• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ABSTRACT A. remote demolition robot (10) comprising' a controller(17), drive means (14), an arm member (11) movablyarranged (M1 a tower (10a) rotatably arranged on za body(10a,10b) of the remote demolition robot (10) and aremote control (22) for providing commands, that are interpreted by the controller (17) causing the controller (17) to control the operation. of the remote demolitionrobot (10), wherein the remote control (22) comprises afirst joystick (24a) and a second joystick (24b), whereinthe remote control (22) is characterized in that eachjoystick (24) is provided. with a thumb control switch(26). To be published with figure 2A
    公开号:SE1551350A1
    申请号:SE1551350
    申请日:2015-10-19
    公开日:2017-04-20
    发明作者:Theander Fredrik
    申请人:Husqvarna Ab；
    IPC主号:
    专利说明:

    IMPROVED CONTROL OF REMOTE DEMOLITION ROBOTbyFredrik TheanderTECHNICAL FIELDThis application relates to the control of remotedemolition robots, and in particular to simultaneouscontrol of driving means and robot members.
    BACKGROUNDContemporary' remote demolition robots are often put towork in difficult terrain. By the very nature of ademolition robot, the environment will certainly becomemore difficult to navigate once the demolition work hasbegun (unless, of course, it is a clearing operation). Assuch, the demolition robot may end up in some terrainthat is very difficult to maneuver in, or the demolitionrobot may even get stuck.
    A contemporary demolition robot has a great deal ofcontrol possibilities, such as controlling tools, arms,tower, caterpillars and outriggers. All these differentcontrols are assigned to a few control switches and forexample two joysticks. To enable a user to operate allpossibilities, the possible actions are divided intodifferent modes, where the control switches controldifferent movements depending on which mode thedemolition robot is operating in. This enables theoperator to control all the demolition robot's functionsusing only two joysticks. However, to switch between twomodes takes some time and also prevents some movements tobe performed simultaneously, wherein one movement iscontrolled in one mode and another movement is controlledin another mode causing the demolition robot to operatein a jerky or irregular manner.
    There is thus a need for a remote demolition robot thatis able to operate more smoothly.
    SUMMARYOn object of the present teachings herein is to solve,mitigate or at least reduce the drawbacks of thebackground art, which is achieved by the appended claims.
    A first aspect of the teachings herein provides a remotedemolition robot comprising a controller, drive means, anarm member movably arranged on a tower rotatably arrangedon a body of the remote demolition robot and a remotecontrol for providing commands, that are interpreted bythe controller causing the controller to control theoperation of the remote demolition robot, wherein theremote control comprises a first joystick and a secondjoystick, wherein the remote control is characterized inthat each joystick is provided with a thumb controlswitch.
    A second aspect provides a method for operating a remotecontrol arranged to control a remote demolition robotcomprising a controller, drive means, an arm membermovably arranged on a tower rotatably arranged on a bodyof the remote demolition robot, wherein the remotecontrol is arranged to provide commands, that areinterpreted by the controller causing the controller tocontrol the operation of the remote demolition robot,wherein the remote control comprises a first joystick anda second joystick, wherein each joystick is provided witha thumb control switch, wherein the method comprises:providing propulsion commands through said thumb controlswitches; providing tower rotation commands through saidfirst joystick; and providing arm movement commandsthrough said second joystick, wherein the propulsioncommands, the tower rotation commands and said armmovement commands are provided simultaneously whileoperating in a same operating mode.
    Other features and advantages of the disclosedembodiments will appear from the following detaileddisclosure, from the attached dependent claims as well asfrom the drawings.
    BRIEF DESCRIPTION OF DRAWINGThe invention will be described below with reference tothe accompanying figures wherein:Figure l shows a remote demolition robotaccording to an embodiment of the teachings herein;Figure 2A shows a remote control 22 for a remotedemolition robot according to an embodiment of theteachings herein;Figure 2B shows an alternative remote control 22for a remote demolition robot according to an embodimentof the teachings herein;Figure 3 shows a schematic view of a robotaccording to an embodiment of the teachings herein;Figure 4 shows a table of controls beingactivated and the corresponding control actions beingexecuted. by a remote demolition robot according to anembodiment of the teachings herein; andFigure 5 shows a flowchart for a general methodaccording to an embodiment of the teachings herein.
