U.S. patent application number 16/345383 was filed with the patent office on 2019-08-15 for a demolition robot control device and system.
The applicant listed for this patent is HUSQVARNA AB. Invention is credited to Rajinder Mehra, Tommy Olsson.
Application Number | 20190249394 16/345383 |
Document ID | / |
Family ID | 62025371 |
Filed Date | 2019-08-15 |
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United States Patent
Application |
20190249394 |
Kind Code |
A1 |
Mehra; Rajinder ; et
al. |
August 15, 2019 |
A DEMOLITION ROBOT CONTROL DEVICE AND SYSTEM
Abstract
A demolition robot control device is provided including
processing circuitry configured to receive control data indicative
of a selected transportation mode of a plurality of transportation
modes and cause an adjustment of a demolition robot configuration
based on the control data. The plurality of transportation modes
includes a work mode, a transport mode, and an inclined surface
mode. A demolition robot control system is also disclosed.
Inventors: |
Mehra; Rajinder;
(Johanneshov, SE) ; Olsson; Tommy; (Molndal,
SE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HUSQVARNA AB |
HUSKVARNA |
|
SE |
|
|
Family ID: |
62025371 |
Appl. No.: |
16/345383 |
Filed: |
October 25, 2017 |
PCT Filed: |
October 25, 2017 |
PCT NO: |
PCT/SE2017/051048 |
371 Date: |
April 26, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 9/261 20130101;
E02F 9/205 20130101; E02F 3/965 20130101; E04G 23/08 20130101 |
International
Class: |
E02F 9/20 20060101
E02F009/20; E02F 3/96 20060101 E02F003/96; E02F 9/26 20060101
E02F009/26; E04G 23/08 20060101 E04G023/08 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 28, 2016 |
SE |
1651425-9 |
Claims
1. A demolition robot control device comprising processing
circuitry configured to: receive control data indicative of a
selected transportation mode of a plurality of transportation
modes, wherein the plurality of transportation modes includes a
work mode, a transport mode, and an inclined surface mode; and
cause an adjustment of a demolition robot configuration based on
the control data.
2. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode and the
control data includes a direction of inclination of an inclined
surface, and wherein adjusting the demolition robot configuration
is further based on the direction of inclination.
3. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein adjusting the demolition robot configuration comprises
positioning of a counter weight.
4. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
sensor data or a site map associated with the inclined surface; and
determine an inclination angle of the inclined surface, wherein
adjusting the demolition robot configuration is further based on
the inclination angle.
5. The demolition robot control device of claim 4, wherein the
processing circuitry is further configured to: compare the
inclination angle to a predetermined incline threshold.
6. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: compare
a projected path to dimensions associated with the inclined
surface.
7. The demolition robot control device of claim 6, wherein the
processing circuitry is further configured to: cause a further
adjustment of the demolition robot configuration based on the
comparison of the projected path and the dimensions associated with
the inclined surface.
8. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
an indication of an attachment of a pull cable.
9. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
an indication of an operator location; and compare the operation
location to a safety threshold.
10. The demolition robot control device of claim 1, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to enable
propagation of the inclined surface based on satisfying one or more
safety interlocks.
11. A demolition robot control system comprising: a demolition
robot; and a demolition robot control device comprising processing
circuitry configured to: receive control data indicative of a
selected transportation mode of a plurality of transportation
modes, wherein the plurality of transportation modes includes a
work mode, a transport mode, and an inclined surface mode; and
cause an adjustment of a demolition robot configuration based on
the control data.
12. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode and the
control data includes a direction of inclination of an inclined
surface, and wherein adjusting the demolition robot configuration
is further based on the direction of inclination.
13. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein adjusting the demolition robot configuration comprises
positioning of a counter weight.
14. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
sensor data or a site map associated with the inclined surface; and
determine an inclination angle of the inclined surface, wherein
adjusting the demolition robot configuration is further based on
the inclination angle.
15. The demolition robot control system of claim 14, wherein the
processing circuitry is further configured to: compare the
inclination angle to a predetermined incline threshold.
16. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: compare
a projected path to dimensions associated with the inclined
surface.
17. The demolition robot control system of claim 16, wherein the
processing circuitry is further configured to: cause a further
adjustment of the demolition robot configuration based on the
comparison of the projected path and the dimensions associated with
the inclined surface.
18. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
an indication of an attachment of a pull cable.
19. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry is further configured to: receive
an indication of an operator location; and compare the operation
location to a safety threshold.
20. The demolition robot control system of claim 11, wherein the
selected transportation mode is the inclined surface mode, and
wherein the processing circuitry if further configured to enable
propagation of the inclined surface based on satisfying one or more
safety interlocks.
Description
TECHNICAL FIELD
[0001] Example embodiments generally relate to robotic devices and,
more particularly, relate to adjusting a demolition robot
configuration based on a transportation mode.
BACKGROUND
[0002] Typically, demolition robots are manually controlled by an
operator to perform work and/or move from one location to the next.
The operator may adjust the configuration of the demolition robot
based on the current task, such as by lowering outriggers for
stability and controlling a control arm to perform work.
