• 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:
    26 ABSTRACT A carrier comprising at least one hydraulic cylinder havinga piston, a controller and a piston position sensor, whereinthe carrier is arranged to carry a tool through the use ofthe and wherein the controller is hydraulic cylinder configured to: receive control input for moving the tool;receive piston position information for at least one pistonof the at least one cylinders; determine a current anglefor the tool based on the piston position information; anddetermine that the current angle approximates a desiredangle, and in response thereto halt the tool at the desired angle. To be published with Fig. 6
    公开号:SE1650806A1
    申请号:SE1650806
    申请日:2016-06-09
    公开日:2017-12-10
    发明作者:Olsson Tommy
    申请人:Husqvarna Ab；
    IPC主号:
    专利说明:

    IMPROVED ARRANGEMENT AND METHOD FOR OPERATING A HYDRAULICALLY OPERATED BOOM CARRYING A TOOL TECHNICAL FIELD This application relates to the operation of hydraulic booms or arms, and in particular to improved operation of hydraulic cylinders used to operate arms carrying construction or demolition tools.
    BACKGROUND When aligning a working tool carried by a hydraulicallyoperated boom or arm it can be difficult for an operatorthe to set a tool, such as a hydraulic hammer or drill, at correct angle, which is most often perpendicular to the surface to be treated. This is due to the fact that the operator is mostly not positioned next to the tool for reasons of safety and convenience. The operator usually stands behind the tool or sits in a driver's cabin.
    It is important that a tool engages a subject at a correctangle or the load exerted on the tool may be at an angleimpeding' the operation of the tool. For example, if ahydraulic hammer or breaker engages a concrete wall at anangle that is not right and perpendicular to the subject,wherein the power exerted on the hammer by the boom isexerted in a direction that is right and perpendicular tothe subject, the resulting forces in the tool will be atan angle which may cause damage to or increased wear of forof the tool. example bushings Figure 5A illustrates the problem.
    Especially for drills it is important that the drilled holeextends straight in and at an angle perpendicular to the subject being drilled.
    Prior art solutions provide for maintaining a previously moved to or set angle, or to set an alignment angle automatically. However, the prior art manner of maintainingan angle does not solve how to set the angle correctly thefirst time, and the manner of automatically setting the angle takes away the control of the boom from the operator and may cause unexpected movement of the boom, therebypossibly endangering operators or bystanders.There is thus a need, for an alternative or additional solution for overcoming the drawbacks of the prior art, namely to provide proper alignment of a construction/demolition tool.
    SUMMARYOne object of the present teachings herein is to solve,mitigate or at least reduce the drawbacks of the background art, which is achieved by the appended claims.
    A first aspect of the teachings herein provides for a carrier comprising at least one hydraulic cylinder havinga piston, a controller and a piston position sensor, whereinthe carrier is arranged to carry a tool through the use ofthe and wherein the controller is hydraulic cylinder configured to: receive control input for moving the tool;receive piston position information for at least one pistonof the at least one cylinders; determine a current angle for the tool based on the piston position information; and determine whether the current angle approximates a desired angle, and if so, halt the tool at the desired angle.
    A second aspect provides a method for use in a carrier comprising at least one hydraulic cylinder having a piston, a controller and a piston position sensor, wherein the carrier is arranged to carry a tool through the use of the hydraulic cylinder and wherein the method comprises: receiving' control input for moving' the tool; receiving piston position information for at least one piston of the at least one cylinders; determining a current angle for the tool based on the piston position information; and determining whether the current angle approximates a desired angle, and if so, halting the tool at the desired angle.
    One benefit is that an operator is thereby guided to a desired angle without ever losing control of the carrier or the tool.
    It should be noted that even though the disclosure herein is focused on hydraulically operated booms and arms, the inventors have realized that the teachings herein may alsobe used for booms or arms operated in different manners, such as pneumatically or mechanically. The inventors have further realized that the position locators of the cylinders may also be used with such pneumatic or mechanicalcontrol wherein the of an arm member position may be determined in a corresponding fashion.
