 controls all four hydraulic cylinders C1 , C2, C3, C4 of the arm 120, e.g., in response to operator input via the remote control device 700. The tool carrier arm 120 has four pivot axes, indicated as A1 , A2, A3 and A4 in Figure 4. The tool carrier arm 120 has a first arm joint J1 and a second arm joint J2.

[0047] According to at least some of the teachings herein, the third arm segment 230 is rotatably connected at its proximal end to a distal end of the second arm segment 220, and the third hydraulic cylinder C3 is arranged to rotate the third arm segment 230 relative to the second arm segment 220 about the third axis A3. The tool carrier interface 150 is rotatably connected to a distal end of the third arm segment 230, and the fourth hydraulic cylinder C4 is arranged to rotate the tool carrier interface 150 relative to the third arm segment 1230 about a fourth axis A4. Thus, actuation of the third and the fourth hydraulic cylinder causes a bucket or grapple attached to the tool carrier interface 150 to move as illustrated in Figure 6. By extending cylinder C4 and at the same time retracting cylinder C3 the bucket will perform a curl operation which fills the bucket. By retracting cylinder C4, and possibly also extending cylinder C3, the bucket will instead be emptied, i.e., material in the bucket is dumped. This motion by the bucket tool can be referred to as an uncurling of the bucket tool.

[0048] The tool carrier arm 120 and / or some of the tools 310, 320, 330, 340 may comprise on-board dust control systems 160. A dust control system is a system which reduces the amount of dust in the air at the work site, e.g., by dispensing a liquid such as a water mist or the like to trap the dust. Liquid spray systems are also known, where, e.g., water is sprayed onto an area in order to reduce the amount of airborne dust. A water misting system, or a water spray system, can be arranged on the tool carrier arm 120, in connection to the tool carrier interface 150, or integrated with the tool 200. This water misting system or water spray system can be controlled directly by the control unit 1 10 or by some other dedicated controller. The control unit 1 10 can then initiate activation of the dust control system, e.g., by sending a message to the controller of the water misting or spray system.

[0049] One or more external dust control systems 180, 185 may also be arranged at the work site where the demolition robot is operating. These external dust control systems may comprise misting systems and / or spray systems 180 that emit liquid such as water in the form of small droplets to trap dust particles, and also air cleaners 185 which actively filter the air at the work site to trap and hold dust particles.

[0050] It is undesired to use liquid dispensers such as water misting systems and water spray systems more than necessary, since the liquid may run out if taken from a tank, and also because the liquid may cause problems at the work site, such as dirtying the work site and damaging water-sensitive materials.

[0051] Some air cleaner systems operate on battery, which become depleted over time. It is desired to conserve battery power, and therefore the air cleaners should not be operated more than what is necessary to control the air quality at the work site.

[0052] In order to optimize the use of dust control systems at the work site, the control unit 110 is configured to monitor movement by one or more parts 120, 130, 140, 150 of the demolition robot 100, such as the tool carrier arm segments, the tool interface, the tower and / or the tracks. The monitoring may be implicit if the control unit 1 10 also controls the movement of the different parts of the demolition robot 100. However, the control unit 1 10 can also obtain information indicative of movement by the demolition robot from some other source, and thus does not need to actually control the different actuators on the construction equipment 100. The control unit 1 10 is configured to detect a dust generating action by the demolition robot 100 in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria. This means that the control unit 110 is configured with certain predetermined detection rules which are continuously or periodically checked against the movement of the demolition robot. If the robot performs an action which is likely to generate dust, then a dust generating action is detected by the control unit 110.

[0053] The detection rules may be relatively simple rules, such as detecting any form of motion by the tool carrier interface 150, or more advanced detection rules, such as detection of a grappling operation by a grapple tool, or an automated bucket shake operation by a bucket tool. According to some aspects, the predetermined dust generating movement criteria comprises movement by the tool carrier arm 120 and / or movement by the tool carrier interface 150. The predetermined dust generating movement criteria can also comprise actuation of a distalmost hydraulic cylinder C4 or a second distalmost hydraulic cylinder C3 on the tool carrier arm 120, which actions normally cause significant motion of the tool mounted on the tool carrier interface 150. The predetermined dust generating movement criteria may also comprise actuation of tracks 130 and / or a rotatable tower 140 on the demolition robot 100, which means that the demolition robot is moving around and may release dust into the ambient environment at the work site.