Additionally, the operator may retract the outriggers and control
arm, and move the demolition device using tracks in a transport
mode.
BRIEF SUMMARY OF SOME EXAMPLES
[0003] In an example embodiment, a demolition robot control device
is provided including processing circuitry configured to receive
control data indicative of a selected transportation mode of a
plurality of transportation modes and cause an adjustment of a
demolition robot configuration based on the control data. The
plurality of transportation modes include a work mode, a transport
mode, and an inclined surface mode.
[0004] In another example embodiment, a demolition robot control
system is provided including a demolition robot and a demolition
robot control device. The demolition robot control device may
include processing circuitry configured to receive control data
indicative of a selected transportation mode of a plurality of
transportation modes and cause an adjustment of a demolition robot
configuration based on the control data. The plurality of
transportation modes may include a work mode, a transport mode, and
an inclined surface mode.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)
[0005] Having thus described the invention in general terms,
reference will now be made to the accompanying drawings, which are
not necessarily drawn to scale, and wherein:
[0006] FIG. 1 illustrates of a block diagram of a system according
to an example embodiment;
[0007] FIG. 2 illustrates a block diagram of one example of onboard
electronics or processing circuitry that may be used in connection
with employment of an example embodiment;
[0008] FIG. 3 illustrates a demolition robot according to an
example embodiment; and
[0009] FIG. 4 illustrates an example site map according to an
example embodiment.
[0010] FIG. 5 illustrates a block diagram of a method according to
an example embodiment.
DETAILED DESCRIPTION
[0011] Some example embodiments now will be described more fully
hereinafter with reference to the accompanying drawings, in which
some, but not all example embodiments are shown. Indeed, the
examples described and pictured herein should not be construed as
being limiting as to the scope, applicability or configuration of
the present disclosure. Rather, these example embodiments are
provided so that this disclosure will satisfy applicable legal
requirements Like reference numerals refer to like elements
throughout. Furthermore, as used herein, the term "or" is to be
interpreted as a logical operator that results in true whenever one
or more of its operands are true. As used herein, operable coupling
should be understood to relate to direct or indirect connection
that, in either case, enables functional interconnection of
components that are operably coupled to each other.
[0012] In an example embodiment, a demolition robot control device
may be provide configured to cause an adjustment of a demolition
robot configuration based on an indication of a selected
transportation mode. The selected transportation mode may be one of
a plurality of possible transportation modes including a work mode,
transport mode, or inclined surface mode (or stair mode). In some
example embodiments, the adjustment of the demolition device
configuration may include positioning outriggers, control arms, or
the like for the current mode.
[0013] In an example embodiment, in which the selected
transportation mode is the inclined surface mode, the demolition
robot control device may determine the direction of incline and/or
the inclination angle and the adjustment of the demolition robot
configuration may be further based on the direction of the incline
of inclination angle. In some example embodiments, the adjustment
of the demolition robot configuration in the inclined surface mode
may include positioning outriggers, the control arm, a counter
weight, or the like, to compensate for the change in angle and
weight distribution of the demolition device as it traverses the
inclined surface.
[0014] In an example embodiment the demolition robot control device
may compare a projected path to dimensions associated with the
inclined surface, such as walls, ceilings, turns, or the like. The
demolition robot control device may cause further adjustments to
the demolition robot configuration to limit or prevent impact with
the walls, ceiling, or the like.
[0015] In some example embodiments, the demolition robot may
include a pull cable or winch to provide further stability when
traversing the inclined surface. The demolition robot control
device may be configured to receive an indication of attachment of
the pull cable. In another example embodiment, the demolition robot
control device may be configured to receive an indication of the
operator location. The demolition robot control device may provide
warnings or prevent propagation of the demolition robot in an
instance in which one or more safety interlocks are not satisfied.
For example, propagation the demolition robot may be enabled in an
instance in which the operator location satisfies a safety
threshold, the inclination angle satisfies a predetermined
threshold, an indication of pull cable attachment has been
received, the demolition robot has completed the configuration
adjustment, and/or the demolition robot configuration will not
impact walls in the projected path.
[0016] FIG. 1 illustrates an example system in which an embodiment
of the present invention may be employed. In this regard, FIG. 1
illustrates a generic example of a system in which various devices
that are examples of construction equipment may utilize a network
for the performance of construction site coordination according to
an example embodiment. As shown in FIG. 1, a system 10 according to
an example embodiment may include one or more client devices (e.g.
demolition robots 20 and remote control devices 50). Notably,
although FIG. 1 illustrates four devices 20, 50 it should be
appreciated that many more devices 20, 50 may be included in some
embodiments and thus, the four devices 20, 50 of FIG. 1 are simply
used to illustrate a multiplicity of devices 20, 50 and the number
of devices 20, 50 is in no way limiting to other example
embodiments. In this regard, example embodiments are scalable to
inclusion of any number of devices 20, 50 being tied into the
system 10. Moreover, it should be appreciated that FIG. 1
illustrates one example embodiment in which shared resources may be
allocated within a community of networked devices (e.g. devices 20,
50). However, it should be appreciated that the architecture of
various example embodiments may vary. Thus, the example of FIG. 1
is merely provided for ease of explanation of one example
embodiment and should not be considered to be limiting with respect
to the architecture of the system 10. Accordingly, for example,
some embodiments may have specific sets of devices 20, 50 that are
associated with corresponding specific servers that belong to or
are utilized by a particular organization, entity or group over a
single network (e.g. network 30). However, in other embodiments,
multiple different sets of devices 20, 50 may be enabled to access
other servers associated with different organizations, entities or
groups via the same or a different network.