    It should be noted that even though the disclosure herein is aimed at guiding an operator to finding a desired angle, the same teaching may be used for guiding an operator into finding a desired level for positioning the tool at.
    The same controls and determinations would then be used, but for a level instead. of an angle, the level being determined based on a level of the carrier.
    The combination of guiding an operator for finding a desiredangle and a desired level, may thus be used for guiding anoperator in finding a desired working line along which the tool is to operate.
    Such a combination may be beneficially used for guiding anoperator in finding a working line for subsequent automaticfeeding as in the concurrently filed application by thesame inventor and applicant, entitled ”IMPROVED ARRANGEMENTAND METHOD FOR OPERATING A HYDRAULICALLY OPERATED BOOMCARRYING A TOOL IN A CARRIER”, wherein a working line isspecified as a direction and a level along which a tool is moved during working operation.
    Other features and advantages of the disclosed embodimentswill appear from the following detailed disclosure, from the attached dependent claims as well as from the drawings.
    BRIEF DESCRIPTION OF DRAWING The invention will be described below with reference to theaccompanying figures wherein: Figure l shows a remote demolition robot accordingto an embodiment of the teachings herein; Figure 2 shows a remote control 22 for a remoterobot embodiment of the demolition according to an teachings herein; Figure 3 shows a schematic view of a robotaccording to an embodiment of the teachings herein;shows a Figure 4 schematic view of a hydraulic cylinder according to an embodiment of the teachingsherein; Figure 5A shows a schematic view of tool arrangedon a hydraulically operated arm engaging a subject at anincorrect angle according to a prior art solution; Figure 5B shows a schematic view of tool arrangedon a hydraulically operated arm engaging a subject at a correct angle according to an embodiment of the teachings herein; Figure 6 shows a schematic view of tool arrangedon a hydraulically operated arm engaging a subjectaccording to an embodiment of the teachings herein; and Figure 7 shows a flowchart for a general method according to an embodiment of the teachings herein.
    DETAILED DESCRIPTION Figure l shows an example of carrier for a work tool, such as a construction tool or demolition tool for example a hammer (breaker) or a drill, which carrier in this example is a remote demolition robot lO, hereafter simply referred to as the robot 10. Although the description herein is focused on demolition robots, the teachings may also be applied to any engineering vehicle arranged to carry a tool, on an arm. or boom. systen1 which. is hydraulically controlled. In the following no difference will be made between a boom and an arm.
    The robot lO, exemplifying the carrier, comprises one or more robot members, such as arms ll, but only one arm is shown in the figures of this application. The arm ll possibly constitutes one (or more) robot arm member(s). One member may be a tool holder lla for holding a tool 11b (not shown in figure 1, see figure 3). The tool 11b may be a hydraulic breaker or a drill. Other examples where the angle is important are cutters, grinders, saws, concreterotary cutters, or a digging> bucket to mention a fewexamples.
    At least one of the arms 11 is movably operable through atleast one hydraulic cylinder 12. The hydraulic cylindersare controlled through a hydraulic valve block 13 housed in the robot 10.
    The hydraulic valve block 13 comprises one or more valves13a for controlling the flow of a hydraulic fluid (oil) provided to for example a corresponding cylinder 12.
    The robot 10 comprises caterpillar tracks 14 that enable the robot 10 to move. The robot 10 may alternatively or additionally have wheels for enabling it to move, bothwheels and caterpillar tracks being examples of drivemeans. The robot may further comprise outriggers 15 that may be extended individually (or collectively) to stabilize the robot 10.
    The robot 10 is driven by a drive system. 16 operably connected to the caterpillar tracks 14 and the hydraulic valve block 13. The drive system 16 may comprise an electrical motor in case of an electrically powered robotcable 19 powered. by a battery and/or an electrical connected to an electrical grid (not shown), or a cabinet for a fuel tank and an engine in case of a combustion powered robot 10.
