Control of remote demolition robot

A remote demolition robot (10) comprising a controller (17), drive means (14), an arm member (11) movably arranged on a tower (10a) rotatably arranged on a body (11b) of the remote demolition robot (10) and a remote control (22) for providing commands, that are interpreted by the controller (17) causing the controller (17) to control the operation of the remote demolition robot (10), wherein the remote control (22) comprises a first joystick (24a) and a second joystick (24b), wherein the remote control (22) is characterized in that each joystick (24) is provided with a thumb control switch (26).

TECHNICAL FIELD

This application relates to the control of remote demolition robots, and in particular to simultaneous control of driving means and robot members.

BACKGROUND

Contemporary remote demolition robots are often put to work in difficult terrain. By the very nature of a demolition robot, the environment will certainly become more difficult to navigate once the demolition work has begun (unless, of course, it is a clearing operation). As such, the demolition robot may end up in some terrain that is very difficult to maneuver in, or the demolition robot may even get stuck.

A contemporary demolition robot has a great deal of control possibilities, such as controlling tools, arms, tower, caterpillars and outriggers. All these different controls are assigned to a few control switches and for example two joysticks. To enable a user to operate all possibilities, the possible actions are divided into different modes, where the control switches control different movements depending on which mode the demolition robot is operating in. This enables the operator to control all the demolition robot's functions using only two joysticks. However, to switch between two modes takes some time and also prevents some movements to be performed simultaneously, wherein one movement is controlled in one mode and another movement is controlled in another mode causing the demolition robot to operate in a jerky or irregular manner.

There is thus a need for a remote demolition robot that is able to operate more smoothly.

SUMMARY

On 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 a remote demolition robot comprising a controller, drive means, an arm member movably arranged on a tower rotatably arranged on a body of the remote demolition robot and a remote control for providing commands, that are interpreted by the controller causing the controller to control the operation of the remote demolition robot, wherein the remote control comprises a first joystick and a second joystick, wherein the remote control is characterized in that each joystick is provided with a thumb control switch. The controller is configured to operate the remote demolition robot in a mode where the tower, the drive means, the arm member(s) and any tool being carried by the arm member are operable simultaneously, wherein the tower and possibly some movements of the arm member(s) are associated with the first joystick, the drive means are associated with the thumb control switch of each joystick, and the arm member(s) and any tool being carried by the arm member are associated with the second joystick, and preferably at least one joystick is provided with at least one top control switch, and wherein the outriggers are associated with the top control switch of the first joystick.

A second aspect provides a method for operating a remote control arranged to control a remote demolition robot comprising a controller, drive means, an arm member movably arranged on a tower rotatably arranged on a body of the remote demolition robot, wherein the remote control is arranged to provide commands, that are interpreted by the controller causing the controller to control the operation of the remote demolition robot, wherein the remote control comprises a first joystick and a second joystick, wherein each joystick is provided with a thumb control switch, wherein the method comprises: providing propulsion commands through said thumb control switches; providing tower rotation commands through said first joystick; and providing arm movement commands through said second joystick, wherein the propulsion commands, the tower rotation commands and said arm movement commands are provided simultaneously while operating in a same operating mode.

Other features and advantages of the disclosed embodiments will appear from the following detailed disclosure, from the attached dependent claims as well as from the drawings.

DETAILED DESCRIPTION

FIG. 1shows a remote demolition robot10, hereafter simply referred to as the robot10. The robot10comprises one or more robot members, such as arms11, the arms11possibly constituting one (or more) robot arm member(s). One member may be an accessory tool holder11afor holding an accessory11b(not shown inFIG. 1, seeFIG. 3). The accessory11bmay be a tool such as a hydraulic breaker or hammer, a cutter, a saw, a digging bucket to mention a few examples. The accessory may also be a payload to be carried by the robot10. The arms11are movably operable through at least one cylinder12for each arm11. The cylinders are preferably hydraulic and controlled through a hydraulic valve block13housed in the robot10.

The robot10comprises caterpillar tracks14that enable the robot10to move. The robot may alternatively or additionally have wheels for enabling it to move, both wheels and caterpillar tracks being examples of drive means. The robot further comprises outriggers15that may be extended individually (or collectively) to stabilize the robot10. At least one of the outriggers15may have a foot15a(possibly flexibly arranged on the corresponding outrigger15) for providing more stable support in various environments. The robot10is driven by a drive system16operably connected to the caterpillar tracks14and the hydraulic valve block13. The drive system may comprise an electrical motor in case of an electrically powered robot10powered by a battery and/or an electrical cable19connected to an electrical grid (not shown), or a cabinet for a fuel tank and an engine in case of a combustion powered robot10.

The body of the robot10may comprise a tower10aon which the arms11are arranged, and a base10bon which the caterpillar tracks14are arranged. The tower10ais arranged to be rotatable with regards to the base10bwhich enables an operator to turn the arms11in a direction other than the direction of the caterpillar tracks14.

