Demolition robot and method for operating a demolition robot

Abstract

A demolition robot (1) comprising an object sensor device (13) for determining an angle of a tool (12) in relation to a surface (15) of an object to be tooled or being tooled. The sensor device (13) being a contact-less sensor device. There is also presented a method for controlling a tool (12) of a demolition robot.

Description

[0001] DEMOLITION ROBOT AND METHOD FOR OPERATING A DEMOLITION ROBOT

[0002] The present invention is related to a demolition robot according to the precharacterizing portion of the independent claim 1 and a method for controlling a tool and / or a tool holder of a demolition robot according to claim 11.

[0003] BACKGROUND

[0004] Demolition robots is an own technical area. A demolition robot is defined as a remote controlled hydraulically driven robot having at least one hydraulically powered arm. The arm in turn has a tool holding device that is arranged for holding tools. The tools may be a hammer, breaker, surface grinder, bucket, etc. The robot is supported by tracks. The tracks are powered by hydraulic motors. A demolition robot is for reasons of sturdiness and reliability always moving by means of hydraulic motors. The robot thus, has low, or no ability to travel distances over 100 meters, the reason being that the robot is not self-supplied by power, it needs a connection to some sort of electrical power grid for extended use. Thus, it is unthinkable for a demolition robot to operate on a public road or the like where cars, lorries etc is operating, or other track operated vehicles such as a tank. The demolition robot has no damped cabin, or damped chair etc for an operator. The reason for this is that the demolition robot needs to have a small volume, in order to be ablet to be used in confined spaces such as elevator, inside buildings, etc. Also, it is important to prevent an operator from being in direct contact with the demolition robot during operation, as the operation involves a lot of work operations which includes vibrations, and also the risk of debris and falling objects when demolition work is executed.

[0005] SHORT DESCRIPTION OF THE INVENTION

[0006] It is unavoidable for a demolition robot to not be exposed to wear during operation. This is also relevant for any tool that is operated by a demolition robot. In particular hammers or breakers will be exposed to very heavy wear, when for example operating on a concrete object, in order to for example divide the object into smaller pieces. Thus, the common way of handling this, is to have a supply of tools that may easily be changed to a new tool, when wear of the tool no longer allows for the tool to operate correctly. The object of the present invention is to reduce wear of a tool.

[0007] In order to solve at least part of this problem there is proposed a demolition robot comprising, a hydraulic system comprising a hydraulic pump and a hydraulic pump motor. The hydraulic system also comprises at least one hydraulic cylinder and necessary valves for controlling hydraulic functions of the demolition robot. The demolition robot also has at least two hydraulically powered tracks powered by the hydraulic system. The demolition robot may also comprise at least one work arm powered by the hydraulic system comprising the hydraulic cylinder. The demolition robot also has at least a one remote control interface device for operating the demolition robot at distance from the demolition robot itself. Thus, the demolition robot is thus arranged to be operated at a remote location. The demolition robot also has at least one tool holder arranged at the outer end of the work arm and controlled by the hydraulic system. The demolition robot also has at least one control unit connected to the hydraulic system. The angle of the arm may be controlled by the control unit by controlling the at least one hydraulic cylinder, and in that also the angle of tool holder is controlled also. The control unit is further arranged to receive sensor input data from a comprised first object sensor device sensors arranged on the demolition robot. The control unit is arranged to use the input from the first object sensor device to determine the position and / or the angle a of an object surface to be tooled and / or being tooled, relative to a position or angle of the tool and / or tool holder. The first object sensor device is a contact-less object sensor device

[0008] The advantage is that the robot may determine the appropriate angle to the surface which tooling is made to, this may be important to not have unnecessary wear of the tool. It may also be useful if there is a grinding operation, and it is desired to achieve a surface with a plane that does not have irregularities. This also helps the operator in his work and thus, gives a better work environment and better work ergonomics.

[0009] According to a further development there is disclosed a demolition robot (1) according to the above, wherein the first object sensor device comprises a laser device, and / or a radar device, and / an ultrasound device, and / an IR device, and / a 2D camera device, and / or a 3D camera device.