    The body of the robot l0 may comprise a tower lOa on which the arms lJ_ are arranged, and. a base lOb (nu which the caterpillar tracks l4 are arranged. The tower lOa is arranged to be rotatable with regards to the base lOb which enables an operator to turn the arms ll in a direction other than the direction of the caterpillar tracks l4.
    The operation of the robot lO is controlled by one or morecontrollers l7 comprising at least one processor or otherprogrammable logic and possibly a memory module for storing instructions that when executed by the at least one processor or other programmable logic controls a function of the demolition robot lO. The one or more controllers l7 will hereafter be referred to as one and the same controller l7 making no differentiation of which processor is executing which operation. It should be noted that the execution of a task may be divided between the controllerswherein the controllers will exchange data and/or commands to execute the task.
    The robot lO comprises a control interface 22 which may be a remote control (see figure 2), but may also be an arrangement of levers, buttons and possibly steering wheels as would be understood by a person skilled in the art.
    The robot lO may further comprise a radio module l8. The radio module l8 may be used for communicating with the remote control (see fig 2, reference 22) for receiving commands to be executed by the controller l7. The radio module may be configured to operate according to a low energy radio frequency communication standard such as ZigBee®, Bluetooth® or WiFi®. Alternatively or additionally, the radio module l8 may be configured to operate according to a cellular communication standard, such as GSM (Global Systeme Mobile) or LTE (Long' Term Evolution).
    For wired control of the robot lO, the remote control 22may alternatively be connected through or along with thepower cable l9. The robot may also comprise a Human-Machine Interface (HMT), which may comprise control buttons, such as a stop button 20, and light indicators, such as a warning light 21.
    Figure 2 shows a remote control 22 for a remote demolitionrobot such as the robot 10 in figure l. The remote control22 has one or more displays 23 for providing informationto an operator, and one or more controls 24 for receivingcommands from the operator. The controls 24 include one ormore joysticks, a left joystick 24a and a right joystick24b for example as shown in figure 2, being examples of afirst joystick 24a and a second joystick 24b. It should benoted that the labeling of a left and a right joystick ismerely a labeling used to differentiate between the twojoysticks 24a, 24b.
    A joystick 24a, 24b may further be arranged with a top control switch 25. The joysticks 24a,24b and the top control switches 25 are used to providemaneuvering commands to the robot l0. The control switches24 may be used to select one out of several operating modes,wherein an operating mode determines which control inputcorresponds to which action.As touched upon in the above, the remote control 22 may beseen as a part of the robot lO in that it may be the control panel of the robot lO.
    The remote control 22 is thus configured to provide control information, such as commands, to the robot lO which information is interpreted by the controller l7, causing the robot lO to operate according to the actuations of the remote control 22.
    Figure 3 shows a schematic view of a carrier, such as the robot l0 according to figure l. In figure 3, the caterpillar tracks l4, the outriggers l5, the arms ll and the hydraulic cylinders l2 are shown. A tool llb, in the form of a hammer llb, is also shown (being shaded to indicate that it is optional).
    As the controller l7 receives input relating for exampleto moving a robot member ll, the corresponding valve l3ais controlled to open or close depending on the movement or operation to be made.
    Figure 4 shows a schematic view of a hydraulic cylinder l2.The hydraulic cylinder l2 comprises a cylinder barrel l2a, in which a piston l2b, connected to a piston rod l2c, moves back and forth. The barrel l2a is closed on one end by the cylinder bottom (also called the cap) l2d and the other end by the cylinder head (also called the gland) l2e where the piston rod l2c comes out of the cylinder. Through the useof sliding rings and seals the piston l2b divides the insideof the cylinder l2a into two chambers, the bottom chamber(cap end) (rod end / head end) l2f and the piston rod side chamber l2g. The hydraulic cylinder 12 gets its power from a pressurized hydraulic fluid (shown as greyed out areas with wavy lines), which is typically oil, being pumped into either chamber l2f, l2g through respective oil ports l2h, l2i for moving the piston rod in either direction. The hydraulic fluid,12m, being supplied through hydraulic fluid conduits 12l, is pumped into the bottom chamber l2fthrough the bottom oil port l2h to extend the piston rodand into the head end through the head oil port 12i to retract the piston rod l2c.