[0017] The devices 20, 50 may, in some cases, each include sensory,
computing and/or communication devices associated with different
devices 20, 50 that belong to or are associated with a single
organization, for example fleet management of devices 20, 50 at a
construction site. In another example, a first device 20, 50 may be
associated with a first facility or location of a first
organization. Meanwhile, a second device may be associated with a
second facility or location of the first organization. As such, for
example, some of the devices 20, 50 may be associated with the
first organization, while other ones of the devices 20, 50 are
associated with a second organization. Thus, for example, the
devices 20, 50 may be remotely located from each other, collocated,
or combinations thereof. However, in some embodiments, each of the
devices 20, 50 may be associated with individuals, locations or
entities associated with different organizations or merely
representing individual devices.
[0018] Each one of the demolition robots 20 may include a housing
inside which a power unit or motor (not shown) is housed. In some
embodiments, the power unit may be an electric motor, an internal
combustion engine, hydraulic system, pneumatic system, combustion
chamber, or the like. The demolition robots 20 may each further
include a working element, which may be operably coupled to a
control arm. The working element may be operated via the power unit
to perform demolition operations, such as drilling, cutting,
demolishing, or the like. The construction devices 20 may include
sensors for monitoring location, device operation, orientation, or
the like, as discussed below in reference to FIG. 2.
[0019] Each of the remote control devices 50 may include sensors,
such as location sensors, cameras, scanners, or the like and/or a
user interface, as discussed below in reference to FIG. 2. The
remote control device 50 may, in some cases, be useful for
controlling operation of the demolition robot 20. In some
instances, the remote control device 50 may communicate directly
with the demolition robot 20 via wireline or wireless
communication.
[0020] In an example embodiment, each of the devices 20, 50 may
include onboard circuitry 22 which may include or otherwise be
embodied as a computing device (e.g. a processor, microcontroller,
processing circuitry, or the like) capable of communication with a
network 30 and/or each other . As such, for example, each one of
the devices 20, 50 may include (or otherwise have access to) memory
for storing instructions or applications for the performance of
various functions and a corresponding processor for executing
stored instructions or applications and a corresponding processor
or processing circuitry. Each one of the devices 20, 50 may also
include software and/or corresponding hardware (e.g. the onboard
circuitry 22) for enabling the performance of the respective
functions of the clients as described below. In an example
embodiment, one or more of the devices 20, 50 may be configured to
execute applications or functions implemented via software for
enabling a respective one of the devices 20, 50 to communicate with
each other or the network 30 for requesting and/or receiving
information and/or services via the network 30 and/or for providing
data to other devices via the network 30. The information or
services receivable at the devices 20, 50 may include deliverable
components (e.g. downloadable software to configure the onboard
circuitry 22 of the devices 20, 50, or information for consumption
or utilization at the onboard circuitry 22 of the devices 20,
50).
[0021] The network 30 may be a data network, such as a local area
network (LAN), a metropolitan area network (MAN), a wide area
network (WAN) (e.g. the Internet), and/or the like, which may
couple the devices 20, 50 to devices such as processing elements
(e.g. personal computers, server computers or the like) and/or
databases. Communication between the network 30, the devices 20, 50
and the devices or databases (e.g. servers) to which the devices
20, 50 are coupled may be accomplished by either wired or wireless
communication mechanisms and corresponding communication protocols.
However, in some embodiments, the devices 20, 50 may operate
independently of any network connectivity.
[0022] In an example embodiment, other devices to which the devices
20, 50 may be coupled via the network 30 may include a server
network 32 including one or more application servers (e.g.
application server 40), and/or a database server 42, which together
may form respective elements of the server network 32. Although the
application server 40 and the database server 42 are each referred
to as "servers," this does not necessarily imply that they are
embodied on separate servers or devices. As such, for example, a
single server or device may include both entities and the database
server 42 could merely be represented by a database or group of
databases physically located on the same server or device as the
application server 40. The application server 40 may include
monitoring circuitry 44 (which may be similar to or different from
the onboard circuitry 22 of the devices 20, 50) that may include
hardware and/or software for configuring the application server 40
to perform various functions. As such, for example, the application
server 40 may include processing logic and memory enabling the
application server 40 to access and/or execute stored computer
readable instructions for performing various functions.