    DETAILED DESCRIPTIONFigure 1 shows a remote demolition. robot 10, hereaftersimply referred to as the robot 10. The robot 10comprises one or more robot members, such as arms 11, thearms 11 one (or robot arm11apossibly' constituting more)member(s). One member may be an accessory tool holderfor holding an accessory 11b (not shown in figure 1, seefigure 3). The accessory' 11b may' be a tool such as ahydraulic breaker or hammer, a cutter, a saw, a diggingbucket to mention a few examples. The accessory may alsobe a payload to be carried by the robot 10. The arms 11are movably operable through at least one cylinder 12 foreach arm 11. The cylinders are preferably hydraulic andcontrolled through a hydraulic valve block 13 housed inthe robot 10.
    The robot 10 comprises caterpillar tracks 14 that enablethe robot 10 to move. The robot may alternatively oradditionally have wheels for enabling it to nmve, bothwheels and caterpillar tracks being examples of drivemeans. The robot further comprises outriggers 15 that maybe extended individually (or collectively) to stabilizethe robot 10. At least one of the outriggers 15 may havea foot 15a (possibly flexibly arranged on thecorresponding outrigger 15) for providing more stablesupport in various environments. The robot 10 is drivenby a drive system 16 operably connected to thecaterpillar tracks 14 and the hydraulic valve block 13.
    The drive system may comprise an electrical motor in caseof an electrically powered robot 10 powered by a batteryand/or an electrical cable 19 connected to an electricalshown), or a cabinet for a fuel tank and angrid (notengine in case of a combustion powered robot 10.
    The body of the robot 10 may comprise a tower 10a onwhich the arms 11 are arranged, and a base 10b on whichThe tower 10a is10bthe caterpillar tracks 14 are arranged.arranged. to be rotatable with regards to the basewhich enables an operator to turn the arms 11 in adirection other than the direction of the caterpillartracks 14.
    The operation of' the robot 10 is controlled kqf one ormore controllers 17, comprising at least one processor orother programmable logic and possibly a memory module forstoring instructions that when executed by the processorcontrols a function of the demolition robot 10. The oneor more controllers 17 will hereafter be referred to assame controller 17making no differentiationwhichone and theof which processor is executing operation. Itshould be noted that the execution of a task may bedivided between the controllers wherein the controllerswill exchange data and/or commands to execute the task.The robot 10 may further Themodule 18comprise a radio module 18.radio may be used for communicating with aremote control (see fig 2, reference 22) for receivingcommands to be executed by the controller 17 The radiomodule 18 Inay kx; used. for communicating' with za remoteserver (not shown) for providing status informationand/or receiving information and/or commands. Thecontroller may thus be arranged to receive instructionsthrough the radio module 18. The radio module may' beconfigured. to operate according' to a low energy radiofrequency communication standard such as ZigBee®,Bluetooth® or WiFi®. Alternatively or additionally, theradio module 18 may be configured to operate according toa cellular communication standard, such as GSM (GlobalSysteme Mobile) or LTE (Long Term Evolution).
    The robot 10, in case of an electrically powered robot10) comprises a power cable 19 for receiving power to runthe robot 10 or to charge the robots batteries or both.
    For wired control of the robot 10, the remote control 22alternatively be connected through or along with thecable 19.maypower The robot may also Human-whichcomprise aMachine Interface (HMI), may comprise controlbuttons, such as a stop button 20, and light indicators,such as a warning light 21.