    The hydraulic cylinder 12 is further arranged with a piston position sensor 12j. Many alternatives for a piston position sensor exist being of various magnetic, optical,and/or electrical deigns. The piston position sensor 12jis configured to determine the position of the piston l2bin the barrel 12a, possibly by determining the position of the piston rod l2c relative the barrel l2a.
    The piston position sensor 12j may be an integrate part ofthe cylinder 12, or it may be an add-on feature that isattached to or assembled on the cylinder 12. The pistonposition sensor 12j is communicatively connected to thecontroller 17 for transmitting piston position informationreceived by the controller 17 which enables the controller17 to determine the position of the piston 12b in the barrel l2a.
    The piston position sensor 12j may also or alternativelybe arranged as an angle detector between two arm members11 that are controlled by the hydraulic cylinder 12. Byknowing the angle between two arm members, the controllermay determine the position of the piston as, for a fixedpivot point, the angle will be directly proportional to the piston position.
    The inventor has realized that by knowing the position of the pistons 12b in the cylinders 12, it is possible to 11 overcome the drawbacks of the prior art especially as regards the wear and tear of the tool.The inventor proposes an intelligent manner of actively guiding - not only informing - an operator to enable the operator to align a 'tool llb correctly, without takingcontrol of the movement of the arm ll or the tool llb.
    Returning to the problem to be solved, figure 5A shows aschematic view of a tool llb being aligned incorrectly with regards to a subject S to be treated or worked upon by the tool llb. In this example the tool llb is represented by aschematic hammer llb. As can be seen in figure 5A, thehammer llb comprises a casing llb-l and a chisel llb-2. The chisel llb-2 is movably arranged relative the casing llb-land the movement is controlled partly by bushings llb-3 inthe casing llb-l. The chisel llb-2 is activated or drivenby a driving element llb-4 that is arranged to withstandforces, (great) both to deliver a driving force and to absorb any resultant forces. In figures 5A and 5B such forces are indicated by arrows. The sizes of the arrows areonly for illustrative purposes and the amplitude of theforces may not correspond to the size of the correspondingarrows.
    During operation, the hammer llb and the chisel llb-2 aresubjected to a driving force DF and driving the chisel llb-2 into the subject S to be worked upon, the subject possiblybeing a floor or a wall or other structural component. Thechisel llb-2 is also subjected to a boom force, driving thehammer llb towards the subject S, keeping the hammer llbin place and possibly feeding it as the work progresses.the it will be As the chisel llb-2 engages subject S, 12 subjected to a reactive force RF from the subject S. Thereactive force RF is translated through the chisel llb-2into the casing llb-l where the chisel llb-2 engages thebushings llb-3. If the chisel llb-2 engages the subject Sat an incorrect angle the reactive force RF will engage thebushings at locations/positions where the bushing and thehammer in general is not designed to absorb or handle thereactive forces which will lead to increased wear and tearof the hammer, a reduced efficiency of the hammer and alsopossibly risking damaging the hammer.
    Figure 5B shows a schematic view of a similar scenario, buthere the tool llb is aligned at a correct angle, in thiscase being perpendicular to the subject S and the reactiveforces engage with the driving element llb-4. The chiselllb-2 will thus be able to move freely within its bushingsllb-3, whereby vibrations as well as any shocks, that the tool is subjected to, will be absorbed as was intended by the designers of the tool llb.