[0023] In an example embodiment, one function that may be provided
by the application server 40 (e.g. via the monitoring circuitry 44)
may be the provision of services relating to causing adjustment of
a demolition robot configuration based on a selected transportation
mode, as will be described in greater detail below. For example,
the application server 40 may be local or remote and configured to
receive data from the devices 20, 50 and process the data to
coordinate construction site operations, as described herein. Thus,
for example, the onboard circuitry 22 may be configured to send the
data to the application server 40 for the application server to
coordinate adjustments to the demolition robot configuration and/or
movement operations, or have actions associated therewith (e.g.
send information, alerts, or safety interlocks to devices 20, 50).
In some embodiments, the application server 40 may be configured to
provide devices 20, 50 with instructions (e.g. for execution by the
onboard circuitry 22) for taking prescribed actions when
corresponding control data is received or safety interlocks are
met. However, in other cases the onboard circuitry 22 may control
the devices 20, 50 without any assistance or connection to
application server 44 or network 30.
[0024] The system 10 of FIG. 1 may cause adjustments to a
demolition robot configuration on the basis of the execution of
functionality that is executed using either or both of the onboard
circuitry 22 and the monitoring circuitry 44. FIG. 2 illustrates a
block diagram showing components that may be associated with
embodiment of the onboard circuitry 22 and/or the monitoring
circuitry 44 according to an example embodiment. As shown in FIG.
2, the onboard circuitry 22 and/or the monitoring circuitry 44 may
include or otherwise be embodied as a demolition robot control
(DRC) device 100. The DRC device 100 may be embodied in a
demolition robot 20, a remote control device 50, the monitoring
circuitry, a separate computing device, or be distributed among the
devices 20, 50, and/or a separate computing device. The DRC device
100 may include processing circuitry 110 of an example embodiment,
as described herein. In this regard, for example, the DRC device
100 may utilize the processing circuitry 110 to provide electronic
control inputs to one or more functional units of the onboard
circuitry 22 and/or the monitoring circuitry 44 and to process data
generated by the one or more functional units regarding various
indications of device activity (e.g. operational parameters and/or
location information) relating to a corresponding one of the
devices 20, 50. In some cases, the processing circuitry 110 may be
configured to perform data processing, control function execution
and/or other processing and management services according to an
example embodiment. In some embodiments, the processing circuitry
110 may be embodied as a chip or chip set. In other words, the
processing circuitry 110 may comprise one or more physical packages
(e.g. chips) including materials, components and/or wires on a
structural assembly (e.g. a baseboard). The structural assembly may
provide physical strength, conservation of size, and/or limitation
of electrical interaction for component circuitry included thereon.
The processing circuitry 110 may therefore, in some cases, be
configured to implement an embodiment of the present invention on a
single chip or as a single "system on a chip." As such, in some
cases, a chip or chipset may constitute means for performing one or
more operations for providing the functionalities described
herein.
[0025] In an example embodiment, the processing circuitry 110 may
include one or more instances of a processor 112 and memory 114
that may be in communication with or otherwise control a device
interface 120 and, in some cases, a user interface 130. As such,
the processing circuitry 110 may be embodied as a circuit chip
(e.g. an integrated circuit chip) configured (e.g. with hardware,
software or a combination of hardware and software) to perform
operations described herein. However, in some embodiments, the
processing circuitry 110 may be embodied as a portion of an
on-board computer on a device being monitored (e.g. one of the
devices 20, 50), while in other embodiments, the processing
circuitry 110 may be embodied as a remote computer that monitors
device activity for one or more devices.
[0026] The user interface 130 may be in communication with the
processing circuitry 110 to receive an indication of a user input
at the user interface 130 and/or to provide an audible, visual,
tactile or other output to the user. As such, the user interface
130 may include, for example, a display, one or more levers,
switches, buttons or keys (e.g. function buttons), and/or other
input/output mechanisms. In an example embodiment, the user
interface 130 may include one or a plurality of lights, a display,
a speaker, a tone generator, a vibration unit and/or the like.
[0027] The device interface 120 may include one or more interface
mechanisms for enabling communication with other devices (e.g.
sensors of the sensor network 140, or functional units of the DRC
device 100 or other equipment on which an example embodiment may be
employed). In some cases, the device interface 120 may be any means
such as a device or circuitry embodied in either hardware, or a
combination of hardware and software that is configured to receive
and/or transmit data from/to sensors in communication with the
processing circuitry 110 via internal communication systems of the
DRC device 100. In some cases, the device interface 120 may further
include wireless communication equipment (e.g. a one way or two way
radio, Bluetooth, near field communication, or the like) for at
least communicating information from the DRC device 100 to a
network and, in the case of a two way radio, in some cases
receiving information from a network or other device (e.g. the
other one of the demolition robot 20 or the remote control device
50, and or other demolition robots 20 and/or remote control devices
50.
[0028] The processor 112 may be embodied in a number of different
ways. For example, the processor 112 may be embodied as various
processing means such as one or more of a microprocessor or other
processing element, a coprocessor, a controller or various other
computing or processing devices including integrated circuits such
as, for example, an ASIC (application specific integrated circuit),
an FPGA (field programmable gate array), or the like. In an example
embodiment, the processor 112 may be configured to execute
instructions stored in the memory 114 or otherwise accessible to
the processor 112. As such, whether configured by hardware or by a
combination of hardware and software, the processor 112 may
represent an entity (e.g. physically embodied in circuitry--in the
form of processing circuitry 110) capable of performing operations
according to embodiments of the present invention while configured
accordingly. Thus, for example, when the processor 112 is embodied
as an ASIC, FPGA or the like, the processor 112 may be specifically
configured hardware for conducting the operations described herein.