    Figure 2A shows a remote control 22 for a remotedemolition robot such as the robot 10 in figure 1. Theremote control 22 may' be assigned. an identity' code sothat a robot 10 may identify the remote control and onlyaccept commands from a correctly identified remotecontrol 22. This enables for more than one robot 10 to beworking in the same general area. The remote control 22has one or more displays 23 for providing information toand one or more controlsan operator, 24 for receivingcommands from the operator. The controls 24 include oneor more joysticks, a left joystick 24a and a rightjoystick 24b for example as shown in figure 2A, beingexamples of a first joystick 24a and a second joystick24b. It should be noted that the labeling of a left and aright joystick is merely a labeling used to differentiatebetween the two joysticks 24a, 24b. A joystick 24a, 24bmay further be arranged with a top control switch 25. In24a, 24b is25a, 25b.the example of figure 2A, each joystickwith two control switches The24a,arranged topjoysticks 24b and the top control switches 25 areused to provide maneuvering commands to the robot 10. Thecontrol switches 24 may' be used. to select one out ofmodewhichleftseveral operating modes, wherein anwhichoperatingdetermines control input corresponds toaction. For example: in a Transport mode, thejoystick 24a may control the caterpillar tracks 14 andthe right joystick 24b may control the tower 10a (whichcan come in handy when turning in narrow passages);the left11b andin a Work mode,10a,whereas joystick 24a controlsthe tool some movements of the24bthe towerarms 11, and the right joystick controls othermovements of the arms 11; and in a Setup mode, the eachjoystick 24a, 24b controls each a caterpillar track 14,and also controls the outrigger(s)should be15 on a correspondingside of the robot 10. It noted that otherassociations of functions to joysticks and controls arealso possible.
    The remote control 22 may be seen as a part of the robot10 in that it is the control panel of the robot 10. Thisis especially apparent when the remote control isconnected to the robot through a wire. However, theremote control 22 may be sold separately to the robot 10or as an additional accessory or spare part.
    The remote control 22 is thus configured to providecontrol information, such. as commands, to the robot 10which information is interpreted by the controller 17,causing the robot 10 to operate according to theactuations of the remote control 22.
    Figure 3 shows a schematic view of a robot 10 accordingto figure 1. In figure 3, the caterpillar tracks 14, theoutriggers 15, the arms 11 and the hydraulic cylinders 12are shown. A tool 11b, in the form of a hammer 11b, isalso shown (being shaded to indicate that it isoptional).The inventors have realized that in certain situations,such as in very difficult terrain, the modes of the priorart does not provide sufficient control of the robot inorder to react to different movements, such as reactionalmovements (such as starting to slide), when navigating adifficult terrain. For example, the operator may need touse the arms 11 for changing the balance of the robot 10or maybe for supporting or maybe even pushing the robot10, but to switch modes may not prove to be fast enoughfor the operator to manage to steer the robot through theterrain avoiding getting stuck, or to get free when therobot 10 has gotten stuck. Furthermore, the inventorshave realized that the movement controls allowed in anyof the existing modes does not provide sufficient controlfor these difficult terrains. The inventors also realizedthat there is simply not enough controls available on acontemporary remote control 22.
    The inventors have therefore devised a clever andinsightful arrangement of controls on the remote controlfor enabling full control of a remote demolition robot.
    To not require full relearning of the previous modes, andto simplify the understanding of the robot's control, theinventors have also provided a new operational mode.
    The remote control 22 has been provided with a thumbcontrol switch 26 on each of the joysticks 24. Each thumbcontrol switch is associated with and arranged to controleach a caterpillar track (or the wheels) on acorresponding side of the robot lO. The thumb controlswitch 26a on the left joystick 24a controlling thecaterpillar tack l4 on the left side, and the thumbcontrol switch 26b on the right joystick 24b controllingthe caterpillar tack l4 on the right side.
    The thumb control switch 26 is arranged on a side of thejoystick 24, preferably on the handle of the joystick 24.This enables the operator to control the thumb switch 26with his thumb, the top control switch 25 with his indexfinger (or alternatively operating the thumb-switch withone or more fingers and the top switch with the thumb)and the joystick 24 with his hand and remaining fingers.
    The operator is thus provided with additional controloptions for controlling the robot 10, whereby theadditional control options may be performedsimultaneously.
    The thumb control switch 26 is a two-way switch, whereineach direction of the two-way switch corresponds to adirection for the caterpillar tracks l4. For example, upcorresponds to forwards, and down corresponds tobackwards.