    The inventor provides a manner of reducing the wear and tear of a tool, as well as the stability and smoothness of operation, by configuring' the controller l7 to receive piston position information for the piston (directly orindirectly) from a piston position sensor l2j and based onthe piston position information, controlling the movementof the arms ll and especially the tool holder arm forguiding an operator into aligning the tool llb at a correct or desired angle.
    Figure 6 shows a schematic view of a demolition robot, as an example of a carrier lO, having a hammer, as an example 13 of a tool llb, engaging a wall, as an example of a subject to be worked upon.
    A direction perpendicular to the subject S is indicated by a dashed line A in figure 6. An operator may maneuver the arms ll and the tool llb with respect to the subject S andthereby change an angle a at which the tool llb engages the subject S. As has been discussed in the above it may be difficult for an operator to see when the tool is aligned at the correct angle. The controller is therefore configured to provide guidance to the operator when maneuvering the tool llb. The guidance is provided by the tool snapping in to a position when the desired angle is obtained. This provides for clear guidance, without moving the tool by relieving the operator of control of the tool.The operator is thus in control of the tool's movement the entire time.
    The controller l7 is configured to receive position information for the arm members ll, determine that the tool llb is at a correct or desired angle based on the position information and in response thereto (temporarily) halt the movement of the tool llb. The controller l7 is configured to determine that the tool is at the desired angle by approximately comparing the current angle with the desired angle. If the current angle is within an error tolerance of the desired angle, then the tool is determined to be at the desired. angle. The error tolerance depends on the current tool and its design and may be less than l degree.The controller may further halt the tool llb at the currentangle approximating the desired angle, or assist in moving the tool llb to the desired angle. 14 The controller may influence the control of the tool llb for example by adapting' or amending' the control inputs received from the remote control 22, thereby adapting the control of the cylinders accordingly.
    The controller l7 may also be configured to receive controlinput for rotating the tower lOa, and in response thereto adapting the desired angle.
    The controller is thus configured to snap the tool llb intoposition as the correct angle is obtained. This provides aclear guidance to the operator, while allowing the operator to have control of all the movements of the tool llb.
    To enable the operator to change the position of the tool llb, perhaps another desired. angle was aimed for, the operator may attenuate his controls, that is push harderon the joystick, to get passed the snapped position. Insuch a case, the controller is configured to temporarilyremap the control input of a joystick or other command, tothe hydraulic valve so that a smaller movement results fromthe attenuated control. Of course, the controller will rampdown this temporary remapping after a while when the tool3 or 5 seconds, llb is is moving again, for example after l, 2, or when it is determined that the tool again travelling' at a defined. speed. The controller is thus configured to resume movement of the tool llb after havingreceived attenuated control input.
    In an alternative or additional embodiment, the operatorneeds to keep the joystick or other command actuated andafter a while the controller will again enable the tool llbThe controller 17 is thus to be moved. configured to determine a time since the desired angle was obtained andto determine that a corresponding control input for movingthe tool llb is still being received, and if the time sincethe desired angle was obtained exceeds a threshold time T(t>T) then continue moving the tool llb or arm ll accordingto the received control input.
    In an alternative or additional embodiment, the controlleris configured to increase the threshold time T, if it isdetermined that the speed of the tool, or the correspondingactuation of the corresponding control is decreased. Thisallows an operator more time to decide whether to accept the snapped to angle or not.
    In an alternative or additional embodiment, the controller is configured to determine a speed at which the tool llb is being moved, and if this speed (s) is below a threshold speed indicating a search speed (SS; s the auto snap functionality as disclosed herein. Similarly,if the controller l7 determines that the speed of the toolllb exceeds a travelling speed (TS; s>TS) then disabling the auto snap functionality as disclosed herein.
    This enables the operator to move a tool passed one or moredesired angles without the tool snapping into place whichis good for when transporting or moving the tool, enablingthe functionality to be used only when actually searching for a desired angle.