[0010] The advantage of a laser device is precise measurement. It is low on energy consumption and may penetrate well in a dusty environment. The advantage of a radar device it the amount of data that may be collected, may be large, giving a very good opportunity to determine very precisely the current angle. Also, radar may operate in a dusty environment. The advantage of ultrasound is that it is a relatively cost-effective method. An IR device uses an IR emitter to give a detectable reflection of IR radiation. A 2D camera is usable to determine the view of the surface, which may then be used by taking several views and the determine the angle, it is a relatively cost-effective method, however less usable in dusty and dark areas. A 3D camera gives a very good live view of the surface to be tooled and allows for very good determination of the angle of the surface. However, it is not so usable in dusty environments nor dark environments unless further lighting is provided. According to a further development there is disclosed a demolition robot according to the above wherein the first object sensor device may be arranged at a position on the work arm such that the field of view of the sensor device detects the surface of an object to be tooled or being tooled. It is preferred that the position is directly adjacent to or on the tool holder.

[0011] By arranging the sensor close to the holder or the tool, the field of view is optimized, and less obstruction of the field of view occurs. Also, the angle to be calculated is more precise, as the determination may be arranged close to the point where the tool will attack or attacks the surface to be tooled or being tooled.

[0012] According to a further development there is disclosed a demolition robot according to the above, wherein the first object sensor device may be arranged at a surface perpendicular to the extension of the tool holder, or the object sensor device may be arranged at a surface parallel to the extension of the tool holder.

[0013] Calibration is made easier of the object sensor device, if the surface for attachment is in perpendicular or parallel relation to the tool or tool holder

[0014] According to According to a further development there is disclosed a demolition robot according to the above, wherein the control unit may be based on the sensor input data is arranged to control the angle of the tool vis-a-vis the surface of the object to be or being tooled.

[0015] By giving automatic control authority to the control unit, the full advantage of the demolition robot is achieved, in relation to the operator’s work environment and ergonomics, and also speed of work.

[0016] According to a further development there is disclosed a demolition robot according the above, wherein the control unit may be arranged such that the input from the first object sensor device is a function of a present angle of the tool and / or the tool holder vis-a-vis the surface to be tooled and the control unit control the tool and / or tool holder to achieve a predetermined angle vis-a-vis the surface to be or being tooled, preferably the predetermined angle is comprised in a range of 80° to 100° preferably 85° to 95 °, most preferred 90°, to the surface.

[0017] A better functionality is achieved if a comparison is made such that the correct angle may be achieved by the control of the control unit.

[0018] According to a further development there is disclosed a demolition robot according to the above, wherein further comprised is a further object sensor device being arranged in parallel with the first sensor device, wherein the control unit is arranged to calculate the angle of the tool and / or tool holder vis-a vis the surface based on the output from the first sensor device and / or the second sensor device. The control unit may be arranged to calculate a mean angle by using the output from the respective sensor device. The second sensor devicemay be of the same type as the first sensor device. The second sensor devicemay be a of a different type than the first sensor device.

[0019] By applying two sensor devices, the determination of the angle of the surface may be more precise, quicker, and also redundancy is incorporated in the demolition robot, for example if one sensor is obstructed by dirt or dust etc.

[0020] According to a further development there is disclosed a demolition robot according to any of the claims above, wherein the first and / or second sensor device is / are arranged to detect at an angle in relation to the tool holder and / or a connected tool, and / or the first and / or second sensor device is / are arranged to detect in a direction extending in parallel with the tool holder and / or a connected tool.

[0021] By detecting at an angle, it may be easier to detect in an area close to where the tool attacks the surface, which gives good basic data for determining the angle of the surface to be tooled or being tooled.

[0022] According to a further development there is disclosed a demolition robot according to the above, wherein the demolition robot comprises at least one support leg. There may be at least four support legs, wherein the support leg / s is arranged such that the demolition robot may be raised at least partly from the surface on which it is supported, such that at least one track, preferably two tracks are no longer in contact with the surface on which the demolition robot is supported.

[0023] By having support legs on the demolition robot, a safer operation is achieved. And as the robot is essential to be compact and light, the tracks of the demolition robot may not achieve a sufficient stability for operation. Also, the angle of the demolition robot sideways may be adjusted.

[0024] According to a further development there is disclosed a demolition robot according to the above, wherein the control unit is arranged to control the angle of the tool and / or tool holder in a direction that deviates from a work arm plane. This control of the tool and / or tool holder may be made by controlling one or more of the support legs to be raised or lowered, such that the angle outside the said plane is altered for the tool and or tool holder in relation to a surface to be tooled or being tooled.

[0025] By changing the angle of the support legs, a further advanced control of the demolition robot is achieved. In particular it is possible to adjust the angle of the tool in several directions, which for example allows for changing the tool or tool holder angle without unnecessary repositioning operations of the demolition robot.