    The thumb control switch 26 is furthermore an analogue orproportional control switch, wherein a speed of thecaterpillar tracks 14 is associated with an angle ordegree that the thumb control switch is depressedd Anoperator can thus control the robot to advance (or turn)at low speeds by pressing lightly on the thumb controlswitches 26, and to advance (or turn) at high speeds bypressing hard on the thumb control switches 26.
    Figure 4 shows a table of controls being activated andthe corresponding control actions being executed by therobot lO. The scheme shows which actuation results inwhich action. The actuations are shown as a control beingdarkened, and for multiple way switches, the arrowsindicate in which way the control is actuated.As can be seen in figure 4, actuation of the thumbsuch as an upwards actuation of the26a leftleftcontrol switches 26,left thumb control switch arranged on thejoystick 24a results iJ1 the caterpillar track 14being driven forwards. The speed at which the caterpillartrack is driven is proportionate to the degree or anglethat the thumb control switch 26a is depressed. Anotherexample is that an actuation of the right top switchcontrol 25b on the left joystick 24a results in theoutriggers being withdrawn, and an actuation of the lefttop switch control 25a on the left joystick 24a resultsin the outriggers being deployed.
    The figure shows which action is taken for whichactuation. As can be seen, this allows an operator tocontrol the robot in a smooth manner withoutinterruptions as many controls can be actuated11simultaneously. For example, the operator can control thecaterpillar tracks 14 with his thumbs, while controllingthe tower with his left hand (left joystick 24a) and thearm(s) 11 with his right hand (right joystick).some functions of the arm(s)leftOptionally, 11 may also becontrolled by the joystick in combination withactuation of a top switch 25 (or other switch).
    Naturally, the alternative operating modes of a joystickdepending on actuation of a switch or not may beinterchanged with one another without departing from thescope of this invention The arm 11 can thus be moved toany position to balance the robot 10 while thecaterpillar tracks are controlled accurately andproportionally. This constellation of actions andcontrols is highly beneficial in that it allows anoperator to maneuver the body of robot 10 with his lefthand and the arm with the right hand. The arm generallyrequires more dexterity which is the case or mostoperator's right hand. Naturally, the constellation maybe reversed for a left-handed operator.
    The arm can also or alternatively be moved to anyposition and be used to push or to pull (especially ifthe tool is a bucket) the robot 10 in a desired directionwhile the caterpillar tracks are controlled accuratelyand proportionally.
    At the same time, the operator can deploy (or withdraw)the outriggers 15 to stabilize or support the robot 10 ina certain position. The outriggers 15 may also be used toprovide an additional lift or push to the robot 10. Allthis while the operator controls the arm 11, the tower10aand the caterpillar tracks 14 in a smooth and12proportional manner. The operator is thus enabled tosimultaneously move caterpillar tracks 14, outriggers 15,tower lOa and arm ll in one coordinated and smoothmovement, wherein the different components areindividually controlled to react to any dynamicbehaviour.
    It should be noted that in some modes, the top switchesmay be used to operate or control a tool llb instead ofthe outriggers. Alternatively, the top switches may' beused to control both the outriggers and a tool through adifferent functional allocation of the top switchactuations.
    The speed of reaction and smoothness of operation isvital in a fail/succeed situation, such as freeing herobot when it is stuck (fail = remain stuck, succeed =get free) and poses higher requirements on reaction timeand smoothness, than normal operation, such as whencutting in a specific pattern, where the operation may bepaused, while the robot is moved to a different positionor pose.
    The realization that a thumb control 26 can beneficiallybe used and the introduction of this in a position (onthe side of the joystick) so that the operator can reachthe thumb control switches simultaneously' with the topcontrol switches 25 while manipulating' the joystick 24have thus provided a solution to the above statedproblems.
    Furthermore, the inventors have realized that thesimultaneous control of the thumb control switches 26 and13the joysticks 24 are key to a smooth and versatileoperation, even without top switches.
    Figure 2B shows an alternative remote control 22 for aremote demolition robot such as the robot 10 in figure l.