    The travelling speed may be defined as above l0, 20 cm/s, cm/s, 40 cm/s or 50 cm/s. The searching speed may be defined as below 20 cm/s, l0 cm/s, 5 cm/s, 3 cm/s, 2 cm/s or 1 cm/s. 16 The speeds, although given here as indications of distances per second, may alternatively or additionally be defined as angular distances per seconds.
    In an alternative or additional embodiment, the travelling speed and/or the searching' speed may be defined as an actuation of a corresponding control, such as a joystick.
    In such an embodiment, a certain speed would equate to a certain angle of the joystick, whereby the angle of the joystick would be used as the decisive measurement for when activating a mode. The travelling speed would then correspond to a higher or larger actuation of the control than the searching speed.
    In an alternative or additional embodiment, the controller is configured to determine the current angle of the tool llb, and if this angle (a) is below a threshold A indicating a proximity to a desired angle, then activate the auto snap functionality as disclosed herein and to remap the controlinput to the hydraulic valve to slow down the movement ofthe tool llb in the vicinity of the desired angle to a (or below) a searching speed.
    This enables the operator to quickly and easily find a desired angle by simply moving the tool llb in the directionof the desired angle and let the controller guide him to the desired angle.
    In an alternative or additional embodiment, the controller is configured to determine the current angle of the tool llb, and. if this angle (a) is within a second. angular threshold (A2) of the desired angle (DA; a-DA < A2) then 17 moving the tool llb to the desired angle, by speeding up the tool llb slightly, for example with an additional 5 cm/s or by an increase of l0% o, l5% or 20% in speed. By selecting the second angular threshold A2 to be small, for example 2 degrees, 1 degree, 0.5 degrees, there is no real control of the movement of the tool apart form a temporary acceleration of the tool followed shortly thereafter (less than a second) of the stopping of the tool thereby clearly snapping the tool into place and the operator is thus always in control of the tool llb.
    As has been indicated above, the controller may be configured to store more than one desired angle. The controller will thus act as above in the vicinity of each stored desired angle.
    The desired angle may be defined as perpendicular to an assumed work surface of a subject. For example, if the controller determines that the hammer is angled substantially downwards, presumably for engaging a floor, the desired angle may be defined as 270 degrees or - 90 degrees, if the controller determines that the hammer is angled substantially upwards, presumably for engaging a ceiling, the desired angle may be defined as 90 degrees and if the controller determines that the hammer is angled substantially horizontally, presumably for engaging a wall, the desired angle may be defined as 0 degrees.
    The desired angle may also be adapted according' to a detected lean angle of the robot l0. The robot l0 may be arranged with a lean sensor 27, such as a gyroscope, for detecting an angle B that the body l0a/l0b of the robot l0 is currently at. This lean angle B provides for a base line 18 (indicated by a dotted line in figure 6) for adapting theangle a of the tool llb for alignment with a desired angle,even when the robot lO is not placed level. The controller17 is thus configured to receive a lean angle (B) readingfrom a lean sensor 27, and to adapt the current angle a ofthe tool llb accordingly for alignment with a desired angle.The angle may be adapted by adding the lean angle to thecurrent angle a, or by subtracting the lean angle B fromthe desired angle.
    The lean angle B may alternatively or additionally be derived from the position of the outriggers l5.
    In one embodiment the controller l7 may also be arrangedto receive a first subject position reading, by the operator moving the tool llb into contact with the subject at a first position on the subject, subsequently receiving a second subject position reading, by the operator moving the tool llb into contact with the subject at a second position on the subject, and determine a surface angle of the subject relative the arm ll or tool (llb) based on the first and second. subject positions, the desired. angle then being perpendicular to a line connecting the first and second subject positions, and parallel to the tool's currentsideways (or tilting) angle.In such an embodiment, the controller may further be configured to receive a third subject position reading, bythe operator moving the tool llb into contact with thesubject at a third position on the subject, and determinea surface angle of the subject relative the arm ll or tool llb based on the first, second and third subject positions, 19 the desired angle then being' perpendicular to a plane encompassing the first, second and third subject positions.The desired angle may also be input to the controller l7through the remote control 22 or via the radio module 18or the HMI.