[0054] The predetermined detection rules are indicative of actions by the demolition robot which can be expected to generate significant amounts of dust. The control unit 110 is configured to selectively initiate a dust control operation in case a dust generating action by the demolition robot is detected. The dust control operation may, e.g., comprise activation of an on-board misting or spray system 160 of the demolition robot 100.

[0055] The control unit 1 10 is preferably configured to initiate or trigger inactivation of the dust control operation with a fixed or configurable delay in case no dust generating action by the demolition robot is detected. This means that the control unit waits for a certain period of time before it triggers inactivation of the dust control system, in order to prevents dust from spreading after the dust generating action by the demolition robot has ceased. In practice, the dust control systems will often be activated for the duration of a work task, even if the work task only involves intermittent generation of dust. The delay period may be on the order of tens of seconds up to a few minutes. The dust control operation may also comprise reconfiguration of an already active misting or spray system 160 of the demolition robot 100. In this case the dust control system may be operating continuously at a default low level, and the control unit then increases the amount of mist or spray as part of the initiated dust control operation or reconfigures a droplet size distribution of the misting system or spray system to better control the amount of dust generated by a given operation by the demolition robot. The dust control operation optionally also comprises activation or reconfiguration of an external misting or spray system 160 arranged separated from the demolition robot 100.

[0056] Some work sites comprise air cleaner systems with active air filtration. The fans of such air cleaner systems can normally be operated at different speeds, where increased fan speed means a higher fan power and thus also an increased energy consumption and more generated noise by the air cleaner. The dust control operation optionally comprises activation or operation mode configuration of one or more air cleaners 185 at the work site, in order to conserve power and reduce generated noise by the air cleaners at the work site. Thus, the control unit may trigger activation or reconfiguration of a nearby air cleaner in response to detecting a potential dust generating operation by the demolition robot 100.

[0057] To improve the dust control operations performed by dust control systems arranged external to the demolition robot 100, such as remote air cleaners and remote misting or spray systems, the dust control operation may comprise transmission of a notification signal to the remote dust control systems as a consequence of detecting a potential dust generating operation by the demolition robot 100. This means that the control unit 1 10 on the demolition robot is capable of notifying an external dust control system at the work site when it detects a dust generating action by the demolition robot. The external dust control systems can then be started up, or at least reconfigured, before the dust at the work site reaches the external system and can be detected by a dust sensor 190 of the external system. This way the dust at a work site can be controlled in a more efficient manner. It is also possible to reduce the amount of water spray or mist at a work site when dust control is not needed, which is an advantage.

[0058] A number of different types of tools can be attached to the tool carrier interface 150, and an operator can select which type of tool to mount on the tool carrier depending on the work task at hand. Figures 3A-D show some example tools 310, 320, 330, 340, where Figure 3A illustrates an example breaker 310, Figure 3B shows an example bucket 320, Figure 3C show example steel shears 330, and Figure 3D shows an example grapple tool 340. All these tool types are generally known and will therefore not be discussed in more detail herein. According to some aspects, the predetermined dust generating movement criteria is configured in dependence of a current type of tool 200, 310, 320, 330, 340 in use by the demolition robot 100. The control unit is then configured to receive configuration data indicative of a current type of tool 200, 310, 320, 330, 340 in use and / or to automatically detect the current type of tool 200, 310, 320, 330, 340 in use. The operator may, for instance, manually input configuration data to the control unit such that the control unit becomes aware of the type of tool that is currently mounted on the tool carrier interface 150. However, according to other aspects the demolition robot comprises means for automatically detecting which type of tool that is mounted to the tool carrier interface 150. This can be achieved by use of, e.g., radio frequency identification (RFID) tags on the tool with corresponding readers on the tool carrier interface 150, or vision-based sensors arranged on the demolition robot in order to capture images of the tool. The images can then be processed by the control unit 110 or by some other processing circuitry in order to identify the type of tool currently mounted on the tool carrier interface. Methods for detecting known objects in images are known and will therefore not be discussed in more detail herein.

