SE1651427A1

SE1651427A1 - Robotic vehicle having power cord awareness

Info

Publication number: SE1651427A1
Application number: SE1651427A
Authority: SE
Inventors: Mehra Rajinder; Olsson Tommy
Original assignee: Husqvarna Ab
Priority date: 2016-10-28
Filing date: 2016-10-28
Publication date: 2018-03-13
Also published as: SE540069C2; WO2018080385A1

Abstract

A robotic vehicle including processing circuitry configured to receive power cordinformation indicative of position-data of at least a portion of a power cord operably coupled to the robotic vehicle, tension-data of at least a portion of a power cord operably coupled to the robotic vehicle, or both; receive operating parameters for a predetermined minimum operating dimension between the robotic vehicle and the power cord, for a predetermined maximum tension of the power cord, or both; determine an actual operating dimension between the robotic vehicle and the power cord, an actual tension of the power cord, or both; and prevent operation of the robotic vehicle when the actual operating dimension between the robotic vehicle and the power cord meets or exceeds the predetermined minimum operation dimension, when the actual tension of the power cord meets or exceeds the predetermined maximum tension of the power cord.

Description

AttyDktNo: 38004/101 l2/P3 179SE00 ROBOTIC VEHICLE HAVING POWER CORD AWARENESS TECHNICAL FIELD[0001] Example embodiments generally relate to robotic devices and, more particularly,relate to a robotic device that is configured to have power cord awareness and mitigate or preventoperation of the robotic vehicle in a manner that damages or destroys the power cord attached to the robotic vehicle.

BACKGROUND

[0002] Construction equipment includes such devices as saws, drills, generators, nail guns,demolition robots, and the like. These devices are often used to perform tasks that inherentlyproduce debris, and they are also inherently required to be mobile. Accordingly, these devicesare typically made to be relatively robust and capable of handling difficult work in hostileenvironments, while balancing the requirement for mobility. However, these devices typicallyalso include some form of working assembly that is capable of cutting work pieces, drillingholes, shoot nails or rivets, demolish structures, or the like. Thus, these devices have thecapability to be sources of risk for damage to equipment or people.

[0003] The construction environment may include immense amounts of coordination forboth safety and productivity purposes. In some examples, a manager, such as a foreman, mayhave to determine the deployment of personnel and equipment throughout a job site. Theforeman may make deployment deterrninations based on safety concems, preventing workers onopposing sides of a wall or ﬂoor from drilling or sawing through and injuring each other. Theforeman may also make deployments based on the number or type of construction devicesavailable at the job site and or power supplies at the job site. There may be a limited number ofspecific tools and the foreman may set priorities for the construction devices. There also may belimited battery packs and or wired power. The foreman may also maintain information for eachconstruction device, such as location, repair status, maintenance status, or the like, thisinformation may be used to schedule maintenance or find altemative resources when a construction tool breaks or becomes unusable for other reasons.

AttyDktNo: 38004/101 l2/P3 179SE00

[0004] In some construction sites, robotic devices may be particularly suited to use due to theharsh working conditions and location of strenuous tasks which may not be practical and/or safefor individuals. In such construction sites, robot vehicles, such as demolition robots, may bedeployed. Demolition robots, however, may be capable causing great amounts of unintendeddamaged if the operator is distracted or inattentive. Demolition robots may also causeunintended damage to various structures if the demolition robot is not driven precisely inrestrictive areas such as, hallways, stairwells, or the like. Moreover, it is also possible that the demolition robots could damage their own power cord.

BRIEF SUMMARY OF SOME EXAMPLES

[0005] Some example embodiments may, therefore, provide a robotic vehicle that employs acapability or capabilities for mitigating or preventing operation of the robotic vehicle in a mannerthat damages or destroys the power cord attached to the robotic vehicle. In this regard, therobotic vehicle may be considered to have awareness of a power cord attached thereto and viaprocessing circuitry and/or certain power cord configurations prevent operation of the roboticvehicle in a manner that would damage or destroy the power cord. For example, the roboticvehicle may be configured to automatically detach the power cord from the robotic vehicle whenthe power cord experiences a predetermined tension and/or hover over or off the ground in anarea proximate to the robotic vehicle so as to avoid damaging the power cord with outriggers thatmay be extended and retracted repeatedly during a period of operation. Such power cordawareness by the robotic vehicle, for example, may also be realized by employing a variety ofsensors in the robotic vehicle and/or the power cord in conjunction with processing circuitryconfigured to mitigate or prevent operation of the robotic vehicle, for example based on datareceived from the sensors, in a manner damaging or destroying the power cord. For instance, theprocessing circuitry may be configured to turn off the power of the robotic vehicle whenpotentially unsafe and/or damaging operating conditions are realized.

[0006] In an example embodiment, a robotic vehicle (e. g., a demolition robot) is provided.The robotic vehicle may include processing circuitry configured to receive power cord-information indicative of position-data of at least a portion of a power cord operably coupled tothe robotic vehicle, tension-data of at least a portion of a power cord operably coupled to the robotic vehicle, or both. The processing circuitry may also be configured to receive operating AttyDktNo: 38004/101 l2/P3 179SE00 parameters for a predetermined minimum operating dimension between the robotic vehicle andthe power cord, for a predetermined maximum tension of the power cord, or both, determiningan actual operating dimension between the robotic vehicle and the power cord, an actual tensionof the power cord, or both, and preventing operation of the robotic vehicle when the actualoperatin g dimension between the robotic vehicle and the power cord meets or exceeds thepredetermined minimum operation dimension, when the actual tension of the power cord meetsor exceeds the predetermined maximum tension of the power cord.