    The speed thresholds (both or individually) may also beinput to the controller l7 through the remote control 22 or via the radio module 18 or the HMI.
    The angular thresholds may also be input to the controllerl7 through the remote control 22 or via the radio module l8 or the HMI.
    It should be noted that for drills for example, the desired angle need not be perpendicular to the subject.
    Figure 7 shows a flowchart for a general method according to herein. The controller receives control input 7l0 for moving the tool llb, which ensures that an operator is actively controlling the tool. Then the controller receivespiston position information 720 for at least one piston of the at least one cylinders and determines 730 a current angle (a) for the tool llb based on the piston position information. The controller then determines that the current angle approximates 740 a desired angle, and if so halts 750 the tool (llb) at the desired angle.
    The invention has mainly been described above withreference to a few' embodiments. However, as is readilyappreciated by a person skilled in the art, otherembodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.
    权利要求:
    Claims (17)
    [1] 1. l. A carrier (lO) comprising at least one hydraulic cylinder(l2) having' a piston (l2b), the carrier (lO) furthercomprising a controller (l7) and a piston position sensor (l2j),(llb) wherein the carrier (10) is arranged to carry a tool through the use of the hydraulic cylinder (l2) and wherein the controller (l7) is configured to: receive control input for moving the tool (llb); receive piston position information for at leastone piston of the at least one cylinders; determine a current angle (a) for the tool (llb) based on the piston position information; and determine whether the current angle approximates a desired angle, and if so, halt the tool (llb) at the desired angle.
    [2] 2. The carrier (lO) according' to clain1 l, wherein the controller is further configured. to determine that the current angle approximates the desired angle by comparing the current angle with the desired angle, and if the current angle is within an error tolerance of the desired angle, then the tool is determined to be at the desired angle.
    [3] 3. The carrier (lO) according to claim l or 2, wherein the controller is further configured. to receive attenuated control input and in response thereto resume movement ofthe tool (llb).
    [4] 4. The carrier (lO) according to claim l, 2 or 3, wherein the controller is further configured to determine a time since the desired angle was obtained and to determine that 22 a corresponding control input for moving the tool (llb) is still being received, and if the time since the desired angle was obtained exceeds a threshold time (T) (t>T) then resume the movement of the tool (llb) according to the received control input.
    [5] 5. The carrier (10) according' to any preceding claim, wherein the controller is further configured to determine a speed at which the tool (llb) is being moved, and if this speed (s) is below a threshold speed indicating a search speed s functionality of aligning the tool with a desired angle according to any preceding claim.
    [6] 6. The carrier (lO) according to any preceding claim, wherein the controller is further configured todetermine a speed at which the tool (llb) (llb) is being moved, and if the speed of the tool exceeds a travelling speed (TS; s>TS) then disabling the functionality of aligning the tool with a desired angle according to any preceding claim.
    [7] 7. The carrier (lO) according' to any preceding claim, wherein the controller is further configured to determine the current angle of the tool (llb), and if this angle (a) is below a threshold (A) indicating'a proximity to a desired angle, then activate the functionality according to any preceding claim.
    [8] 8. The carrier (lO) according' to clain1 7, wherein the controller is further configured to remap the control input to the hydraulic valve to slow down the movement of the 23 tool (llb) in the vicinity of the desired angle to a speed equal to or less than a searching speed.
    [9] 9. The carrier (10) according to any preceding claim, wherein the controller is further configured to determine the current angle of the tool (llb), and if this angle (a) is within a second angular threshold (A2) of the desired angle (DA; a-DA < A2) then moving the tool (llb) to the desired angle.
    [10] 10. lO. The carrier (lO) according to claim 9, wherein the controller is further configured to move the tool (llb) to the desired angle by speeding up the tool (llb).