[0026] According to a further development there is disclosed a method for controlling a tool and / or a tool holder of a demolition robot. The method comprises the steps of to obtain a sensor data from a first object sensor device. The sensor data comprises at least one property in relation to an object surface to be or being tooled by said tool. There is then in the method step to calculate based on the sensor data, an angle of the object surface in relation to the tool or tool holder. The method also involves the step to calculate a first angle difference between the determined angle and a predetermined angle or angle range, of the tool and / or tool holder, vis-a-vis the object surface to be or being tooled. There is further the step to adjust the tool and / or tool holder to the angle vis-a-vis the object surface by to be in predetermined angle range or essentially equal to the angle.

[0027] The method discloses the same advantages as described above in relation to the demolition robot itself.

[0028] According to a further development there is disclosed a method for controlling a tool and / or a tool holder of a demolition robot wherein said property is a distance from the sensor to the object surface, and / or said property is a three-dimensional image of the object surface and / or said property is an array of different distances from the sensor device, with known viewing angles from the sensor device.

[0029] According to a further development there is disclosed a method for controlling a tool and / or a tool holder of a demolition according to the above, further comprising the steps of determine a second sensor data by a second object sensor device. The sensor data comprises at least one property in relation to an object surface to be or being tooled by said tool. Further the method comprises to send the second sensor data output to a control unit of the demolition robot. Further the method may comprise the step of determine by the control unit based on the second sensor data, a second angle of the object surface in relation to the tool or tool holder. The method may also comprise the step to calculate by the control unit, a second angle difference between the determined angle and a predetermined angle or angle range, of the tool and / or tool holder, vis-a-vis the object surface to be or being tooled. The method may also comprise to determine by the control unit, the mean angle difference between the second angle difference and the first angle difference. The method may also comprise the step to adjust by the control unit the tool and / or tool holder to the mean angle difference. According to a further development there is disclosed a computer executable software that when run on a control unit of a demolition robot according to the above, performs the method according to the above.

[0030] The software allows for easy integration into an existing demolition robot.

[0031] According to a further development there is disclosed a computer program product comprising the computer executable software according to the above.

[0032] LIST OF DRAWINGS

[0033] Fig. 1 Discloses a demolition robot according to the present disclosure.

[0034] Fig. 2 Discloses a magnification of the tool and toolholder of a demolition robot of Fig. 1 , with a tool that is not in ideal position to the surface it is to tool.

[0035] Fig. 3 Discloses the use of a sensor set up of a demolition robot according to the disclosure.

[0036] Fig. 4 Discloses the use of a sensor set up of a demolition robot according to the disclosure where two sensors are used in parallel.

[0037] Fig. 5 Discloses the use of a sensor set up of a demolition robot according to the disclosure where two sensors are used in parallel, in which the sensors use a different view as compared with Fig. 4.

[0038] Fig. 6 Discloses a tool holder and a tool that has been adjusted as compared to Fig. 2-5, to an angle that is more ideal for tooling.

[0039] Fig. 7 Method according to the disclosure.

[0040] Fig. 8 Demolition robot according to the disclosure, with the work arm plane shown.

[0041] Fig. 9 Tool holder of a demolition robot seen from above, to disclose a circular detection area of an object sensor device of the present disclosure.

[0042] DETAILED DESCRIPTION

[0043] Fig. 1 shows a generally denoted 1 mobile electrically powered wrecking and demolition robot 1 , in the following called demolition robot 1. The demolition robot 1 is normally intended to be controlled and operated by an operator 23, who walks beside the demolition robot and remote-controls it via a radio link (mobile network) by means of a remote-control device 24, comprising a transmitter unit , i.e. a remote control interface, which is normally located outside the demolition robot 1. The remote control device 24 is preferred to be portable by the operator 23. The demolition robot 1 comprises a remote-control interface device 7, which includes a receiver unit, which is normally located on board the demolition robot 1. There may of course also be transmitter unit on board the demolition robot 1 , for example for transmitting information to the remote-control device 24. The operator 23 can thus, during broadcasting of control signals, constantly be at an adequate safety distance from the working area of the demolition robot 1. The operator 23 can move freely around the demolition robot 1 and constantly seek suitable areas that give the operator 23 a good overview of the work of the demolition robot 1. The demolition robot 1 generally comprises a chassis with a carriage 25 with a top 26 and a base 27. The demolition robot 1 has a rotation device, with which the top 26 is twistable bedded on the base 27 for swinging in a horizontal plane about a vertical axis 28. On the demolition robot, a control unit 9 is connected with which the receiver unit of the remote-control device 24 is connected. Through the impact of the remote-control device's transmitter unit, the operator 3 can give the demolition robot 1 commands that can be registered by the robot control unit 9 and which cause the robot control unit 9 to control the operation of the remote- controlled demolition robot 1. The carriage base 7 is provided with a propulsion device comprising right 4a respectively left tracks 4b. Support legs are denoted 21 and are operated by associated hydraulic cylinders. A work arm is denoted 5, is arranged on the top 26 and is operable in a vertical plane. By means of at least one hydraulic cylinder 6. The demolition robot 1 may receive basic power through an electric cable 29 connected to a power grid. However, alternatively the demolition robot may be powered by an onboard power source, for example a battery or a diesel generator giving electric power. Weight is in general important for the demolition robot 1. Thus, the size of the demolition robot may not be too large. It should be possible to transport easily, for example in an elevator.