[0007] In another example embodiment, a method of operating a robotic vehicle (e. g., ademolition robot) is provided. The method may include receiving power cord-infonnationindicative of position-data of at least a portion of a power cord operably coupled to the roboticvehicle, tension-data of at least a portion of a power cord operably coupled to the robotic vehicle,or both; receiving operating parameters for a predetermined minimum operating dimensionbetween the robotic vehicle and the power cord, for a predetermined maximum tension of thepower cord, or both; deterrnining, via processing circuitry, an actual operating dimensionbetween the robotic vehicle and the power cord, an actual tension of the power cord, or both; andpreventing operation of the robotic vehicle when the actual operating dimension between therobotic vehicle and the power cord meets or exceeds the predetermined minimum operationdimension, when the actual tension of the power cord meets or exceeds the predetermined maximum tension of the power cord.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

[0008] Having thus described the invention in general terms, reference will now be made tothe accompanying drawings, which are not necessarily drawn to scale, and wherein:

[0009] FIG. l illustrates a robotic vehicle (i.e., a demolition robot) according to an exampleembodiment;

[0010] FIG. 2 illustrates a perspective view of a block diagram of a system according to anexample embodiment;

[0011] FIG. 3 illustrates a block diagram of one example of onboard electronics orprocessing circuitry that may be used in connection with employment of an exampleembodiment on robotic vehicles that may employ an example embodiment; and

[0012] FIG. 4 illustrates a block diagram of a method according to an example embodiment.

AttyDktNo: 38004/101 l2/P3 179SE00 DETAILED DESCRIPTION

[0013] Some example embodiments now will be described more fully hereinafter Withreference to the accompanying drawings, in which some, but not all example embodiments areshown. Indeed, the examples described and pictured herein should not be construed as beinglimiting as to the scope, applicability or configuration of the present disclosure. Rather, theseexample embodiments are provided so that this disclosure will satisfy applicable legalrequirements. Like reference numerals refer to like elements throughout. Furthermore, as usedherein, the term “or” is to be interpreted as a lo gical operator that results in true whenever one ormore of its operands are true. As used herein, operable coupling should be understood to relateto direct or indirect connection that, in either case, enables functional interconnection ofcomponents that are operably coupled to each other.

[0014] FIG. 1 illustrates a robotic vehicle (i.e., a demolition robot) according to an exampleembodiment of the present invention. As shown in FIG. l, the robotic vehicle comprises ademolition robot 20 including a plurality of outriggers (e. g., support legs) 25 which may extendand retract to secure and/or stabilize the demolition robot prior to and/or during operation of thedemolition robot 20. The outriggers 25 are illustrated as being in a fully retracted position inFIG. l. The demolition robot 20 may further comprise caterpillar tracks 26 configured to movethe robotic vehicle 20 across a variety of landscapes (e. g., debris, inclined surfaces, stairs, etc.)and a rotatin g tower 27. The demolition robot 20 may also include a control arm 21, which maybe moved to en gage a variety of working elements and/or perform a variety of work-tasks. Eachof the foregoing features of the demolition robot 20 may be remotely controlled by an operatorinterfacing with a remote control device 19 including, for example, a first control stick 23 and asecond control stick 24. The remote control device 19 may also include, although not shown, avariety of switches and/or buttons which may be used in conjunction with the control sticks23,24 to control operation of each of the functionally operational features of the demolition robot20. In one example embodiment, the remote control device 19 may be configured tocommunicate with each of the foregoing features (e.g., plurality of outriggers 25, caterpillartracks 26, rotating tower 27, control arm 2l, etc.) of the demolition robot 20 via Bluetoothcommunication (e. g., Bluetooth wireless technology). Additionally or alternatively, the remotecontrol device 19 may be configured to communicate with each of the fore going features (e.g., plurality of outriggers 25, caterpillar tracks 26, rotating tower 27, control arm 2l, etc.) of the AttyDktNo: 38004/101 l2/P3179SE00 demolition robot 20 via a cable connection or hard wire. In the example embodiment illustratedin FIG. 1, the demolition robot 20 is electrically powered via an electrical power cord 28. Inaccordance with certain embodiments of the invention, the power cord 28 may comprise one ormore position sensors and/or tension sensors 29 directly or indirectly attached onto or within thepower cord 28. In accordance with certain example embodiments, the one or more positionsensors and/or tension sensors may emit signal(s) (e. g., electrical signals) which may be directlyor indirectly recognized by the demolition robot 20. For example, demolition robot 20 mayinclude onboard circuitry (as illustrated in FIG. 2) including processing circuitry configured toperform a variety of tasks to provide awareness of the location of the power cord relative to thedemolition robot 20, particularly relative to moving elements of the demolition robot 20 such asthe outriggers 25 and the control arm 21, and/or the amount of tension placed on the power cord28. In one example embodiment, each of the foregoing features (e. g., one or more positionsensors and/or tension sensors 29 of the power cord 28, plurality of outriggers 25, caterpillartracks 26, rotating tower 27, control arm 21, etc.) of the demolition robot 20 may be configuredto communicate with each other (e. g., independently communicate with each other) and/or withthe remote control device 19 via Bluetooth communication (e. g., Bluetooth wireless technology).[0015] In this regard, FIG. 2 illustrates a generic example of a system in which one or morerobotic vehicles (e. g., demolitions robots) may utilize a network for the performance ofpreventing operation of the demolition robots in a manner that would damage or destroy (e. g., bysmashing, cutting, pulling, pinching, etc.) the power cord attached thereto or to anothernetworked robotic vehicle according to an example embodiment. As shown in FIG. 2, a system10 according to an example embodiment may include one or more robotic vehicles (e. g.,demolitions robots 20). Notably, although FIG. 2 illustrates three (3) devices, it should beappreciated that less or many more robotic vehicles (e. g., demolitions robots 20) may beincluded in some embodiments and thus, the three (3) devices of FIG. 2 are simply used toillustrate a multiplicity of robotic vehicles (e.g., demolitions robots 20) and the number ofrobotic vehicles (e. g., demolitions robots 20) is in no way limiting to other exampleembodiments. In this regard, example embodiments are scalable to inclusion of any number ofrobotic vehicles (e. g., demolitions robots 20) being tied into the system 10. Moreover, it shouldbe appreciated that FIG. 2 illustrates one example embodiment in which multiple robotic vehicles (e. g., demolitions robots 20) may be operated within a community of networked robotic AttyDktNo: 38004/101 l2/P3 179SE00 vehicles (e. g., demolitions robots 20) to mitigate and/or prevent operation of any of the roboticvehicles (e. g., demolitions robots 20) in a manner that would damage or destroy any of the powercords electrically connected to any of the networked robotic vehicles (e. g., demolitions robots20). In this regard and as discussed in more detail below, mitigating and/or preventin g operationof the robotic vehicle (e. g., demolitions robot 20) may comprise at least partial deactivation ofthe robotic vehicle (e. g., demolitions robot 20). For example, mitigating and/or preventingoperation of the robotic vehicle (e. g., demolitions robot 20) may comprise selective deactivationof one or more of the remote control device 19, the outriggers 25 , the caterpillar tracks 26, therotating tower 27, the control arm 2l, etc. In one example embodiment, mitigating and/orpreventing operation of the robotic vehicle (e. g., demolitions robot 20) may comprise selectivelyimmobilizing one or more of the following: the remote control device 19, the outriggers 25 ; thecaterpillar tracks 26; the rotating tower 27; and the control arm 2l. In this regard, mitigatingand/or preventing operation of the robotic vehicle (e.g., demolitions robot 20) may cornprisedeactivating or immobilizing one or more of the foregoing features (e.g., the remote controldevice 19, the outriggers 25, the caterpillar tracks 26, the rotating tower 27, the control ann 2l,etc.) while operation other features may still be enabled or possible. For example, mitigatingand/or preventing operation of the robotic vehicle (e. g., demolitions robot 20) may comprisedeactivating or immobilizing the caterpillar tracks 26, while operation of, for example, theremote control device 19, the outriggers 25, the rotating tower 27, and the control arm 2l are stillenabled or possible. In this regard, mitigating and/or preventing operation of the robotic vehicle(e. g., demolitions robot 20) may comprise only a partial deactivation of certain features of therobotic vehicle (e. g., demolition robot 20). Alternatively, mitigating and/or preventing operationof the robotic vehicle (e. g., demolitions robot 20) may comprise a complete shutdown of therobotic vehicle (e. g., demolition robot 20). However, it should be appreciated that thearchitecture of various example embodiments may vary. Thus, the example of FIG. 2 is merelyprovided for ease of explanation of one example embodiment and should not be considered to belimiting with respect to the architecture of the system 10. Accordingly, for example, someembodiments may have specific sets or subsets of robotic vehicles (e. g., demolitions robots 20)that are associated with corresponding specific servers that belong to or are utilized by aparticular organization, entity or group over a single network (e. g., network 30). However, in other embodiments, multiple different sets of robotic vehicles (e. g., demolitions robots 20) may AttyDktNo: 38004/101 l2/P3 179SE00 be enabled to access other servers associated With different organizations, entities or groups viathe same or a different network if so desired. In one example embodiment, each of the roboticvehicles (e. g., demolition robots 20) may additionally or altematively be configured tocommunicate with each other (e. g., directly). For example, each of the robotic vehicles (e. g.,demolition robots 20) may be configured to communicate with each other (e. g., independentlycommunicate with each other) and/or with the application server 40 via Bluetoothcommunication (e. g., Bluetooth wireless technology). In one example embodiment, each of therobotic vehicles (e. g., demolition robots 20) may include or comprise corresponding features (e. g., one or more position sensors and/or tension sensors 29 of the power cord 28, plurality ofoutriggers 25, caterpillar tracks 26, rotating tower 27, control arm 21, etc.), in which thecorresponding features of each robotic vehicles (e.g., demolition robots 20) may be configured tocommunicate with the corresponding features of one or more additional robotic vehicles (e. g.,demolition robots 20). In this regard, the corresponding features of each robotic vehicle (e. g.,demolition robots 20) may be configured to communicate With each other (e. g., independentlycommunicate with each other) via Bluetooth communication (e. g., Bluetooth wirelesstechnology).