Alternatively, as another example, when the processor 112 is
embodied as an executor of software instructions, the instructions
may specifically configure the processor 112 to perform the
operations described herein.
[0029] In an example embodiment, the processor 112 (or the
processing circuitry 110) may be embodied as, include or otherwise
control the operation of the DRC device 100 based on inputs
received by the processing circuitry 110. As such, in some
embodiments, the processor 112 (or the processing circuitry 110)
may be said to cause each of the operations described in connection
with the DRC device 100 in relation to operation the DRC device 100
relative to undertaking the corresponding functionalities
associated therewith responsive to execution of instructions or
algorithms configuring the processor 112 (or processing circuitry
110) accordingly.
[0030] In an example embodiment, the memory 114 may include one or
more non-transitory memory devices such as, for example, volatile
and/or non-volatile memory that may be either fixed or removable.
The memory 114 may be configured to store information, data,
applications, instructions or the like for enabling the processing
circuitry 110 to carry out various functions in accordance with
example embodiments of the present invention. For example, the
memory 114 could be configured to buffer input data for processing
by the processor 112. Additionally or alternatively, the memory 114
could be configured to store instructions for execution by the
processor 112. As yet another alternative or additional capability,
the memory 114 may include one or more databases that may store a
variety of data sets responsive to input from the sensor network
140, the DRC device 100, or any other functional units that may be
associated with the DRC device 100. Among the contents of the
memory 114, applications may be stored for execution by the
processor 112 in order to carry out the functionality associated
with each respective application.
[0031] In some embodiments, the processing circuitry 110 may
communicate with electronic components and/or sensors of the sensor
network 140 (e.g. sensors that measure variable values related to
device location, orientation, and/or environmental conditions like
direction of inclination, inclination angles, enclosure dimensions,
and/or the like, and/or sensors that measure device movement by
employing movement sensor circuitry) of the demolition robot 20 via
the device interface 120. In one embodiment, sensors of the sensor
network 140 of one or more ones of the devices 20, 50 may
communicate with the processing circuitry 110 of a remote
monitoring computer via the network 30 and the device interface 120
using wireless communication or by downloading data that is
transferred using a removable memory device that is first in
communication with the demolition robot 20 to load data indicative
of device activity, and is then (e.g. via the device interface 120)
in communication with the remote monitoring computer (e.g.
associated with the monitoring circuitry 44).
[0032] In some embodiments, the processing circuitry 110 may
communicate with movement sensor circuitry of the devices 20, 50
(e.g. when the processing circuitry 110 is implemented as the
onboard circuitry 22), or may receive information indicative of
device location from movement sensor circuitry of one or more
devices being monitored (e.g. when the processing circuitry is
implemented as the monitoring circuitry 44). The movement sensor
circuitry may include movement sensors (e.g. portions of the sensor
network 140) such as one or more accelerometers and/or gyroscopes,
or may include global positioning system (GPS) or other location
determining equipment.
[0033] The movement sensor circuitry (if employed) may be
configured to provide indications of movement of the devices 20, 50
based on data provided by the one or more accelerometers and/or
gyroscopes, and/or based on GPS or local position determining
capabilities. In other words, the movement sensor circuitry may be
configured to detect movement of the devices 20, 50 based on
inertia-related measurements or other location determining
information. In some example embodiments, the movement sensor
circuitry may include orientation sensors, configured to detect the
orientation of a device or component thereof, particularly the
working element of the device, relative to the determined location
or a reference point/structure of the determined location.
[0034] FIG. 3 illustrates a demolition robot 20 according to an
example embodiment of the present invention. As shown in FIG. 3,
the demolition robot 20 may include a plurality of outriggers
(e.g., support legs) 25 which may extend and retract to secure
and/or stabilized the demolition robot 20 prior to and/or during
operation of the demolition robot 20. The outriggers 25 are
illustrated as being in a fully retracted position in FIG. 1. The
demolition robot 20 may further comprise caterpillar tracks 26
configured to move the demolition robot 20 across a variety of
landscapes (e.g., flat surfaces; debris covered surfaces; inclined
surfaces; such as ramps and stairs; or the like) and a rotating
tower 27. The demolition robot 20 may also include a control arm
21, which may be moved to engage a variety of working elements
and/or perform a variety of work-tasks. The demolition robot 20 may
receive control data from the DRC device 100, which may be embodied
in the demolition robot 20 or at the remote control device 50. The
remote control device 50 may include a user interface, such as user
interface 130, including a first control stick 23 and a second
control stick 24. The remote control device 50 may also include a
variety of switches and/or buttons which may be used in conjunction
with the control sticks 23, 24 to control operation of each of the
functionally operational features of the demolition robot 20.