    As in figure 2A, the remote control 22 may be assigned anidentity code so that a robot lO may identify the remotecontrol and only accept commands from a correctlyidentified remote control 22.As in figure 2A the remote control 22 has one or moredisplays 23, and one or more controls 24 for receivingcommands from the operator. The controls 24 include oneor more joysticks, a left joystick 24a and a rightjoystick 24b for example as shown in figure 2B, beingexamples of a first joystick 24a and a second joystick24b. The joysticks 24a, 24b are used to providemaneuvering commands to the robot lO.
    As in figure 2A, the control switches 24 may be used toselect one out of several operating' modes, wherein anoperating mode determines which control input correspondsto which action.
    As for the remote control 22 of figure 2A, the remotecontrol 22 may be seen as a part of the robot 10 in thatit is the control panel of the robot lO.
    The remote control 22 of figure 2B has also been providedwith a thumb control switch 26 on each of the joysticks24. Each thumb control switch 26 is associated with andarranged to control each a caterpillar track (or thewheels) on a corresponding side of the robot lO. The14thumb control switch 26a on the left joystick 24acontrolling the caterpillar tack 14 on the left side, andthe thumb control switch 26b on the right joystick 24bcontrolling the caterpillar tack 14 on the right side.
    The thumb control switch 26 is arranged on a side of thejoystick 24, preferably on the handle of the joystick 24.
    This enables the operator to control the thumb switch 26with. his thumb and the joystick 24 with his hand andremaining fingers. The operator is thus provided withadditional control options for controlling the propulsionof the robot 10, the rotation of the tower 10a and themovement of the arm(s) 11, whereby the additional controloptions may be performed simultaneously.
    As for the remote control 22 of figure 2A, the thumbcontrol switch 26 may be a two-way switch, wherein eachdirection of the two-way switch corresponds to adirection for the caterpillar tracks 14.
    As for the remote control 22 of figure 2A, the thumbcontrol switch 26 may furthermore be an analogue orproportional control switch, wherein a speed of thecaterpillar tracks 14 is associated with an angle ordegree that the thumb control switch is depressed.
    Utilizing a remote control 22 according to figure 2B thusenables an operator to control the robot 10 smoothly andto react to and deal with events and obstacles occurringin a difficult terrain.
    Figure 5 shows a flowchart for a general method accordingto herein. The robot 10 is controlled. by the operatorproviding 510 propulsion commands the thumb26a, 26b.throughcontrol switches The propulsion commands arecommands that control the drive means 14 of the robot.
    The robot 10 is rotationwhichwith tower24aalso provided 520commands through the first (left) joystickinstruct the robot 10 in how to turn or rotate the tower10a. 530the arm. movementwhichAnd, operator also providescommands through the second (right) joystick 24b,commands control the movement of the arms 11 and possiblyalso a tool 11b attached to or carried by the arms 11. Itshould be noted that the propulsion commands, the towerrotation commands and the arm movement commands areprovided simultaneously while operating in a sameoperating mode, as is indicated. by the dashed. box infigure 5. In one embodiment the operator may also provide540 outrigger commands for controlling the outriggers 15of the robot 10. The outrigger commands are also providedsimultaneously with the other commands.
    The invention has mainly been described above withreference to za few embodiments. However, as is readilyappreciated by a person skilled in the art, otherembodiments than the ones disclosed above are equallypossible within the scope of the invention, as defined bythe appended patent claims.
    权利要求:
    Claims (12)
    [1] 1. A remote demolition robot (10) comprising a controller(17), drive means (14), an arm member (11) movablyarranged (M1 a tower (10a) rotatably arranged on za body(10a,10b) of the remote demolition robot (10) and aremote control (22) for providing commands, that are interpreted by the controller (17) causing the controller (17) to control the operation. of the remote demolitionrobot (10), wherein the remote control (22) comprises afirst joystick (24a) and a second joystick (24b), whereinthe remote control (22) is characterized in that eachjoystick (24) is provided. with a thumb control switch(26).
    [2] 2. The remote demolition robot (10) according to claim 1, wherein each thumb control switch (26) is arranged to provide control information for controlling an associated drive means (14).
    [3] 3. The remote demolition robot (10) according to claim 2, wherein the thumb control switches (26a, 26b) are proportional switches arranged to provide information on how far the thumb control switch (26) is pressed, whereby the controller (17) is further configured to regulate thespeed of the associated drive means (14) in responsethereto.