[0016] The robotic vehicles (e. g., demolitions robots 20) may, in some cases, each includesensory, computing and/or communication devices associated with the different robotic vehicles(e. g., demolitions robots 20) that belong to or are associated with an organization (e.g., a groupof demolition robots equipped with a similar working element and performing the same orsimilar work in the same or proximate working area). For example, among the robotic vehicles(e. g., demolitions robots 20) one robotic vehicle may be associated with a first facility or locationof a first organization. Meanwhile, a second robotic vehicle may be associated with a secondfacility or location of the first organization. As such, for example, some of the robotic vehicles(e. g., demolitions robots 20) may be associated with the first organization, while other ones ofthe robotic vehicles are associated with a second organization. Thus, for example, the roboticvehicles may be remotely located from each other, collocated, or combinations thereof.However, in some embodiments, each of the robotic vehicles may be associated with individuals,locations or entities associated with different organizations or merely representing individualrobotic vehicles. For example, robotic vehicles associated with a first organization may be located separately from robotic vehicles associated with a second organization and, therefore, the AttyDktNo: 38004/l0l l2/P3 179SE00 robotic vehicles associated with the first organization may not need to be directly networked withrobotic vehicles associated with the second organization. In this regard, a single network (e. g.,network 30) may, if so desired, segregate network connections between robotic vehicles of a firstorganization from network connections between robotic vehicles of a second organization.[0017] Each one of the robotic vehicles (e. g., a demolition robot 20 as illustrated in FIG. l)may include a housing inside which a power unit or motor (not shown) is housed. In someembodiments, the power unit may be an electric motor an intemal combustion engine, hydraulicsystem, pneumatic system, combustion chamber, or the like. The robotic vehicles 20 may eachfurther include a work assembly (e. g., control arm 21 as illustrated in FIG. l). The workassembly may be operated via the power unit to perform construction and /or demolitionoperations, such as drilling, cutting, hydraulic hammering, pulverizing, or the like. The roboticvehicles may include sensors for location, device operation, orientation, or the like, as discussedbelow in reference to FIG. 3. Additionally or alternatively, each of the robotic vehicles mayinclude location sensors and/or a user interface, as discussed below in reference to FIG. 3.