The operation of the robot10is controlled by one or more controllers17, comprising at least one processor or other programmable logic and possibly a memory module for storing instructions that when executed by the processor controls a function of the demolition robot10. The one or more controllers17will hereafter be referred to as one and the same controller17making no differentiation of which processor is executing which operation. It should be noted that the execution of a task may be divided between the controllers wherein the controllers will exchange data and/or commands to execute the task.

The demolition robot may be a remote controlled demolition robot. The robot10may further comprise a radio module18. The radio module18may be used for communicating with a remote control (seeFIG. 2, reference22) for receiving commands to be executed by the controller17The radio module18may be used for communicating with a remote server (not shown) for providing status information and/or receiving information and/or commands. The controller may thus be arranged to receive instructions through the radio module18. 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 module18may be configured to operate according to a cellular communication standard, such as GSM (Global Systeme Mobile) or LTE (Long Term Evolution).

The robot10, in case of an electrically powered robot10) comprises a power cable19for receiving power to run the robot10or to charge the robots batteries or both. For wired control of the robot10, the remote control22may alternatively be connected through or along with the power cable19. The robot may also comprise a Human-Machine Interface (HMI), which may comprise control buttons, such as a stop button20, and light indicators, such as a warning light21.

FIG. 2Ashows a remote control22for a remote controlled demolition robot such as the robot10inFIG. 1. The remote control22may be assigned an identity code so that a robot10may identify the remote control and only accept commands from a correctly identified remote control22. This enables for more than one robot10to be working in the same general area. The remote control22has one or more displays23for providing information to an operator, and one or more controls24for receiving commands from the operator. The controls24include one or more joysticks, a left joystick24aand a right joystick24bfor example as shown inFIG. 2A, being examples of a first joystick24aand a second joystick24b. It should be noted that the labeling of a left and a right joystick is merely a labeling used to differentiate between the two joysticks24a,24b. A joystick24a,24bmay further be arranged with a top control switch25. In the example ofFIG. 2A, each joystick24a,24bis arranged with two top control switches25a,25b. The joysticks24a,24band the top control switches25are used to provide maneuvering commands to the robot10. The control switches24may be used to select one out of several operating modes, wherein an operating mode determines which control input corresponds to which action. For example: in a Transport mode, the left joystick24amay control the caterpillar tracks14and the right joystick24bmay control the tower10a(which can come in handy when turning in narrow passages); whereas in a Work mode, the left joystick24acontrols the tower10a, the tool11band some movements of the arms11, and the right joystick24bcontrols other movements of the arms11; and in a Setup mode, the each joystick24a,24bcontrols each a caterpillar track14, and also controls the outrigger(s)15on a corresponding side of the robot10. It should be noted that other associations of functions to joysticks and controls are also possible.

The remote control22may be seen as a part of the robot10in that it is the control panel of the robot10. This is especially apparent when the remote control is connected to the robot through a wire. However, the remote control22may be sold separately to the robot10or as an additional accessory or spare part.

The remote control22is thus configured to provide control information, such as commands, to the robot10which information is interpreted by the controller17, causing the robot10to operate according to the actuations of the remote control22.

FIG. 3shows a schematic view of a robot10according toFIG. 1. InFIG. 3, the caterpillar tracks14, the outriggers15, the arms11and the hydraulic cylinders12are shown. A tool11b, in the form of a hammer11b, is also shown (being shaded to indicate that it is optional).

The inventors have realized that in certain situations, such as in very difficult terrain, the modes of the prior art does not provide sufficient control of the robot in order to react to different movements, such as reactional movements (such as starting to slide), when navigating a difficult terrain. For example, the operator may need to use the arms11for changing the balance of the robot10or maybe for supporting or maybe even pushing the robot10, but to switch modes may not prove to be fast enough for the operator to manage to steer the robot through the terrain avoiding getting stuck, or to get free when the robot10has gotten stuck. Furthermore, the inventors have realized that the movement controls allowed in any of the existing modes does not provide sufficient control for these difficult terrains. The inventors also realized that there is simply not enough controls available on a contemporary remote control22.

The inventors have therefore devised a clever and insightful arrangement of controls on the remote control for enabling full control of a remote controlled demolition robot. To not require full relearning of the previous modes, and to simplify the understanding of the robot's control, the inventors have also provided a new operational mode.

The remote control22has been provided with a thumb control switch26on each of the joysticks24. Each thumb control switch is associated with and arranged to control each a caterpillar track (or the wheels) on a corresponding side of the robot10. The thumb control switch26aon the left joystick24acontrolling the caterpillar tack14on the left side, and the thumb control switch26bon the right joystick24bcontrolling the caterpillar tack14on the right side.