[0059] For instance, if the control unit 110 knows that a bucket tool is attached to the tool carrier arm, then the control unit 1 10 can look for movement indicative of a curl and / or a dump operation (uncurling) by the bucket, which operations often generate significant amounts of dust. In other words, the predetermined dust generating movement criteria may comprise a curl and / or a dump operation if the current type of tool is a bucket 320. In the same manner, the predetermined dust generating movement criteria may comprise closing and / or opening of a grapple tool 340 if the current type of tool is a grapple tool 340.

[0060] The control unit is preferably configured to activate the dust control operation when a grapple tool is moved around in its closed state, where it may be transporting material, and not when the grapple tool is moved around while open, when it is not transporting material.

[0061] The control unit is preferably configured to activate the dust control operation when a bucket tool is moved around in its curled state, where it may be transporting material, and not when the bucket tool is moved around while uncurled, when it is not transporting material.

[0062] The control unit may be configurable in a plurality of different dust control modes, where each dust control mode is associated with respective predetermined dust generating movement criteria. For instance, if the current tool attached to the tool interface 150 is a bucket, then the following different modes can be selectable by the operator:

[0063] • Active on bucket dump o Misting or spraying is activated by the control unit when C3 is moved out (extended) or C4 moved in (retracted).

[0064] • Active on bucket curl and on dump o Misting or spraying is activated by the control unit when C3 is moved in / out or C4 moved in / out, respectively.

[0065] • Active on bucket movement o Misting or spraying is activated by the control unit when any cylinder or rotation motor is activated.

[0066] • Always on o Misting or spraying is on as long as any machine motor is running.

[0067] • Off

[0068] In case of a grapple tool, then the following different modes can be selectable by the operator:

[0069] • Active on grapple close o Misting or spraying is activated by the control unit when grapple is closed.

[0070] • Active on grapple open or close o Misting or spraying is activated by the control unit when grapple is opened / closed.

[0071] • Active on grapple movement o Misting or spraying is activated by the control unit when grapple is closed and continues as long as the cylinder or rotation movement is ongoing.

[0072] • Always on o Misting or spraying is active as long as any machine motor is running. • Off

[0073] The control unit 1 10 can optionally be configured to execute an automated bucket shake operation by controlling the third hydraulic cylinder C3 and the fourth hydraulic cylinder C4, in combination to repeatedly extend and retract over predetermined respective cylinder extension ranges in response to a bucket shake command. This provides a bucket shaking action which can dislodge material that has stuck in the bucket. During the shaking operation, the third and fourth cylinders are actuated in combination to extend and retract over a limited range, such as below 5% of the total cylinder strokes. The extension and retraction is preferably centered about a mean piston location, which means that the average location of the bucket remains the same during the bucket shaking operation.

[0074] Figure 5 illustrates an example bucket 320. Bucket tools can be attached to the tool carrier interface 150 of the tool carrier arm 120 of a demolition robot or other type of construction equipment 100, where it can be used to move material from one place to another in a known manner and also to excavate material. The bucket is pivoted in use to position the front edge 520 of the bucket 320 to scoop up material which can then be deposited at some other location. The action of pivoting the bucket to scoop up material is normally referred to as curling, while the action of pivoting to empty the bucket is referred to as dumping. In the example arm 120 shown in Figure 4, the bucket pivots about axis A4 in response to actuation of hydraulic cylinder C4. Figure 6 indicates bucket movement as a result of actuation of cylinders C3 and C4.