[0018] In an example embodiment, each of the robotic vehicles (e. g., demolitions robots 20)may include onboard circuitry 22 which may include or otherwise be embodied as a computingdevice (e. g., a computer, access terminal, processing circuitry, or the like) capable ofcommunication with the network 30. As such, for example, each one of the robotic vehicles mayinclude (or otherwise have access to) memory for storing instructions or applications for theperformance of various functions and a corresponding processor for executing stored instructionsor applications and a corresponding processor or processing circuitry. Each one of the roboticvehicles may also include software and/or corresponding hardware (e. g., the onboard circuitry22) for enabling the performance of the respective functions of the clients as described below. Inan example embodiment, one or more of the robotic vehicles may be configured to executeapplications or functions implemented via software for enabling a respective one of the roboticvehicles to communicate with the network 30 for requesting and/or receiving information and/orservices via the network 30 and/or for providing data to other devices via the network 30. Theinformation or services receivable at the robotic vehicles may include deliverable components (e. g., downloadable software to configure the onboard circuitry 22 of the demolition robots 20,or information for consumption or utilization at the onboard circuitry 22 of the demolition robots 20).

AttyDktNo: 38004/l0l 12/P3 179SE00

[0019] The network 30 may be a data network, such as a local area network (LAN), ametropolitan area network (MAN), a wide area network (WAN) (e.g., the Intemet), and/or thelike, which may couple the robotic vehicles to devices such as processing elements (e. g.,personal computers, server computers or the like) and/or databases. Communication between thenetwork 30, the robotic vehicles and the devices or databases (e. g., servers) to which the roboticvehicles are coupled may be accomplished by either wired or wireless communicationmechanisms and corresponding communication protocols.

[0020] ln an example embodiment, other devices to which the robotic vehicles (e.g.,demolitions robots 20) may be coupled via the network 30 may include a server network 32including one or more application servers (e. g., application server 40), and/or a database server42, which together may form respective elements of the server network 32. Although theapplication server 40 and the database server 42 are each referred to as “servers,” this does notnecessarily imply that they are embodied on separate servers or devices. As such, for example, asingle server or device may include both entities and the database server 42 could merely berepresented by a database or group of databases physically located on the same server or deviceas 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 robotic vehicles 20)that may include hardware and/or software for conﬁ gurin g the application server 40 to performvarious functions. As such, for example, the application server 40 may include processing logicand memory enabling the application server 40 to access and/or execute stored computerreadable instructions for performing various functions.

[0021] ln an example embodiment, one function that may be provided by the applicationserver 40 (e. g., via the monitoring circuitry 44) may be the provision of services relating topreventin g operation of the robotic vehicles 20 in a manner that would damage or destroy apower cord associated with one of the robotic vehicles, as will be described in greater detailbelow. For example, the application server 40 may be configured to receive data from therobotic vehicles (e. g., demolitions robots 20) and process the data, for example in conjunctionwith data received from a power cord, to prevent movement of the robotic vehicles that maydamage or destroy the power cord as described herein. Thus, for example, the onboard circuitry22 may be configured to send the data (e. g., position data associated with location of the robotic vehicle and/or portions of the robotic vehicle) to the application server 40 for the application AttyDktNo: 38004/101 l2/P3 179SE00 server 40 to prevent operation of the robotic vehicle in locations or circumstances that maydamage or destroy the power cord. In some embodiments, for example, the application server 40may be configured to provide robotic vehicles with instructions (e.g., for execution by theonboard circuitry 22) for taking prescribed actions (e. g., powering down, stopping movement ina particular direction, etc.) when the positioning and/or operation of the robotic vehicleencroaches upon predetermined levels associated with, for example, tension levels placed on thepower cord and/or an actual minimum operating dimensions between the robotic vehicle and thepower cord.

[0022] Accordingly, in some example embodiments, data from robotic vehicles (e. g.,demolitions robots 20) may be provided to and analyzed at the application server 40 (e. g., via themonitoring circuitry 44) to identify or define an actual operatin g dimension between the roboticvehicle and the power cord 28 and/or the actual tension placed on the power cord 28 (e. g., in realtime or at a later time). The actual operatin g dimension between the robotic vehicle and thepower cord 28 and/or the actual tension placed on the power cord 28 may be associated withparticular actions undertaking or currently in process by the robotic vehicle, and these particularactions (e. g., extending or retracting outriggers 25 , transiting a work area in a particulardirection, movement of the control arm, etc.) may be halted and/or reversed to prevent ormitigate destruction or damage to the power cord 28. For example, operations of extending orretracting the outriggers 25 may inadvertently snag or grab the power cord 28 and exert adamaging level of tension, weight or force on the power cord 28 due to the movement of theoutriggers 25. The increased level of tension placed on the power cord 28 may be correlatedwith the movement of the outriggers 25, and the application server 40 may provide the roboticvehicle (e. g., demolition robot) 20 with instructions (e. g., for execution by the onboard circuitry22) to stop movement of the outriggers 25 and/or move the outriggers 25, at least partially, in anopposite direction to prevent increased tension on the power cord 28 and/or reduce tensionplaced on the power cord 28. In a similar manner, movement of the robotic vehicle across awork area may inadvertently dangerously approach the power cord 28 and/or exert a damagin glevel of tension on the power cord 28. In this regard, the application server 40 may provide therobotic vehicle (e. g., demolition robot 20) with instructions (e. g., for execution by the onboard circuitry 22) to stop movement of the robotic vehicle or alternatively, at least partially (e.g., 1-4 AttyDktNo: 38004/101 l2/P3 179SE00 inches), move the robotic vehicle in an opposite direction to prevent increased tension On thepower cord and/Or reduce tension placed on the power cord.

[0023] In some example embodiments, data from robotic vehicles (e. g., demolition robots20) may be provided to and analyzed at the application server 40 (e. g., in real time) to identify ordefine Operating conditions related to, for example, actual Operating dimensions between therobotic vehicle and power cord 28 and/or an actual tension placed on the power cord 28. Basedat least On part on such data, for example, Operating conditions may be associated Or correlated toactions to be taken by the application server 40 in response to a future detection of suchOperating conditions. The application server 40 (e. g., via the monitoring circuitry 44) may thenprovide a report Or warning Or may direct action to be taken at One Or more robotic vehicles whenan Occurrence of the particular Operating conditions is detected in the future. For example,recognition of the simultaneous retracting and/Or extending of the outriggers 25 and increasingtension placed On the power cord 28 may be quickly recognized and in response to theserecognized Operating conditions, the Operation of the outriggers 25 may be halted as discussedabove.