The thumb control switch26is arranged on a side of the joystick24, preferably on the handle of the joystick24. This enables the operator to control the thumb switch26with his thumb, the top control switch25with his index finger (or alternatively operating the thumb-switch with one or more fingers and the top switch with the thumb) and the joystick24with his hand and remaining fingers. The operator is thus provided with additional control options for controlling the robot10, whereby the additional control options may be performed simultaneously.

The thumb control switch26is a two-way switch, wherein each direction of the two-way switch corresponds to a direction for the caterpillar tracks14. For example, up corresponds to forwards, and down corresponds to backwards.

The thumb control switch26is furthermore an analogue or proportional control switch, wherein a speed of the caterpillar tracks14is associated with an angle or degree that the thumb control switch is depressed. An operator can thus control the robot to advance (or turn) at low speeds by pressing lightly on the thumb control switches26, and to advance (or turn) at high speeds by pressing hard on the thumb control switches26.

FIG. 4shows a table of controls being activated and the corresponding control actions being executed by the robot10. The scheme shows which actuation results in which action. The actuations are shown as a control being darkened, and for multiple way switches, the arrows indicate in which way the control is actuated.

As can be seen inFIG. 4, actuation of the thumb control switches26, such as an upwards actuation of the left thumb control switch26aarranged on the left joystick24aresults in the left caterpillar track14being driven forward401. The speed at which the caterpillar track is driven is proportionate to the degree or angle that the thumb control switch26ais depressed. Another example is that an actuation of the right top switch control25bon the left joystick24aresults in the outriggers being withdrawn405, and an actuation of the left top switch control25aon the left joystick24aresults in the outriggers being deployed406.The figure shows which action is taken for which actuation.The actuation of the controls referenced401is associated with the function of driving the left caterpillar track forward.The actuation of the controls referenced402is associated with the function of driving the left caterpillar track in reverse.The actuation of the controls referenced403is associated with the function of driving the right caterpillar track forward.The actuation of the controls referenced404is associated with the function of driving the right caterpillar track in reverse.The actuation of the controls405is associated with the function of withdrawing the outriggers.The actuation of the controls referenced406is associated with the function of deploying the outriggers. The actuation of the controls referenced407is associated with the function of rotating the tower counter-clockwise.The actuation of the controls referenced408is associated with the function of rotating the tower in a clockwise direction.The actuation of the controls referenced409is associated with the function of moving the arm11ainwards.The actuation of the controls referenced410is associated with the function of moving the arm11aoutwards.The actuation of the controls referenced411is associated with the function of moving the arm11adown.The actuation of the controls referenced412is associated with the function of moving the arm11aup.The actuation of the controls referenced413is associated with the function of moving the arm11aand the arm11boutwards.The actuation of the controls referenced414is associated the function of moving the arm11aand the arm11binwards.The actuation of the controls referenced415is associated with the function of moving the a third arm upwards.The actuation of the controls referenced416is associated with the function of moving the third arm downwards.The actuation of the controls referenced417and418are associated with the function of respectively adjusting the angle inwards and outwards.The actuation of the controls referenced419is associated with the function of adjusting the pressure and/or the flow to the hydraulic tool.The actuation of the controls referenced420is associated with the function of adjusting the pressure and/or the flow to a maximum provided to the hydraulic tool.The actuation of the controls referenced421is associated with the function of opening or closing the cutters.

As can be seen, this allows an operator to control the robot in a smooth manner without interruptions as many controls can be actuated simultaneously. For example, the operator can control the caterpillar tracks14with his thumbs, while controlling the tower with his left hand (left joystick24a) and the arm(s)11with his right hand (right joystick). Optionally, some functions of the arm(s)11may also be controlled by the left joystick in combination with actuation of a top switch25(or other switch). Naturally, the alternative operating modes of a joystick depending on actuation of a switch or not may be interchanged with one another without departing from the scope of this invention. The arm11can thus be moved to any position to balance the robot10while the caterpillar tracks are controlled accurately and proportionally. This constellation of actions and controls is highly beneficial in that it allows an operator to maneuver the body of robot10with his left hand and the arm with the right hand. The arm generally requires more dexterity which is the case or most operator's right hand. Naturally, the constellation may be reversed for a left-handed operator.

The arm can also or alternatively be moved to any position and be used to push or to pull (especially if the tool is a bucket) the robot10in a desired direction while the caterpillar tracks are controlled accurately and proportionally.

At the same time, the operator can deploy (or withdraw) the outriggers15to stabilize or support the robot10in a certain position. The outriggers15may also be used to provide an additional lift or push to the robot10. All this while the operator controls the arm11, the tower10aand the caterpillar tracks14in a smooth and proportional manner. The operator is thus enabled to simultaneously move caterpillar tracks14, outriggers15, tower10aand arm11in one coordinated and smooth movement, wherein the different components are individually controlled to react to any dynamic behaviour.