[0075] According to some aspects, the control unit 1 10 is configured to execute a bucket shake operation comprising repeated reciprocating actuation of one or more distal hydraulic cylinders C3, C4 of the tool carrier arm 120. The control unit 110 is then configured to initiate the dust control operation in coordination with the bucket shake operation, in order to control the amount of dust generated as part of the bucket shake operation. This means that the dust control system is selectively activated together with the bucket shake operation to handle any dust generated as a consequence of the bucket shake operation. The dust control system can, e.g., be activated concurrently or even some time before the bucket shaking commences, such that water is present when material is dumped out from the bucket tool.

[0076] According to some aspects, the control unit determines when material is being transported around by the tool attached at the tool interface, e.g., a bucket or a grapple tool. The bucket tool is normally in its curled state when it carries material, and the grapple tool is normally closed when it is transporting material. Thus, if the tool carrier arm, or the tool interface, is moved around with a curled bucket or a closed grapple tool, then the dust control system can be activated, and not otherwise. This reduces the amount of time the dust control operation is active, which is an advantage.

[0077] The example demolition robot 100 in Figure 1 is configured to communicate with a remote system control unit 170 via a communication channel 175. The communication channel is preferably a wireless radio link, such as a Bluetooth radio link, a Wi-Fi radio link, or a cellular connection. This allows the demolition robot 100 and the remote system control unit 170 to exchange data, such as activation signals, deactivation signals, status messages and configuration settings.

[0078] There is disclosed herein a dust control system 170, 180, 185 for a work site where construction equipment 100 performs dust generating work tasks. The dust control system comprises a remote system control unit 170 arranged to receive a notification signal from a construction equipment control unit 110 indicative of a dust generating action by the construction equipment 100. The remote system control unit 110 is configured to selectively initiate a dust control operation by the dust control system in response to receiving the notification signal, as discussed above. This means that the control unit in the demolition robot works together with the external dust control system at the work site to optimize the overall dust control performed at the work site.

[0079] The remote system, and / or the demolition robot 100, may comprise a dust sensor 190,195 arranged to determine a dust concentration in the ambient environment. The dust sensor 190, 195 may also be configured to determine concentrations of different dust particle sizes in the ambient environment in a known manner. The control unit 110 on the demolition robot 100, and / or the remote system control unit 170, may be configured to obtain data from the dust sensor 190, 195 which data is indicative of the dust concentration at the work site. This dust concentration data from the dust sensor may comprise concentrations of dust of different particle sizes. The control unit 110 on the demolition robot 100, and / or the remote system control unit 170, can activate one or more dust control systems, such as misting systems, in case the dust levels reach too high levels. The control unit 1 10 on the demolition robot 100, and / or the remote system control unit 170, can also control the amount of liquid dispensed by the misting or spray systems 160, 180, or a fan power of the air cleaner 185, based on the data obtained from the dust sensor 190, 195. Some misting or spray systems 160, 180 are also capable of adjusting the size of the dispensed liquid droplets to better match the dust characteristics. The control unit 110 on the demolition robot 100, and / or the remote system control unit 170 can be configured to automatically adjust a size of the droplets to suit a given particle size distribution of the dust at the work site, e.g., according to predetermined control settings for different particle size distributions.

[0080] Figure 7 shows an example remote control device 700 which can be used to control construction equipment, such as the demolition robot 100 in Figure 1. The remote control device 700 comprises a display 710 which can be used to display messages to an operator of the construction equipment. The control unit 1 10 may, e.g., be configured to notify an operator when it initiates activation of one or more dust control operations, making the operator aware of the dust mitigating actions taken by the control unit 110.

[0081] The remote control device also comprises joysticks 720 and other control input means 730 which are used by the operator to control the construction equipment. The control unit 1 10, which may at least partly be located in the remote control device 700, can monitor the control inputs by an operator, and thus monitor the movement by the various parts of the construction equipment. Thus, the dust control methods discussed above can be performed solely by a control unit 1 10 located in the remote control device 700.

[0082] According to some aspects, the remote control device 700 or some other control device of the construction equipment 100 comprises input means which an operator can use to manually trigger the dust control operation or control a magnitude of the dust control operation, such as activation of a spraying system or a misting system. Thus, the control unit may be configured to selectively initiate the dust control operation in response to an operator generated manual spray signal. The control unit may also be configured to increase an amount of liquid used in the dust control operation in response to an operator generated boost signal.