[0024] In still Other embodiments, the robotic vehicles themselves may analyze data fordetection Operating conditions (e. g., actual tension placed On the power cord 28 and actualOperating dimension between the robotic vehicle and the power cord 28 using the Onboardcircuitry 22) and define and/Or take action responsive to detecting the Operating conditions.

Thus, the robotic vehicles may Operate in some cases independently of the network 30 and theapplication server 40. However, in some cases, the application server 40 may be used to providedefined Operating conditions and/Or predetermined Operating parameters to the robotic vehiclesand the robotic vehicles may be configured thereafter to Operate to detect Operating conditionsrelative to predetermined operatin g parameters, and take actions correspondingly.

[0025] In some embodiments, for example, the Onboard circuitry 22 and/Or the monitoringcircuitry 44 (e. g., positioning circuitry) may include Or have access to stored instructions forhandling activities associated with practicing example embodiments as described herein. Assuch, in some embodiments, the Onboard circuitry 22 and/Or the monitoring circuitry 44 (e. g.,positioning circuitry) may include software and/Or hardware for enabling the Onboard circuitry22 and/Or the monitoring circuitry 44 to communicate via the network 30 for the provision and/or receipt of information associated with performing activities as described herein. ll AttyDktNo: 38004/101 l2/P3179SE00

[0026] FIG. 3 illustrates a block diagram showing components that may be associated withembodiment of the onboard circuitry 22 and/or the monitoring circuitry 44 according to anexample embodiment. As shown in FIG. 3, the onboard circuitry 22 and/or the monitoringcircuitry 44 (e.g., positioning circuitry) may include or otherwise be embodied as a power-cord-awareness device 100. The power-cord-awareness device 100 may include processing circuitry110 of an example embodiment as described herein. In this regard, for example, the power-cord-awareness device 100 may utilize the processing circuitry 110 to provide electronic controlinputs to one or more functional units of the onboard circuitry 22 and/or the monitoring circuitry44 and to process data generated by the one or more functional units regarding variousindications of device activity (e. g., operational parameters and/or location information) relatingto a corresponding one of the demolition robots 20. In some cases, the processing circuitry 110may be configured to perform data processing, control function execution and/or otherprocessing and management services according to an example embodiment of the presentinvention. In some embodiments, the processing circuitry 110 may be embodied as a chip orchip set. In other words, the processing circuitry 110 may comprise one or more physicalpackages (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. Theprocessing circuitry 110 may therefore, in some cases, be configured to implement anembodiment of the present invention on a single chip or as a single “system on a chipf' As such,in some cases, a chip or chipset may constitute means for performing one or more operations forproviding the functionalities described herein.

[0027] In an example embodiment, the processing circuitry 110 may include one or moreinstances of a processor 112 and memory 114 that may be in communication with or otherwisecontrol a device interface 120 and, in some cases, a user interface 130. As such, the processingcircuitry 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 operationsdescribed herein. However, in some embodiments, the processing circuitry 110 may beembodied as a portion of an on-board computer on a device being monitored (e. g., one of therobotic vehicles 20), while in other embodiments, the processing circuitry 110 may be embodied as a remote computer that monitors device activity for one or more devices. 12 AttyDktNo: 38004/10112/P3179SE00

[0028] The user interface 130 may be in communication with the processing circuitry 110 toreceive 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, adisplay, one or more levers, switches, buttons or keys (e. g., function buttons), and/or otherinput/output mechanisms. In an example embodiment, the user interface 130 may include one ora plurality of lights, a display, a speaker, a tone generator, a vibration unit and/or the like.

[0029] The device interface 120 may include one or more interface mechanisms for enablingcommunication with other devices (e. g., sensors of the sensor network 140, or functional units ofthe power-cord-awareness device 100). In some cases, the device interface 120 may be anymeans such as a device or circuitry embodied in either hardware, or a combination of hardwareand software that is configured to receive and/or transmit data from/to sensors in communicationwith the processing circuitry 110 via intemal communication systems of the power-cord-awareness device 100. ln some cases, the device interface 120 may further include wirelesscommunication equipment (e. g., a one way or two way radio) for at least communicatinginformation from the power-cord-awareness device 100 to a network and, in the case of a twoway radio, in some cases receiving information from a network.

[0030] The processor 112 may be embodied in a number of different ways. For example, theprocessor 112 may be embodied as various processing means such as one or more of amicroprocessor or other processing element, a coprocessor, a controller or various othercomputing or processing devices including integrated circuits such as, for example, an ASIC(application specific integrated circuit), an FPGA (field pro grammable gate array), or the like. Inan example embodiment, the processor 112 may be configured to execute instructions stored inthe memory 114 or otherwise accessible to the processor 112. As such, whether configured byhardware or by a combination of hardware and software, the processor 112 may represent anentity (e. g., physically embodied in circuitry -in the form of processing circuitry 110) capable ofperforming operations according to embodiments of the present invention while configuredaccordingly. Thus, for example, when the processor 112 is embodied as an ASIC, FPGA or thelike, the processor 112 may be specifically configured hardware for conducting the operationsdescribed herein. Alternatively, as another example, when the processor 112 is embodied as anexecutor of software instructions, the instructions may specifically configure the processor 112 to perform the operations described herein. 13 AttyDktNo: 38004/10112/P3179SE00

[0031] In an example embodiment, the processor 112 (or the processing circuitry 110) maybe embodied as, include or otherwise control the operation of the power-cord-awareness device100 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 operationsdescribed in connection with the power-cord-awareness device 100 in relation to operation thepower-cord-awareness device 100 relative to undertaking the corresponding functionalitiesassociated therewith responsive to execution of instructions or algorithms configuring theprocessor 112 (or processing circuitry 110) accordingly.