[0044] Fig.1 discloses a complete demolition robot 1, the circle A marks the content of Fig. 2-6.

[0045] The demolition robot 1 comprises in general a hydraulic system 20. The hydraulic system 20 comprises an electric pump motor 3 connected mechanically to a hydraulic pump 2. Normally this is a single set up, thus the hydraulic system 20 powers all functions of the demolition robot 1. Thus, also the drive and movement of the demolition robot is powered by a hydraulic power train driving the tracks 4a, 4b. The hydraulic system comprises also a hydraulic cylinder 6, that may control the angle 10 of the work arm 5 in a plane essentially parallel to the axis 28. The hydraulic system 20 comprises valves and pipes and hydraulic fluid for power and control. The valves are generally controlled through electric actuators. In general, the control unit 9 may communicate with the electric actuators for control of the valves. The valves may be proportional valves, thus making it possible to control the flow of hydraulic fluid. The term hydraulic cylinder is used as a general word that includes also at piston that extends out from the cylinder itself. The tracks 4a, 4b of the propulsion system for driving the demolition robot 1, is in general two, as said a right track 4a and a left track 4b. The tracks are generally made in rubber material, as this give good grip and are lighter than for example metal tracks. The propulsion system being hydraulic provides for a very robust functionality that may operate in harsh conditions. Hydraulic motors get power to deliver to the tracks from the hydraulic system 20. The propulsion system is not suitable for travel over long distances. In general, a normal distance of travel is under 200 meters.

[0046] The work arm 5 as shown in Fig. 1 is in general provided with a first hydraulic cylinder 6, for changing the angle of the outer end of the hydraulic arm 5. There may also be further cylinders, for extension of the hydraulic arm in all directions of the plane parallel with axis 28. In particular a second hydraulic cylinder 29, and a third hydraulic cylinder 30. These cylinders 29, 30 controls the hight of the end of the arm but also the extension in horizontal direction. The work arm 5 has at its outer end a tool holder 8. The tool holder 8 is arranged to be able to be connected to a tool 12. The tool is most often a breaker tool 12 as shown in Fig. 1. But the tool holder 8 has a general mechanical coupling that allows for attaching hammers, buckets, drills, grinding equipment, breakers, or other tools, etc. The tool may also be a grinding device, for example for grinding a concrete wall. The tool holder 8 may in general have a hydraulic output coupling for power output to a tool requiring hydraulic power. The tool holder 8 may also have a rotation device, such that an attached tool may be rotated in a plane transverse to the direction of the longitudinal extension of the end section 31 of the work arm 5. However, in general, the work arm operates in a plane B, Fig. 8. That is normally the hydraulic cylinders of the work arm 5, do not make it possible for the tool 12 to angle itself outside the plane B.

[0047] The remote-control interface device 7 of the demolition robot 1 may apply any suitable protocol for transmitting and / or receiving data from / to the remote control-device 24, it is possible to use Wi-Fi, radio, Bluetooth, GSM, WDCMA or any other suitable protocol for communication between the demolition robot 1 and the remote-control device 24. It is also possible to use several protocols in parallel such as Bluetooth and normal radio, for example analogue or digital radio.

[0048] The control unit 9 of the demolition robot 1, is to be understood as general system for control of the demolition robot 1. Normally the control unit 9 is gathered in a box for example in the carriage of the demolition robot 1. However, the position may be distributed, this means that there may be several sub control units positioned at various positions in the demolition robot 1. The control unit 9 in general comprises memory, processors and busses for operation. The control unit 9, may thus store computer executable software. The software may be updated by a service person for example connecting a PC to the control unit 9 and transferring new software for storing in the memory of the control unit 9. The communication protocol for the control unit 9 with controlled devices on the demolition robot may be for example an Ethernet protocol, but in general a CAN protocol is used. The connection of the control unit 9 to the devices controlled by it may be made by cables, which is robust. There may also be wireless connection from the control unit 9 to the various actuators etc. that are controlled by the control unit 9. As the demolition robot 9 is built around the control unit 9, it is only exceptionally possible to operate the demolition robot 1, without a functional control unit 9. Exceptional means that for safety reasons it may be possible to initiate manually a hydraulic function in a safety situation.