[0035] As stated above, the demolition robot 20 may receive control
data from the DRC device 100. The control data may be indicative of
a selected transportation mode of the demolition robot 20. In an
example embodiment, the selected transportation mode that may be
one of a plurality of transportation modes may include without
limitation, a work mode, a transport mode, and an inclined surface
mode. The DRC device 100 may cause the demolition robot 20 to
adjust a demolition robot configuration based on control data
indicative of the selected transportation mode. The work mode may
be used to maximize stability of the demolition robot 20 during
operation of the control arm 21 for demolition operations. The work
mode may include a demolition robot configuration defining the
outriggers 25 in an extended position to secure the demolition
robot 20 in place. The transport mode may used to move the
demolition robot 20 over a substantially level surface, for
example, inclinations of less than 20 degrees, 30 degrees, or the
like. The transport mode may include a demolition robot
configuration defining retraction of the outriggers 25, such as
vertically or horizontally, toward the center of the demolition
robot 20. In an example embodiment, the transport mode demolition
robot configuration may define a control arm position as raised at
least a predetermined distance from a floor, such as 6 inches, 12
inches, 18 inches or the like. The inclined surface mode (or stair
mode) may be used to transport the demolition device over an
inclined surface, such as a ramp, hill, stairs, or the like, for
example surfaces with an average inclination angle of greater than
20 degrees, 30 degrees, or the like. The inclined surface mode may
include a demolition robot configuration defining further
retracting of the outriggers 25 to the demolition robot 20, such as
to a maximum retraction position, centering the rotating tower 27
over the caterpillar tracks 26, retracting the control arm 21 to a
storage position, e.g. fully retracted, or other adjustments which
may lower or center the center of gravity of the demolition robot
20 to enable more stable transport.
[0036] In an example embodiment, the DRC device 100 may receive
data indicative of a direction of incline, e.g. upward or downward.
The data indicative of the direction of the incline may be received
from the remote control device 50, such as an operator selection
using the user interface 130. Additionally or alternatively, the
data indicative of the direction of incline may be sensor data from
one or more sensors of a sensor network 140, indicative of one or
more surfaces in the vicinity of the demolition robot. In another
embodiment, the DRC device 100 may receive a site map and/or the
location data associated with the demolition robot 20. The site map
may be indicative of surfaces of a construction site and the DRC
device 100 may use the location data to determine the inclination
associated with the surfaces proximate to the demolition robot 20
based on the site map, an example site map is depicted in FIG.
4.
[0037] The DRC device 100 may include a direction of inclination as
a portion of the control data. In an example embodiment in which
the control data includes the direction of inclination the
adjustment of the demolition robot configuration may include
positioning a counter weight 29. The positioning of the counter
weight 29 may shift the center of gravity of the demolition robot
20 to be more stable when traversing the inclined surface. For
example, in an instance in which the direction of inclination is
upward, the demolition robot configuration may define or direct
positioning of the counter weight 29 at a forward position, e.g.
the portion of the demolition robot 20 which may lead the traversal
of the inclined surface, to maintain positive engagement of the
caterpillar tracks 26 on the inclined surface and prevent a
backward roll. Similarly, in an instance in which the direction of
inclination is downward, the demolition robot configuration may
define or direct the counter weight 29 at a rearward position, to
maintain positive engagement of the caterpillar track 26 on the
inclined surface and prevent a forward roll.
[0038] In some example embodiments, the sensor data and/or site map
may include further data associated with the inclined surface, such
as the angle of inclination or type of inclination (e.g. stairs,
ramp, or the like. The DRC device 100 may determine an angle of
inclination of the inclined surface based on the sensor data,
location data, user input, and/or site map. The DRC device 100 may
cause additional adjustments to the demolition robot configuration
based on the inclination angle. In an example embodiment, the DRC
device 100 may determine a counter balance position of for the
counter weight 29 based on the inclination angle. Adjusting the
demolition robot configuration may include positioning the counter
weight 29 at the counter balance position. Additionally or
alternatively, the DRC device 100 may determine a control arm
balance position, based on the inclination angle. Adjusting the
demolition robot configuration may include positioning the control
arm 21 and or rotating tower 27 to the control arm balance
position, to provide a further adjustment to the center of gravity
of the demolition robot 20.
[0039] In an example embodiment, the DRC device 100 may determine a
propagation path for the demolition robot 20. The propagation path
may be based on user input, such as from the user interface 130
defining a starting location and an ending location in the site
map. In another example embodiment, the propagation path may be the
area within a predetermined distance of a driving direction of the
demolition robot 20.
[0040] The DRC device 100 may determine dimensions associated with
the inclined surface, such as distances, turns, walls ceilings, or
the like. The dimensions may be determined based on sensor data,
for example, a captured image from a camera, proximity sensors,
three dimensional scanning, or the like. Additionally, or
alternatively, the site map may include measurements of one or more
features, and the DRC device 100 may determine the dimensions
associated with the inclined surface based on the site map and
location data.