The inventors have realized that through an intelligent selection of functions to be associated with the controls, it is possible to gain a better control of the robot without the need of constantly changing operational modes. The precise combination of simultaneously controlling the tower, the arm carrying the tool, the caterpillar tracks and the outriggers and the manner in which these functions are allocated to the various switches forms a precise and distinct selection which has been inventively selected. This provides for a greatly improved maneuvering of the demolition robot which may be crucial in certain instances as has been described herein. For example, should the demolition robot start sliding down a hole or ditch, the controller is now able to simultaneously turn the tower and move the arms to position the tool for supporting or pushing the demolition robot, while extending the outriggers to stabilize the demolition robot and at the same time provide propulsion through the caterpillars. In this manner the controller will be able to prevent the demolition robot from sliding down into a ditch. In prior art system the user would have to stress through performing one action at the time and to change modes in between, while also having to remember which mode to select to and in what order to effectively perform the maneuver.

It should be noted that in some modes, the top switches may be used to operate or control a tool11binstead of the outriggers. Alternatively, the top switches may be used to control both the outriggers and a tool through a different functional allocation of the top switch actuations.

The speed of reaction and smoothness of operation is vital in a fail/succeed situation, such as freeing he robot when it is stuck (fail=remain stuck, succeed=get free) and poses higher requirements on reaction time and smoothness, than normal operation, such as when cutting in a specific pattern, where the operation may be paused, while the robot is moved to a different position or pose.

The realization that a thumb control26can beneficially be used and the introduction of this in a position (on the side of the joystick) so that the operator can reach the thumb control switches simultaneously with the top control switches25while manipulating the joystick24have thus provided a solution to the above stated problems.

Furthermore, the inventors have realized that the simultaneous control of the thumb control switches26and the joysticks24are keys to a smooth and versatile operation, even without top switches.

FIG. 2Bshows an alternative remote control22for a remote controlled demolition robot such as the robot10inFIG. 1. As inFIG. 2A, the remote control22may be assigned an identity code so that a robot10may identify the remote control and only accept commands from a correctly identified remote control22.

As inFIG. 2Athe remote control22has one or more displays23, and one or more controls24for receiving commands from the operator. The controls24include one or more joysticks, a left joystick24aand a right joystick24bfor example as shown inFIG. 2B, being examples of a first joystick24aand a second joystick24b. The joysticks24a,24bare used to provide maneuvering commands to the robot10.

As inFIG. 2A, the control switches24may be used to select one out of several operating modes, wherein an operating mode determines which control input corresponds to which action.

As for the remote control22ofFIG. 2A, the remote control22may be seen as a part of the robot10in that it is the control panel of the robot10.

The remote control22ofFIG. 2Bhas also been provided with a thumb control switch26on each of the joysticks24. Each thumb control switch26is associated with and arranged to control each a caterpillar track (or the wheels) on a corresponding side of the robot10. The thumb control switch26aon the left joystick24acontrolling the caterpillar tack14on the left side, and the thumb control switch26bon the right joystick24bcontrolling the caterpillar tack14on the right side.

The thumb control switch26is arranged on a side of the joystick24, preferably on the handle of the joystick24. This enables the operator to control the thumb switch26with his thumb and the joystick24with his hand and remaining fingers. The operator is thus provided with additional control options for controlling the propulsion of the robot10, the rotation of the tower10aand the movement of the arm(s)11, whereby the additional control options may be performed simultaneously.

As for the remote control22ofFIG. 2A, the thumb control switch26may be a two-way switch, wherein each direction of the two-way switch corresponds to a direction for the caterpillar tracks14.

As for the remote control22ofFIG. 2A, the thumb control switch26may furthermore be an analogue or proportional control switch, wherein a speed of the caterpillar tracks14is associated with an angle or degree that the thumb control switch is depressed.

Utilizing a remote control22according toFIG. 2Bthus enables an operator to control the robot10smoothly and to react to and deal with events and obstacles occurring in a difficult terrain.

FIG. 5shows a flowchart for a general method according to herein. The robot10is controlled by the operator providing510propulsion commands through the thumb control switches26a,26b. The propulsion commands are commands that control the drive means14of the robot. The robot10is also provided520with tower rotation commands through the first (left) joystick24awhich instruct the robot10in how to turn or rotate the tower10a. And, the operator also provides530arm movement commands through the second (right) joystick24b, which commands control the movement of the arms11and possibly also a tool11battached to or carried by the arms11. It should be noted that the propulsion commands, the tower rotation commands and the arm movement commands are provided simultaneously while operating in a same operating mode, as is indicated by the dashed box inFIG. 5. In one embodiment the operator may also provide540outrigger commands for controlling the outriggers15of the robot10. The outrigger commands are also provided simultaneously with the other commands.