[0049] The present demolition robot 1 comprises sensor devices. Traditional sensor devices are of course included, such as hydraulic pressure sensors, etc.

[0050] The present demolition robot 1 , comprises an additional object sensor device 13. The object sensor device 13 is a contact less sensor device. With contact-less means that no physical contact is made between the measured object and the object sensor device 13. The object sensor device may determine a distance, and or an angle to an object surface 15 of an object 14 that is in a general direction extending in the direction of the outer section 31 of the work arm 5. Thus, the object sensor device 13 determines a sensor data. The sensor data man then be used by the control unit 9 to determine the angle a of a tool 12 or the tool holder 8 in relation to the surface 15 of the object 14. The object sensor device 13 may be a laser device, and / or a radar device, and / an ultrasound device, and / an IR device, and / a 2D camera device, and / or a 3D camera device. The object senor device 13 may also comprise a gyro device for giving a base plane to the device when measuring the distance and or angle a.

[0051] As regards the angle a, it may be determined by using for example the distance from a position of the position of the object sensor device 13 to the surface 15 of a surface to be tooled or being tooled. A slight movement of the tool holder 8, and / or the tool 12, may then give a further measurement of distance, that in turn may be used to determine the angle of the surface 15 to be tooled. It is also a possible arrangement that the object sensor device may adjust its own angle when detecting the surface, thus, the object sensor device 13 may give enough information to the control unit 9, to determine the angle a, without any movement of the tool holder 8 and / the tool 12. Thus, as seen in Fig. 2, there is an arrangement in which the field of view is parallel with the tool holder 8, and / or tool 12 extension. In this case symbolised by a dotted line 32. This may for example be a laser beam that is sent out from the object sensor device 13. It should also be understood that the object sensor device may be detecting a point on the object to be tooled, with 3D x, y z coordinates. Thus, detecting a second point on the same surface with second 3D x, y, z coordinates gives a very good approximation of the angle of the surface to be tooled or is being tooled, in relation to the tool and / or tool holder.

[0052] The position of the object sensor device 13 is in general in closeness to the tool holder 8 and the tool 12. However, it is thinkable to position the object sensor device 13 at any position along the outer section 31 of the work arm 5.

[0053] The object sensor device 13, may be attached in a fixed calibrated position such that it always has a field of view extending in the direction of the tool holder 8, and / or tool 13. This may give a good base line for example measure a distance to the surface 15. This may for example be achieved by attaching the object sensor device 13 at a surface 17 of the tool holder or outer section 31 of the work arm which is perpendicular to the extension of the tool holder 8, and / or the tool 12 and / or the outer section 31 of the work arm 5.

[0054] The object sensor device 13 may also be mounted at a fixed predetermined angle 0 to the tool holder 8 as seen in Fig. 3. It is also possible that the object sensor device 13 is arranged to have a wide field of view that may determine more than one distance and also may determine the angle between those two measurements, and thus, may use this determined data to determine the current angle a of the tool holder and / or the tool 12 in relation to surface 15.

[0055] The object senor device 13 may also be mounted at a surface 16 that is parallel with the extension of the tool 12 and / or tool holder 8.

[0056] The object sensor device 13 may of course be mounted at any position or surface that gives a field of view and appropriate determined data for determining the angle between the surface 15 to be tooled or being tooled, and the tool 12 and / or tool holder 8.

[0057] The object sensor device 13 may also in particular be a laser senor device detecting in a plane, thus giving a three-dimensional information data set, that may be used for giving a very precise profile of the object surface 15.

[0058] The object sensor device 13 may be movable, such that it may detect with a vide field of view. Or the object sensor device 13 may be fixed but having an ability to detect in a wider area, than a point, detection.

[0059] The control unit 9 is further arranged to be based on the determined angle a of the tool 12 and or tool holder in relation to the surface 15 to be tooled or being tooled, the control unit 9 may use this angle a to change the angle in relation to the surface 15. It is preferred that there is a preferred angle or angle range to be used for the tool in relation to the surface 15. This predetermined angle range or angle may be for example in the range of 80° to 100° preferably 85° to 95°, most preferred 90°. The angle range or angle may then be stored in the memory of the control unit 9. The preferred angle range or angle may then be used to determine an angle difference Aa between the current angle a and the desired angle or angle range.