[0083] The remote control device may furthermore be arranged to communicate directly via a communication link 740 to a remote dust control system control unit 170. This way the remote control unit 700 can trigger activation of remote dust control systems, such as air cleaners 190 and external misting or spray systems 180. According to an example, the remote control can be configured to monitor movement by one or more parts 120, 130, 140, 150 of the demolition robot 100 by monitoring control inputs by an operator using the joysticks 720 or the other control input devices 730 on the remote control device 700. The remote control device 700 can also be configured to detect a dust generating action by the demolition robot 100 in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and selectively initiate a dust control operation in case a dust generating action by the demolition robot is detected.

[0084] Figure 8 is a flow chart that illustrates a method which summarizes the discussion above. Figure 8 shows a computer-implemented method, performed by a control unit 110 in a demolition robot 100. The method comprises monitoring S1 movement by one or more parts 120, 130, 140, 150 of the demolition robot 100, detecting S2 a dust generating action by the demolition robot 100 in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and selectively initiating S3 a dust control operation in case a dust generating action by the demolition robot is detected.

[0085] Figure 9 schematically illustrates, in terms of a number of functional units, the general components of the control unit 900, such as the control unit 110 in the demolition robot 100, and the remote system control unit 170. Processing circuitry 910 is provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontrol unit, digital signal processor DSP, etc., capable of executing software instructions stored in a computer program product, e.g., in the form of a digital storage medium 930. The processing circuitry 910 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA.

[0086] Particularly, the processing circuitry 910 is configured to cause the demolition robot 100 to perform a set of operations, or steps, such as the methods discussed in connection to Figure 5 and the discussions above. For example, the digital storage medium 930 may store the set of operations, and the processing circuitry 910 may be configured to retrieve the set of operations from the digital storage medium 930 to cause the device to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 910 is thereby arranged to execute methods as herein disclosed.

[0087] The digital storage medium 930 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory. The control unit 900 may further comprise an interface 920 for communications with at least one external device. As such the interface 920 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication. The processing circuitry 910 controls the general operation of the control unit 900, e.g., by sending data and control signals to the interface 920 and the digital storage medium 930, by receiving data and reports from the interface 920, and by retrieving data and instructions from the digital storage medium 930.

[0088] Figure 10 illustrates a computer readable medium 1010 carrying a computer program comprising program code means 1020 for performing the methods illustrated in Figure

[0089] 10, when said program product is run on a computer. The computer readable medium and the code means may together form a computer program product 700.

Claims

CLAIMS1 . A control unit (1 10) for a demolition robot (100), where the control unit (110) is configured to monitor movement by one or more parts (120, 130, 140, 150) of the demolition robot (100), where the one or more parts comprises at least a tool carrier arm (120) of the demolition robot (100), where the control unit (110) is configured to detect a dust generating action by the demolition robot (100) in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and where the control unit (110) is configured to selectively initiate a dust control operation in case a dust generating action by the demolition robot is detected.

2. The control unit (1 10) according to claim 1 , where the predetermined dust generating movement criteria comprises movement by a tool carrier interface (150) arranged on a distal end of the tool carrier arm (120).

3. The control unit (110) according to claim 1 or 2, where the predetermined dust generating movement criteria comprises actuation of a distalmost hydraulic cylinder (C4) or a second distalmost hydraulic cylinder (C3) on the tool carrier arm (120).

4. The control unit (1 10) according to any previous claim, where the predetermined dust generating movement criteria comprises actuation of tracks (130) and / or a rotatable tower (140) on the demolition robot (100).

5. The control unit (1 10) according to any previous claim, where the predetermined dust generating movement criteria is configured in dependence of a current type of tool (200, 310, 320, 330, 340) in use by the demolition robot (100), where the control unit is configured to receive configuration data indicative of a current type of tool (200, 310, 320, 330, 340) in use and / or to automatically detect the current type of tool (200, 310, 320, 330, 340) in use.