    [11] 11. ll. The carrier (lO) according to any preceding claim, further comprising' a lean sensor (27) and wherein the controller is further configured to receive a lean angle(27),(llb) (B) reading from the lean sensor and to adapt the current angle (a) of the tool accordingly for alignment with the desired angle.
    [12] 12. l2. The carrier (lO) according to any preceding claim, wherein the controller is further configured toreceive a first subject position reading, (llb) by theoperator moving the tool into contact with the subjectat a first position on the subject, receive a second subject position reading, (llb) by the operator moving the tool into contact with the subject at a second position on the subject, and determine a surface angle of the subject relative the tool (llb) based. on the first and second subject positions, the desired angle then being perpendicular to a 24 line connecting the first and second subject positions, and parallel to the tool's current angle.
    [13] 13. The carrier (10) according to any preceding claim,wherein the controller is further configured to receive a first subject position (llb) reading, by the operator moving the tool into contact with the subjectat a first position on the subject,receive a second subject position (llb) reading, by the operator moving the tool into contact with the subjectat a second position on the subject,receive a third subject position (llb) reading, by the operator moving the tool into contact with the subject at a third position on the subject, and determine a surface angle of the subject relative the tool (llb) based on the first, second and third subject positions, the desired angle then being perpendicular to a plane encompassing' the first, second and third subjectpositions.
    [14] 14. The carrier (10) according to any preceding claim,wherein the tool (llb) is a hammer.
    [15] 15. The carrier (10) according to any preceding claim,wherein the tool (llb) is a drill.
    [16] 16. The carrier (10) according to any preceding claim, wherein the carrier (10) is a remote demolition robot (10).
    [17] 17. A method for use in a carrier (10) comprising at leastone hydraulic cylinder (12) having a piston (l2b), acontroller (17) and a piston position sensor (12j), wherein the carrier (10) is arranged to carry a tool (llb) through the use of the hydraulic cylinder (l2) and wherein the method comprises: receiving control input for moving the tool (llb);receiving piston position information for at least one piston of the at least one cylinders; for the tool determining a current angle (a) (llb) based on the piston position information; and determining whether the current angle approximates a desired angle, and if so, halting the tool (llb) at the desired angle.
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    CN112502213A|2021-03-16|
    EP3469150A1|2019-04-17|
    US20190161944A1|2019-05-30|
    WO2017213580A1|2017-12-14|
    US11124949B2|2021-09-21|
    US20210071395A1|2021-03-11|
    EP3469150A4|2020-06-03|
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    EP3835493A1|2021-06-16|
    SE542711C2|2020-06-30|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1650806A|SE542711C2|2016-06-09|2016-06-09|Improved arrangement and method for operating a hydraulically operated boom carrying a tool|SE1650806A| SE542711C2|2016-06-09|2016-06-09|Improved arrangement and method for operating a hydraulically operated boom carrying a tool|
    EP20215948.9A| EP3835493A1|2016-06-09|2017-06-09|Carrier and method for operating a hydraulically operated boom carrying a tool|
    US16/307,980| US11124949B2|2016-06-09|2017-06-09|Arrangement and method for operating a hydraulically operated boom carrying a tool|
    EP17810640.7A| EP3469150A4|2016-06-09|2017-06-09|Arrangement and method for operating a hydraulically operated boom carrying a tool|
    PCT/SE2017/050619| WO2017213580A1|2016-06-09|2017-06-09|Arrangement and method for operating a hydraulically operated boom carrying a tool|
    CN202011500537.6A| CN112502213A|2016-06-09|2017-06-09|Device and method for operating a hydraulically operated beam of a load carrier|
    CN201780034778.6A| CN109312556B|2016-06-09|2017-06-09|Device and method for operating a hydraulically operated beam of a load carrier|
    US17/101,759| US20210071395A1|2016-06-09|2020-11-23|Arrangement and method for operating a hydraulically operated boom carrying a tool|
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