[0060] The control unit 9 may then be configured to automatically control the angle of the tool for example by using the hydraulic cylinder 6 of the work arm 5. This control may preferably by automatic and help the operator to achieve the preferred angle. It is thinkable that the proprietor may be notified that the tool 12 and / or tool holder 8 has the correct angle, such that the operator 23 may initiate breaking or hammering for example. The feed back to the operator 23 may be tactile, for example by means of vibration in the remote control 24. The control of the angle may be made continuously, thus the operator 23 moves the tool by means of the remote control 24 but need not be involved in controlling the angle of the tool

[0061] 12 in relation to a surface to bee tooled or being tooled.

[0062] In an alternative version of the demolition robot 1 that in every detail is configured the same as the discussed demolition robot 1 above, there may be arranged a further object sensor 18 device, which is a second sensor device 18. Thus, there may now be defined as there are a first object sensor device 13 and a second sensor device 18, as seen in Fig. 4 and Fig. 5. The second sensor device 18 is preferred to be of the same type as the first sensor device

[0063] 13 and have the same functionality, but being mounted at a different position in order to give a field of view that may determine a sensor data, that may be used directly for the control unit 9 to determine a current angle a value of the surface 15 being or to be tooled. The second object sensor device 18, provides for more data to be used for determining an angle of the surface 15, in relation to the tool or tool holder 8. For example, the second senor device 18 may be positioned in the same plane perpendicular to the extension of the tool or tool holder or end section 31 of the work arm 5. Thus, by having two points to which measurements are made at the same time a quick determination of the control unit 9 of the angle a. Also, it provides redundancy, and also if the surface to be tooled 15 is irregular, a mean value may be determined by parallel measurements, and a mean value of the angle a, may be used as a starting point for controlling the angle of the tool 12 and / or tool holder 8 in relation to the surface 15.

[0064] The demolition robot 4 comprises at least one support leg 21 , see Fig. 1. In general, there are four support legs 21. The support legs 21 are powered by hydraulic cylinders, and are in general hinged around a respective axis at the carriage 25. The support legs 21 are used to support the demolition robot 1 when working. In a preferred work operation mode the tracks 4a, 4b of the demolition robot 1 is lifted from the surface that the demolition robot 1 is standing on, when the work arm 5 and tool 12 is operated. This provides a very safe operating mode as the demolition robot 1 is stabilized. The support legs 21 may be controlled by the controlled unit 9 through the hydraulic system 20 that powers the movements of the support legs 21. Thus, it is thinkable that the control unit 9 also controls the angle in sideways direction of the plane in which the work arm operates. Thus, the control unit 9 may determine that the angle to the surface 15 being tooled or to be tooled has needs adjustment in an angle that is differing from the plane in which the arm moves by means of for example the hydraulic cylinder 6. There may thus be achieved a distance 22 between the tracks 4a, 4b and the surface on which the demolition robot 1 is supported.

[0065] The control unit 9 may be arranged to control the angle (a) of the tool 13 and / or tool holder 18, by controlling the support legs 21. The control is made by raising or lowering one or several support legs 21. The control is made in a plane that is separate from the plan B in which the work arm 5 is operating, Fig. 8. Thus, the angle of the tool 12 or tool holder 8 may be adjusted more appropriately.

[0066] In the above it should be understood that the object sensor 13 or object sensors 13, 18 may operate in measuring a full circle around the extension of the tool holder 8 or tool 12, such that the determined angle a, may be a set of angles in different directions, such that the surface 15 to be tooled or being tooled, may have an angle in one predetermined direction and a further angle in a second predetermined direction, that differs from the first direction. Fig. 9 discloses a circle C that may be the detection area. The control unit 9, may thus also have further input in different directions that is determined by the object sensor itself or by a further direction sensor that gives input to the control unit to evaluate in detail how to move the tool 12 and / or tool holder, such that control of the angle of the tool 12 and / or tool holder 8, is made in several directions, to a achieve fulfilment of the predetermined angle range and / or angle in more than one direction, i.e. adjusting the tool 12 and / or tool holder 8 in a plane that is the same as the surface 15 to be tooled or being tooled. The circle may also be an area, such that detection is made within the circle.

[0067] As discussed, a full circle may be detected, however, the shape of the detected area may be any, there may be detection in a cross, it may be detected in a square. In an area comprising a complete data set for the complete area detected. An array may be created with points which has been detected by the sensors. In particular laser sensors may detect both in points, planes and areas. The control unit 9 may then use the array or matrix of points to detect the angle in between the tool and / or tool holder in relation to the surface to be tooled or being tooled.