6. The control unit (1 10) according to claim 5, where the predetermined dust generating movement criteria comprises a curl and / or a dump operation if the current type of tool is a bucket (320).

7. The control unit (110) according to claim 5 or 6, where the predetermined dust generating movement criteria additionally comprises movement of the tool carrier arm (120) together with a curled bucket (320) if the current type of tool is a bucket (320).

8. The control unit (1 10) according to claim 5, where the predetermined dust generating movement criteria additionally comprises closing and / or opening of a grapple tool (340) if the current type of tool is a grapple tool (340).

9. The control unit (110) according to claim 5 or 8, where the predetermined dust generating movement criteria additionally comprises movement of the tool carrier arm (120) together with a closed grapple tool (340) if the current type of tool is a grapple tool (340).

10. The control unit (110) according to any previous claim, where the control unit (110) is configured to execute a bucket shake operation comprising repeated reciprocating actuation of one or more distal hydraulic cylinders (C3, C4) of the tool carrier arm (120), where the control unit (1 10) is configured to initiate the dust control operation in coordination with the bucket shake operation.

11. The control unit (110) according to any previous claim, where the control unit (110) is configured to inactivate the dust control operation with a fixed or configurable delay in case no dust generating action by the demolition robot is detected.

12. The control unit (1 10) according to any previous claim, where the control unit is configurable in a plurality of different dust control modes, where each dust control mode is associated with respective predetermined dust generating movement criteria.

13. The control unit (110) according to any previous claim, arranged to obtain data from a dust sensor (190, 195) indicative of a dust concentration at a work site.

14. The control unit (110) according to any previous claim, where the dust control operation comprises activation or reconfiguration of an on-board misting or spray system (190) of the demolition robot (100).

15. The control unit (110) according to any previous claim, where the dust control operation comprises activation or reconfiguration of an external misting or spray system (190) arranged separated from the demolition robot (100).

16. The control unit (110) according to any previous claim, where the dust control operation comprises activation or operation mode configuration of an air cleaner (185).

17. The control unit (110) according to any previous claim, where the dust control operation comprises transmission of a notification signal to a dust control system external to the demolition robot (100).

18. The control unit (110) according to any previous claim, where the control unit (110) is also configured to selectively initiate the dust control operation in response to an operator generated manual spray signal.

19. The control unit (110) according to any previous claim, where the control unit (110) is configured to increase an amount of liquid used in the dust control operation in response to an operator generated boost signal.

20. Construction equipment (100) comprising a control unit (110) according to any previous claim.21 . The construction equipment (100) according to claim 20, where the dust control operation comprises actuation of a liquid spraying or misting system of the construction equipment (100).

22. The construction equipment (100) according to claim 21 , where the liquid spraying or misting system of the construction equipment (100) comprises a nozzle with an intake for liquid and an intake for compressed air.

23. A computer-implemented method, performed by a control unit (110) in a demolition robot (100), the method comprising monitoring (S1 ) movement by one or more parts (120, 130, 140, 150) of the demolition robot (100), where the one or more parts comprises at least a tool carrier arm (120) of the demolition robot (100), detecting (S2) a dust generating action by the demolition robot (100) in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and selectively initiating (S3) a dust control operation in case a dust generating action by the demolition robot is detected.

24. A dust control system (170, 180, 185) for a work site where construction equipment (100) performs dust generating work tasks, the dust control system comprising a remote system control unit (170) arranged to receive a notification signal from a construction equipment control unit (1 10) indicative of a dust generating action by the construction equipment (100),where the remote system control unit (1 10) is configured to selectively initiate a dust control operation by the dust control system in response to receiving the notification signal.

25. A remote control device (700) for a demolition robot (100), where the remote control device (700) is configured to monitor movement by one or more parts (120, 130, 140, 150) of the demolition robot (100), where the remote control device (700) is configured to detect a dust generating action by the demolition robot (100) in case the monitored movement by the demolition robot satisfies predetermined dust generating movement criteria, and where the remote control device (700) is configured to selectively initiate a dust control operation in case a dust generating action by the demolition robot is detected.

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