[0032] In an exemplary embodiment, the memory 114 may include one or more non-transitory memory devices such as, for example, volatile and/or non-volatile memory that maybe 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 variousfunctions in accordance with exemplary embodiments of the present invention. For example, thememory 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 forexecution by the processor 112. As yet another alternative or additional capability, the memory114 may include one or more databases that may store a variety of data sets responsive to inputfrom the sensor network 140 (e. g., position sensors from a power cord, tension sensors from apower cord, etc.), the power-cord-awareness device 100, or any other functional units that maybe associated with the power-cord-awareness device 100. Among the contents of the memory114, applications may be stored for execution by the processor 112 in order to carry out thefunctionality associated with each respective application. ln some cases, the applications mayinclude instructions for recognition of an actual operating dimension between the robotic vehicleand the power cord 28, an actual tension of the power cord 28, or both relative to operatingparameters related to a predetermined minimum operating dimension between the robotic vehicleand the power cord 28, a predeterrnined maximum tension of the power cord 28, or both. Theapplications may also include instruction for initiation of one or more responses (e. g., poweringdown the robotic vehicle, halting movement of the robotic vehicle, etc.) to the recognition of theactual operation conditions relative to the operating parameters.

[0033] In some embodiments, the processing circuitry 110 may communicate with electronic components and/or sensors of a sensor network 140 (e. g., sensors that indicate positioning of the 14 AttyDktNo: 38004/10112/P3179SE00 power cord 28, sensors that indicate the tension placed on the power cord 28, sensors thatmeasure variable values related to device operational parameters like RPM, temperature, oilpressure, seat presence, and/or the like, and/or sensors that measure device movement employingmovement sensor circuitry) of the demolition robot 20 via the device interface 120. In oneembodiment, sensors of the sensor network 140 of one or more ones of the demolition robots 20may communicate with the processing circuitry 110 of a remote monitoring computer via thenetwork 30 and the device interface 120 using wireless communication or by downloading datathat is transferred using a removable memory device that is first in communication with therobotic vehicle 20 to load data indicative of device activity, and is then (e.g., via the deviceinterface 120) in communication with the remote monitoring computer (e.g., associated with themonitoring circuitry 44).

[0034] In some embodiments, the processing circuitry 110 may communicate withmovement sensor circuitry of the demolition robot 20 (e. g., when the processing circuitry 110 isimplemented as the onboard circuitry 22), or may receive information indicative of devicelocation from movement sensor circuitry of one or more devices being monitored (e. g., when theprocessing circuitry is implemented as monitoring/positioning circuitry 44). The movementsensor circuitry may include movement sensors (e. g., portions of the sensor network 140) such asone or more accelerometers and/or gyroscopes, or may include global positioning system (GPS)or other location deterrnining equipment.

[0035] The movement sensor circuitry (if employed) may be configured to provideindications of movement of the demolition robot 20 based on data provided by the one or moreaccelerometers and/or gyroscopes, and/or based on GPS or local position deterrniningcapabilities. In other words, the movement sensor circuitry may be configured to detectmovement of the demolition robot 20 based on inertia-related measurements or other locationdeterrnining information. The indications may be provided to the power-cord-awareness device100 along with or instead of operation parameter data to enable the power-cord-awareness device100 to select and/or define instruction sets for initiation in response to a determination that apredefined operating condition is detected (e. g., the tension of the power cord 28 has met orexceeded a predeterrnined maximum tension level). In some embodiments, the movement sensorcircuitry may utilize a carrier wave signal (e.g., the carrier associated with GPS satellite transmissions) in order to employ real time kinematic (RTK) satellite navigation techniques.

AttyDktNo: 38004/101 l2/P3 179SE00 RTK-GPS may employ phase measurements of the carrier wave (Without regard for the contentof such signals) in order to improve the accuracy of GPS positioning by employing carrier-phaseenhancement. In some example embodiments, the movement sensor circuitry may includeorientation sensors, configured to detect the orientation of a demolition robot, particularly thecontrol arm 21 or outriggers 25 of the demolition robot relative the deterrnined location of thepower cord 28.

[0036] In one example embodiment, a robotic vehicle comprises processing circuitry (e. g.,onboard circuitry 22 as shown in FIG. 2), as discussed herein, configured to receive power cord-information indicative of position-data of at least a portion of a power cord operably coupled tothe robotic vehicle (e.g., demolition robot 20). Additionally or altematively, the processingcircuitry may be configure to receive power cord-information indicative of tension-data of atleast a portion of a power cord 28 operably coupled to the robotic vehicle. In this regard, theprocessing circuitry may be configured to receive power cord-inforrnation indicative of position-data and tension data. In one example embodiment, the processing circuitry may be configuredto also receive operating parameters for a predetermined minimum operating dimension betweenthe robotic vehicle and the power cord 28, for a predetermined maximum tension of the powercord 28, or both. In this regard, the predetermined minimum operating dimension between therobotic vehicle and the power cord and/or the predetermined maximum tension of the power cord28 can be input by an operator either remotely or locally at the robotic vehicle. Thepredetermined minimum operatin g dimension, for example, may comprise a minimum distancebetween the robotic vehicle (or portion thereof) and the power cord 28 that should be maintainedto facilitate operation of the robotic vehicle without a risk of damaging or destroyin g the powercord. Upon recognition of the actual operating dimension being the same or smaller (e. g., 1 foot)than the predeterrnined minimum operating dimension (e.g., 3 feet) may indicate an unsafeoperatin g conditions. For example, the predeterrnined minimum operating dimension may beinput or defined as being from 1 to 6 feet or from 6 inches to 3 feet. The processing circuitrymay also be configured to determine an actual operatin g dimension between the robotic vehicleand the power cord 28, an actual tension of the power cord 28, or both. The robotic vehicle,according to such an example embodiment, may be further configured to prevent operation of therobotic vehicle when the actual operating dimension between the robotic vehicle and the power cord meets or exceeds the predetermined minimum operation dimension, when the actual tension 16 AttyDktNo: 38004/101 l2/P3 179SE00 of the power cord meets or exceeds the predeterrnined maximum tension of the power cord, orboth. Accordingly, the processing circuitry may be further configured to compare thepredetermined minimum operatin g dimension with the actual operatin g dimension, thepredeterrnined maximum tension with the actual tension, or both. In this regard, the step orpreventing operation of the robotic vehicle may be in response to recognition of unsafe operationconditions based, for example, on a comparison of the predetermined operating parameters to theactual operating dimension and actual tension placed on the power cord. Such a step, forexample, may include detaching the power cord, halting movement of the robotic vehicle orportion thereof (e. g., outriggers, control arm, etc.), and turning the power off to the roboticvehicle.