[0068] The disclosure is also related to a method for controlling a tool 12 and / or tool holder 8 of a demolition robot 1. As seen in Fig. 7 The method involves the steps of

[0069] - obtain a sensor data from a first object sensor device 13, wherein the sensor data comprises at least one property in relation to an object surface 15 to be or being tooled by said tool 12,

[0070] - calculate based on the sensor data, an angle (a) of the object surface (15) in relation to the tool 12 or tool holder 8,

[0071] -calculate a first angle difference A a between the determined angle a and a predetermined angle or angle range, of the tool 12 and / or tool holder 8, vis-a-vis the object surface 15 to be or being tooled,

[0072] - adjust the tool 12 and / or tool holder to the angle a and / or tool holder 8 vis-a-vis the object surface 15 by to be in predetermined angle range or to be essentially equal to the predetermined angle.

[0073] The method said property may be a distance from the sensor to the object surface 15, and / or said property may be a three-dimensional image of the object surface 15. The said property may also be an array of different distances from the sensor device 13 to the object surface. It is also thinkable that the property determined are an array of points with three dimension coordinates (3D), x, y, z.

[0074] Method may further comprise the step of

[0075] - determine a second sensor data by a second object sensor device 18, wherein the sensor data comprises at least one property in relation to an object surface 15 to be or being tooled by said tool 12,

[0076] - -send the second sensor data output to a control unit 9 of the demolition robot 1 ,

[0077] - determine by the control unit 9 based on the second sensor data, a second angle a of the object surface 15 in relation to the tool 12 or tool holder 8,

[0078] -calculate by the control unit 9, based on the second sensor data, a second angle difference A aa between the determined angle a and a predetermined angle or angle range, of the tool 12 and / or tool holder 8, vis-a-vis the object surface 15 to be or being tooled,

[0079] - determine by the control unit 9, the mean angle difference between the second angle difference A aa and the first angle difference A a, -adjust by the control unit (9) the tool to the mean angle difference.

[0080] Computer executable software, that when run on a control unit 9 of a demolition robot 1 , performs the method according to the above. The software may be stored on a memory device, for example a hard drive or a flash drive. Computer program product comprising the above computer executable software.

Claims

CLAIMS1. Demolition robot (1) comprising,- a hydraulic system (20) comprising a hydraulic pump (2), a hydraulic pump motor (3), at least one hydraulic cylinder (6), and necessary valves for controlling hydraulic functions of the demolition robot (1),- at least two hydraulically powered tracks (4a, 4b) powered by the hydraulic system (20),-at least one work arm (5) powered by the hydraulic system (20) comprising the hydraulic cylinder (6),-at least a one remote control interface device (7) for operating the demolition robot (1) at distance from the demolition robot (1) itself, wherein the demolition robot (1) is thus arranged to be operated at a remote location,-at least one tool holder (8) arranged at the outer end of the work arm (5), and controlled by the hydraulic system (20),-at least one control unit (9) connected to the hydraulic system (20), wherein the angle (10) of the arm (5) is controlled by the control unit (9) by controlling the at least one hydraulic cylinder (6), and in that also the angle (11) of tool holder (8) is controlled also, characterized in that the control unit (9) is further arranged to receive sensor input data from a comprised first object sensor device (13) sensors arranged on the demolition robot (1), wherein the control unit (9) is arranged to use the input from the first object sensor device (13) to determine the position and / or the angle (a) of an object surface (15) to be tooled and / or being tooled, relative to a position or angle of the tool (12) and / or tool holder (8), wherein the first object sensor device (13) is a contact-less object sensor device.

2. Demolition robot (1) according to claim 1 , wherein the first object sensor device (13) comprises a laser device, and / or a radar device, and / an ultrasound device, and / an IR device, and / a 2D camera device, and / or a 3D camera device.

3. Demolition robot (1) according to claim 1 or 2, wherein the first object sensor device (13) is arranged at a position on the work arm (5) such that the field of view of the sensor device (13) detects the surface (15) of an object (14) to be tooled or being tooled, preferably the position is directly adjacent to or on the tool holder(8).

4. Demolition robot (1) according to claim 3, wherein the first object sensor device (13) is arranged at a surface (17) perpendicular to the extension of the tool holder (8) or the object sensor device (13) is arranged at a surface parallel (16) to the extension of the tool holder (8).