[0041] In some example embodiments, the DRC device 100 may compare
the propagation path, which may include the physical dimensions of
the demolition robot 20 to the dimensions associated with the
inclined surface. The DRC device 100 may determine one or more
contact points (e.g. points at which a portion of the demolition
robot 20 would impact a wall ceiling or the like in the current
demolition robot configuration) associated with traversal of the
propagation path based on the comparison of the propagation path to
the dimensions associated with the inclined surface. The DRC device
100 may determine further adjustments to the demolition device
configuration to prevent or limit contact points. In some cases,
the DRC device may additionally determine one or more locations to
cause execution of the additional adjustments to the demolition
robot configuration, such as at turning points of stairs.
Additionally or alternatively, the DRC device 100 may determine
that the demolition robot 20 is not able to traverse the
propagation path without making contact with walls ceiling or the
like. An indication may be provided to the operator or device
operation may be halted in such cases.
[0042] In an example embodiment, the demolition robot 20 may
include a pull cable 32, an anchor, such as a hook 30, and a winch.
The hook 30 may be attached to an anchor point such as a pad eye
and the winch may provide tension on the pull cable 32. The tension
on the pull cable may provide resistance to gravity, preventing
sliding of the demolition robot 20 on the inclined surface,
and/preventing forward or backward rolling of the demolition robot
20.
[0043] In some example embodiments, the DRC device 100 may enable
movement or propagation over the inclined surface in an instance in
which one or more safety interlocks are satisfied, and disable the
demolition robot 20 in an instance in which one or more safety
interlocks are not satisfied. The demolition robot 20 may be
disabled by mechanically, electrically, or programmatically
preventing operation or propagation of the demolition robot 20.
[0044] In some example embodiments, the DRC device 100 may compare
the inclination angle to a predetermined incline threshold. The
predetermined incline threshold may be based on an angle at which
the demolition robot 20 may safely traverse the inclined surface
without sliding or rolling, for example 50 degrees, 60 degrees, or
the like. In an instance in which the inclination angle satisfies,
e.g. is less than, the predetermined incline threshold, the safety
interlock may be satisfied enabling propagation of the demolition
robot 20 over the inclined surface.
[0045] In some example embodiments, the DRC device 100 may receive
an indication of attachment of the pull cable 32. The indication of
attachment of the pull cable 32 may be received from a sensor, such
as a portion of the sensor network 140, or from the user interface
130. In an example embodiment, receiving the indication of
attachment of the pull cable 32 in the inclined surface mode may
satisfy the safety interlock, and the DRC device 100 may enable
propagation of the demolition robot 20 over the inclined
surface.
[0046] In some embodiments, the DRC device 100 may include multiple
predetermined incline thresholds. A first incline threshold, such
as 30 degrees, 40 degrees or the like, may be satisfied (e.g. an
inclination angle less than the incline threshold) without an
indication of attachment of the pull cable 32. A second incline
threshold (above the first incline threshold), such as 45 degrees,
50 degrees, 60 degrees, or the like may be satisfied in an instance
in which the indication of attachment of the pull cable 32 is
received. The DRC device 100 may determine whether the safety
interlock is satisfied and enable propagation of the demolition
robot 20 over the inclined surface, in an instance in which the
first or second incline threshold is satisfied.
[0047] In an example embodiment, the safety interlock may include a
determination of a passable propagation path or projected path,
e.g. a propagation path in which the demolition robot 20 will not
contact a wall, ceiling, or the like, while traversing the inclined
surface. In an instance in which the DRC device 100 determines that
the demolition robot 20 will not contact walls, ceilings, or the
like, (based on the comparison of the dimensions associated with
the inclined surface and the propagation path), the DRC device 100
may determine the safety interlock is satisfied and enable
propagation of the demolition robot 20 over the inclined surface.
The passable propagation path may or may not include additional
demolition robot 20 configuration adjustments.
[0048] In some example embodiments, the DRC device 100 may receive
an indication of an operator location. The indication of the
operator location may be sensor data or location data received from
one or more sensors of the sensor network 140, or a user input
received from the user interface 130. The indication of the
operator location may be associated with the operator, other
workers, supervisors, or the like. The DRC device 100 may compare
the operator location to a safety threshold. The safety threshold
may be a radius around the demolition robot 20, the propagation
path, a predetermined area in the direction of the demolition robot
propagation, the area below the demolition robot 20 on the inclined
surface, or the like. The safety threshold may prevent operators
from being in a position in which injury may occur due to
operation, sliding, rolling, adjustments to the demolition robot
configuration, or the like. The DRC device 100 may determine the
safety interlock is satisfied, in an instance in which the operator
location satisfies, e.g. is not within, the safety threshold.
Although discussed separately, the DRC device 100 may utilize any,
some or all of the safety interlocks in any combination.
[0049] FIG. 4 illustrates a site map 310 according to an example
embodiment. The site map 310 may include or the demolition robot 20
may determine the location of the demolition robot 20 and inclined
surfaces 312, such as ramps or stairs, or other site features. The
inclined surface 312 depicted is a stair case to a higher floor.