[0037] In accordance with some example embodiments, the processing circuitry of therobotic vehicle may be configure to receive robotic vehicle positioning-infonnation indicative ofrobotic vehicle position-data of the robotic vehicle transiting a work area at one or morelocations on the work area. In this regard, the determination of the actual operating dimensionbetween the robotic vehicle and the power cord, via the processing circuitry, may be based atleast in part on the position-data of the power cord operably coupled to the robotic vehicle andthe robotic vehicle position-data of the robotic vehicle. As discussed previously, the processingcircuitry may be configured to continuously (e.g., in real-time) determine the actual operatin gdimension between the robotic vehicle and the power cord, for example, based at least in part onthe position-data of the power cord operably coupled to the robotic vehicle and the roboticvehicle position-data of the robotic vehicle. In this regard, the processing circuitry may also beconfigured to continuously (e. g., in real-time) compare the operating conditions to thepredetermined operation parameters to provide real-time prevention of operation of the roboticvehicle in a manner that may damage or destroy the power cord. The robotic vehicle, asdiscussed previously, may receive information and/or data either locally at the robotic vehicle orremotely. For instance, the predetermined operation parameters may be received either locally atthe robotic vehicle or remotely, such as wirelessly.

[0038] In accordance with certain example embodiments, the robotic vehicle may includeand/or be operably coupled to a power cord comprising one or more position sensors detectableby the robotic vehicle. In one example embodiment, for instance, the one or more position sensors located on or about the power cord may comprise a boundary wire (e. g., a single position 17 AttyDktNo: 38004/101 l2/P3 179SE00 sensor of notable length) directly or indirectly attached along a length of the power cord. In thisregard, the boundary wire may emit electrical signals detectable by the robotic vehicle and definea virtual boundary for operation of the robotic vehicle, in which the robotic vehicle should notreach or cross over. In some example embodiments, the boundary wire may be attached directlyor indirectly along the entire length of the power cord for from about 1% to 99% of the length ofthe power cord. The boundary wire may, in some example embodiments, be powered orengaged whenever the power cord is plugged into an extemal power source (e. g., a electricalwall outlet). Additionally or altematively, the boundary wire may be operably coupled to anseparate and independent boundary wire power source (e.g. a small battery pack separate from anelectrical wall outlet).

[0039] The robotic vehicle, according to some example embodiments, may include and/or beoperably coupled to a power cord comprising a plurality of local position sensors directly orindirectly attached to or within the power cord. In some example embodiments, for instance, theplurality of position sensors may comprise a plurality of discrete and independent positionsensors located spaced apart from each other along a length of the power cord. Suchembodiments, for example, may be desirable as damage or malfunction of a single positionsensor will not place the entire power cord in increased risk of inadvertent damage due tooperation of the robotic vehicle. As shown in FIG. l, for instance, the position sensors 29 maybe spaced apart from one another such that damage or malfunction to one of the position sensorsdoes not negate the operation or functioning of the power-cord-awareness device 100 discussedabove. In this regard, a plurality of discrete and spaced apart position sensors may be locatedfrom every l foot to every 20 feet along the length of the power cord (e. g., every 6 feet).

[0040] Additionally or alternatively to the one or more position sensors, the power cord,according to some example embodiments, may comprise one or more tension sensors (e. g., straingauges) detectable by the robotic vehicle, for example, in a similar manner as the robotic vehicledetects the position sensors of a power cord discussed above. The one or more tension sensorsmay provide actual tension placed on the power cord in separate and discrete areas along thelength of the power cord. In this regard, the power cord may comprise a tension sensor locatedfrom every 3 feet to every 20 feet along a length of the power cord. In some example embodiments, the power cord may include a plurality of discrete position sensors and a plurality 18 AttyDktNo: 38004/101 l2/P3 179SE00 of tension sensors located along the length of the power cord to provide a relatively detailedphysical profile of the power cord in relation to both position and tension.

[0041] In one example embodiment, the processing circuitry of the robotic vehicle may befurther configured to receive dimensional warning parameters for a predetermined wamingdimension between the robotic vehicle and the power cord. In this regard, the processingcircuitry may also be configured to trig ger a waming if the actual operatin g dimension betweenthe robotic vehicle and the power cord exceeds the predeterrnined wamin g dimension. Forexample only, the predetermined waming dimension between the robotic vehicle and the powercord may be set by a user (e. g., remotely or locally) to be 6 feet. When the robotic vehicle or aportion thereof reaches or moves closer than 6 feet to the power cord, the processing circuitrymay initiate a warning in response to recognition that the robotic vehicle or portion thereof hasreached, exceeded, or passed the predeterrnined warning dimension between the robotic vehicleand the power cord. Such example embodiments may provide the operator of the robotic vehiclea warning (e. g., visual, audio, vibration, or any combination thereof) in sufficient time to take acorrective action to prevent the robotic vehicle from moving closer to the power cord andautomatically taking action, such as powering off. In some example embodiments, the warningmay comprise a vibrating the operators control device alone or in combination with visual and/oraudio alarms.

[0042] Additionally or alternatively, the processing circuitry of the robotic vehicle may befurther configured to receive tension warning parameters for a predetermined warning tension ofthe power cord. In this regard, the processing circuitry may also be configured to trigger awarning if the actual tension of the power cord meets, exceeds, or passes the predeterrninedwaming tension.