5. Demolition robot (1) according to any of the claims above, wherein the control unit (9) based on the sensor input data is arranged to control the angle (a) of the tool (12) vis-a-vis the surface (15) of the object (14) to be or being tooled.

6. Demolition robot (1) according to claim 5, wherein the control unit (9) is arranged such that the input from the first object sensor device (13) is a function of a present angle (a) of the tool (12) and / or the tool holder (8) vis-a-vis the surface (15) to be tooled and the control unit (9) control the tool (12) and / or tool holder (8) to achieve a predetermined angle vis-a-vis the surface (15) to be or being tooled, preferably the predetermined angle is comprised in a range of 80° to 100° preferably 85° to 95 °, most preferred 90°, to the surface (15).Being perpendicular to the surface to be tooled or being tooled is often preferred. This gives the least wear of the tool.

7. Demolition robot (1) according to any of the claims above, wherein further comprised is a further object sensor device (18) being arranged in parallel with the first sensor device (13), wherein the control unit (9) is arranged to calculate the angle (a) of the tool (12) and / or tool holder (8) vis-a vis the surface (15) based on the output from the first sensor device (13) and / or the second sensor device (18), preferably the control unit (9) is arranged to calculate a mean angle by using the output from the respective sensor device (13, 18), preferably the second sensor device (18) is of the same type as the first sensor device (13) or preferably the second sensor device (18) is a of a different type than the first sensor device (13).

8. Demolition robot (1) according to any of the claims above, wherein the first (13) and / or second sensor device (18) is / are arranged to detect at an angle (0) in relation to the tool holder (8) and / or a connected tool (22), and / or the first (13) and / or second sensor device (18) is / are arranged to detect in a direction extending in parallel with the tool holder (8) and / or a connected tool (12).

9. Demolition robot (1) according to any of the claims above, wherein the demolition robot (1) comprises at least one support leg (21), preferably at least four support legs (21), wherein the support leg / s (21) is arranged such that the demolition robot (1) may be raised at least partly from the surface on which it is supported, such that at least one track, preferably two tracks (4) are no longer in contact with the surface on which the demolition robot (1) is supported.

10. Demolition robot (1) according to claim 9, wherein the control unit (9) is arranged to control the angle (a) of the tool and / or tool holder (8) in a direction that deviates from a work arm plane (B), preferably this control of the tool (12) and / or tool holder (8) is made by controlling one or more of the support legs (21) to be raised or lowered, such that the angle outside the said plane (B) is altered for the tool and or tool holder in relation to a surface (15) to be tooled or being tooled.

11. Method for controlling a tool (12) and / or a tool holder (8) of a demolition robot (1), where the method comprises the steps of:- obtain a sensor data from a first object sensor device (13), wherein the sensor data comprises at least one property in relation to an object surface (15) to be or being tooled by said tool (12),- calculate based on the sensor data, an angle (a) of the object surface (15) in relation to the tool (12) or tool holder (8),-calculate a first angle difference (A a) between the determined angle (a) and a predetermined angle or angle range, of the tool (12) and / or tool holder (8), vis-a-vis the object surface (15) to be or being tooled,- adjust the tool (12) and / or tool holder (8) to the angle (a) vis-a-vis the object surface (15) by to be in predetermined angle range or essentially equal to the angle.The method has essentially the same advantages as described for the demolition robot itself.

12. Method according to claim 11, wherein said property is a distance from the sensor to the object surface (15), and / or said property is a three-dimensional image of the object surface and / or said property is an array of different distances from the sensor device (15), with known viewing angles from the sensor device (13).See above.

13. Method according to claim 11 or 12, further comprising the step of- determine a second sensor data by a second object sensor device (18), wherein the sensor data comprises at least one property in relation to an object surface (15) to be or being tooled by said tool (12),- -send the second sensor data output to a control unit (9) of the demolition robot (1),- determine by the control unit (9) based on the second sensor data, a second angle (a) of the object surface (15) in relation to the tool (12) or tool holder (8),-calculate by the control unit (9), a second angle difference (A aa) between the determined angle (a) and a predetermined angle or angle range, of the tool (12) and / or tool holder (8), vis-a-vis the object surface (15) to be or being tooled,- determine by the control unit (9), the mean angle difference between the second angle difference (A aa) and the first angle difference (A a),-adjust by the control unit (9) the tool to the mean angle difference.[See above14. Computer executable software, that when run on a control unit (9) of a demolition robot (1 ) according to any of the claims 1-11 , performs the method according to any of the claim 12-14.

15. Computer program product comprising the computer executable software according to claim 14.

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