The site map 310 may also include or the demolition robot 20 may
determine dimensions 314 associated with the inclined site feature
312, e.g. inclined surface. For example, the site map 312 may
include the dimensions including the ceiling height, the width of
the stair case, width of landing, and/or narrowest points of a
landing, or other dimensional measurements. In some embodiments,
the site map 310 may include or the demolition robot 20 may
determine the direction of inclination of the inclined surface 318,
e.g. up in the case, the inclination angle, and/or a projected path
316. Additionally or alternatively, the site map 310 may include or
the demolition robot may determine the operator location 320.
[0050] In some cases, a method of utilizing the DRC device 100
and/or one or more demolition robots 20 according to an example
embodiment may be provided. FIG. 5 illustrates a block diagram of
some activities that may be associated with one example of such a
method. In some embodiments, the processing circuitry 110 (which
may include a processor capable of executing instructions stored in
a non-transitory computer readable medium/memory) may be configured
to implement a control algorithm for the DRC device 100 and/or the
one or more demolition robots 20 according to the method.
[0051] In an example embodiment, the method may include receiving
control data indicative of a transportation mode at operation 402
and causing an adjustment to a demolition robot configuration based
on the control data at operation 404.
[0052] In some embodiments, the method may include additional,
optional operations, and/or the operations described above may be
modified or augmented. Some examples of modifications, optional
operations, and augmentations are described below, as indicated by
dashed lines. In an example embodiment, the method may include
receiving sensor data or a site map associated with an inclined
surface at operation 404 determining an inclination angle of the
inclined surface at operation 406, and comparing the inclination
angle of the inclined surface to a predetermined incline threshold
at operation 408. In some example embodiments, the method may
include comparing a projected path to dimensions associated with
the inclined surface at operation 412, causing a further adjustment
of the demolition robot configuration based on the projected path
of the demolition robot and the dimensions of the inclined surface
at operation 414, and receiving an indication of a pull cable
attachment at operation 416. The method may also include, in some
example embodiments, receiving an indication of an operator
location at operation 418, comparing the operator location to a
safety threshold at operation 420, and enabling propagation of the
inclined surface based on satisfying one or more safety interlocks
at operation 422.
[0053] In an example embodiment, the DRC device 100 may comprise a
processor (e.g. the processor 112) or processing circuitry 110
configured to perform some or each of the operations (402-422)
described above. The processor 112 may, for example, be configured
to perform the operations (402-422) by performing hardware
implemented logical functions, executing stored instructions, or
executing algorithms for performing each of the operations. In some
embodiments, the processor 112 or processing circuitry 110 may be
further configured for additional operations or optional
modifications to operations 402-422. In this regard, for example,
the selected transportation mode is the inclined surface mode and
the control data includes a direction of inclination of an inclined
surface and adjusting the demolition robot configuration is further
based on the direction of inclination. In an example embodiment,
the selected transportation mode is the inclined surface mode and
adjusting the demolition robot configuration comprises positioning
of a counter weight. In an example embodiment, the selected
transportation mode is the inclined surface mode and the processing
circuitry is further configured to receive sensor data or a site
map associated with the inclined surface and determine an
inclination angle of the inclined surface. The adjusting the
demolition robot configuration is further based on the inclination
angle. In some example embodiments, the processing circuitry is
further configured to compare the inclination angle to a
predetermined incline threshold. In an example embodiment, the
selected transportation mode is the inclined surface mode and the
processing circuitry is further configured to compare a projected
path to dimensions associated with the inclined surface. In some
example embodiments, the processing circuitry is further configured
to cause a further adjustment of the demolition robot configuration
based on the comparison of the projected path and the dimensions
associated with the inclined surface. In an example embodiment, the
selected transportation mode is the inclined surface mode and the
processing circuitry is further configured to receive an indication
of an attachment of a pull cable. In some example embodiments, the
selected transportation mode is the inclined surface mode and the
processing circuitry is further configured to receive an indication
of an operator location and compare the operation location to a
safety threshold. In some example embodiments, the selected
transportation mode is the inclined surface mode and the processing
circuitry if further configured to enable propagation of the
inclined surface based on satisfying one or more safety
interlocks.
[0054] Many modifications and other embodiments of the inventions
set forth herein will come to mind to one skilled in the art to
which these inventions pertain having the benefit of the teachings
presented in the foregoing descriptions and the associated
drawings. Therefore, it is to be understood that the inventions are
not to be limited to the specific embodiments disclosed and that
modifications and other embodiments are intended to be included
within the scope of the appended claims. Moreover, although the
foregoing descriptions and the associated drawings describe
exemplary embodiments in the context of certain exemplary
combinations of elements and/or functions, it should be appreciated
that different combinations of elements and/or functions may be
provided by alternative embodiments without departing from the
scope of the appended claims. In this regard, for example,
different combinations of elements and/or functions than those
explicitly described above are also contemplated as may be set
forth in some of the appended claims. In cases where advantages,
benefits or solutions to problems are described herein, it should
be appreciated that such advantages, benefits and/or solutions may
be applicable to some example embodiments, but not necessarily all
example embodiments. Thus, any advantages, benefits or solutions
described herein should not be thought of as being critical,
required or essential to all embodiments or to that which is
claimed herein. Although specific terms are employed herein, they
are used in a generic and descriptive sense only and not for
purposes of limitation.
* * * * *