    [4] 4. The remote demolition robot (10) according to claim 2 or 3, wherein the thumb control switches (26a, 26b) are two-way switches arranged to provide information on which the thumb control switch (26) is pressed, whereby the 17 controller (17) is further configured. to regulate thedirection of the associated drive means (14) in responsethereto.
    [5] 5. The remote demolition robot (10) according to anypreceding claim, wherein the controller (17) isconfigured to operate the remote demolition robot (10) ina mode where the tower (11a), the drive means (14), the (ll)(ll) arm member(s) and any tool (11b) being carried by the arm member are operable simultaneously.
    [6] 6. The remote demolition robot (10) according to claim 5, wherein the tower (10a) and possibly some movements ofthe arm member(s) (11) are associated with the firstjoystick (24a), the drive means (14) are associated with the thumb control switch (26a) of each joystick (24), and the arm member(s) (11) and any tool (11b) being carriedby the arm næmber (11) are associated with the secondjoystick (24b).
    [7] 7. The remote demolition robot (10) according to anypreceding claim, wherein at least one joystick (24) is provided with at least one top control switch (25).
    [8] 8. The remote demolition robot (10) according to claim 7 and 8, wherein the outriggers 15 are associated with thetop control switch (25) of the first joystick (24a)
    [9] 9. The remote demolition robot (10) according to anypreceding claim, wherein the drive means comprisescaterpillar tracks (14).
    [10] 10. (22) arranged to control a remote (17), A remote control demolition robot (10) comprising a controller drive 18 means (14), an arm. member (11) movably arranged. on atower (10a) rotatably arranged on a body (10a,10b) of theremote demolition robot (10), wherein the remote control(22) is arranged to provide commands, that are interpreted by the controller (17) causing the controller (17) to control the operation. of the remote demolitionrobot (10), wherein the remote control (22) comprises afirst joystick (24a) and a second joystick (24b), whereinthe remote control (22) is characterized in that eachjoystick (24) is provided. with a thumb control switch(26).
    [11] 11. A method for operating a remote control (22) arranged a remote demolition robot (14), an to control (10) comprising a controller (17), drive means arm. member (11) movably arranged on a tower (10a) rotatably arranged on abody (10a,10b) of the remote demolition robot (10),wherein the remote control (22) is arranged to provide that interpreted by the controller (17) (17) commands, areto control the operation of (10), causing the controllerthe(24a) the remote demolition robot wherein remote (22) and a (24) is comprises a first joystick (24b), control wherein each joystick (26), second joystick provided with a thumb control switch wherein themethod comprises: providing propulsion commands through said thumb control switches (26); providing tower rotation commands through saidfirst joystick (24a); and providing arm movement commands through saidsecond joystick (24b), wherein the propulsion commands, the tower rotation commands and said arm movement 19 commands are provided simultaneously while operating in a same operating mode.
    [12] l2. The method according to claim ll, wherein at least one joystick (24) is provided with at least one topcontrol switch (25) and wherein the method furthercomprises providing outrigger commands through said topcontrols (25) of said first joystick (24a) while operating in the same operating mode.
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    法律状态:
    2018-01-02| WITD| Patent withdrawn according to par. 54 patents act|
    2018-05-29| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1551350A|SE539323C2|2015-10-19|2015-10-19|Improved control of remote demolition robot|SE1551350A| SE539323C2|2015-10-19|2015-10-19|Improved control of remote demolition robot|
    PCT/SE2016/051004| WO2017069683A1|2015-10-19|2016-10-17|Improved control of remote demolition robot|
    CN201680061126.7A| CN108463783A|2015-10-19|2016-10-17|It is remotely controlled the improvement control of robot for disassembling work|
    EP16857882.1A| EP3365744A4|2015-10-19|2016-10-17|Improved control of remote demolition robot|
    US15/768,980| US10656658B2|2015-10-19|2016-10-17|Control of remote demolition robot|
    US16/845,926| US20200241556A1|2015-10-19|2020-04-10|Control of Remote Demolition Robot|
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