[0043] For example only, the predeterrnined warning tension of the power cord may be setby a user (e. g., remotely or locally) to be 50 Newtons. When the actual tension on the powercord or a portion of the power cord reaches or exceeds 50 Newtons, the processing circuitry mayinitiate a warning in response to recognition that the tension placed on the power cord or portionthereof has reached, exceeded, or pas sed the predeterrnined warning tension of the power cord.Such example embodiments may provide the operator of the robotic vehicle a warning (e. g.,visual, audio, vibration, or any combination thereof) in sufficient time to take a corrective action to prevent the additional tension being placed onto the power cord or a portion thereof and 19 AttyDktNo: 38004/101 l2/P3 179SE00 automatically taking action, such as powering off. In some example embodiments, the warningmay comprise a vibrating the operators control device alone or in combination with visual and/oraudio alarms.

[0044] In some example embodiments, the robotic vehicle may include and/or be operablycoupled to a power cord, in which the power cord comprises a proximate end configured toreleasably attach to a socket of the robotic vehicle and a distal end configured to releasablyattach to a power supply (e. g., an electrical wall socket). In some example embodiments that theproximate end and/or the distal end may comprise a magnetic connection configured to detachwhen the predeterrnined maximum tension is placed on the power cord. For example, theproximate end may comprise the magnetic connection configured to detach from the socket ofthe robotic vehicle when the predeterrnined maximum tension is placed on the power cord. Insome example embodiments, the magnetic strength may be less than the predeterrninedmaximum tension to ensure timely detachment of the power cord in the event that an undesirableforce (e.g., tension) is placed on the power cord. Additionally or alternatively, the proximate endof the power cord may comprises a proximate end construction that is stronger (e. g., ability towithstand more weight, tension, etc.) than a distal end construction of the distal end of the powercord. In one example embodiment, for instance, the proximate end construction may comprise alarger diameter than the distal end construction. For instance, the proximate end constructionmay comprise a protective sheath overlying (e.g., encirclin g) the proximate end of the powercord. In this regard, the protective sheath may comprise a rigid or ﬂexible protective sheath.Rigid sheaths, for example, may be configured to withstand an external pressure of force appliedto the outside of the power cord, while sparing the electrical connection within the power cordfrom being subjected to the external pressure or force. Flexible sheaths, for example, maycomprise an isolative material such as a rubber or elastomeric material configured to absorb most(or all) of an external pressure or force applied to the outside of the power cord. For example,the ﬂexible sheath may compress to absorb pressure or force in an manner similar to a spring. Insome example embodiments, for instance, the proximate end construction (e. g., increasedthickness, different material of construction, protective sheath, or combinations thereof) maycomprise the l to 12 feet of the proximate end of the power cord adj acent the robotic vehicle.Additionally or alternatively, the proximate end of the power cord may comprise a proximate end construction that is configured to hover off the ground (e. g., l, 2, 3, or 4 feet off the ground).

AttyDktNo: 38004/101 l2/P3 179SE00 In one example embodiment, the proximate end construction being configured to hover off theground may comprise a length from l to 6 feet and be located adj acent the robotic vehicle.[0045] In some cases, a method of operating a robotic vehicle (e. g., a demolition robot)utilizing power-cord-awareness device 100 in relation to operation of the robotic vehicle in amanner to prevent or mitigate operation of the robotic vehicle in a manner that may damage ordestroy a power cord operably coupled to the robotic vehicle or a second robotic vehiclenetworked with each other via a network (e. g., network 30) according to an exampleembodiment may be provided. FIG. 4 illustrates a block diagram of some activities that may beassociated with one example of such a method. In some embodiments, the processing circuitry110 (which may include a processor capable of executing instructions stored in a non-transitorycomputer readable medium/memory) may be configured to implement a control algorithm for therobotic vehicle(s) according to the method.

[0046] In an example embodiment, the method may include receiving power cord-information indicative of position-data of at least a portion of a power cord operably coupled tothe robotic vehicle, tension-data of at least a portion of a power cord operably coupled to therobotic vehicle, or both at operation 402; receiving operatin g parameters for a predeterminedminimum operating dimension between the robotic vehicle and the power cord, for apredetermined maximum tension of the power cord, or both at operation 404; determining, viaprocessing circuitry, an actual operatin g dimension between the robotic vehicle and the powercord, an actual tension of the power cord, or both at operation 406; and preventing operation ofthe robotic vehicle when the actual operating dimension between the robotic vehicle and thepower cord meets or exceeds the predetermined minimum operation dimension, when the actualtension of the power cord meets or exceeds the predetermined maximum tension of the powercord at operation 408. As illustrated in FIG. 4, one example embodiment the method mayoptionally include comparing, via processing circuitry, the predetermined minimum operatingdimension with the actual operating dimension, the predetermined maximum tension with theactual tension, or both at operation 410. Operation 410 is shown in dashed lines in FIG. 4 tohighlight the fact that it may be optional.

[0047] In some embodiments, the method may include additional, optional operations, and/orthe operations described above may be modified or augmented. Some examples of modifications, optional operations and augmentations are described below. In this regard, for 21 AttyDktNo: 38004/101 l2/P3 179SE00 example, in some cases, (1) receiving robotic vehicle positioning-information indicative ofrobotic vehicle position-data of the robotic vehicle transiting a work area at one or morelocations on the work area; (2) determining the actual operating dimension between the roboticvehicle and the power cord is based at least in part on the position-data of the power cordoperably coupled to the robotic vehicle and the robotic vehicle position-data of the roboticvehicle; (3) receiving the operating parameters comprises receiving the operating parameterslocally at the robotic vehicle or remotely (e. g., wirelessly); (4) receiving dimensional warningparameters for a predetermined warning dimension between the robotic vehicle and the powercord and to trigger, via processing circuitry, a warning if the actual operating dimension betweenthe robotic vehicle and the power cord exceeds the predetermined warning dimension; and (5)receivin g tension warning parameters for a predetermined warning tension of the power cord andto trigger, via processing circuitry, a warning if the actual tension of the power cord exceeds thepredeterrnined waming tension. In some method embodiments, any or all of (l) to (5) may beemployed to provide power cord awareness to a robotic vehicle or robotic vehicles, which maybe networked together. In an example embodiment, a robotic vehicle (e.g., a demolition robot)may be provided with processing circuitry configuring the robotic vehicle (e. g., a demolitionrobot) to perform any of the example embodiments as described herein.

[0048] Many modifications and other embodiments of the inventions set forth herein willcome to mind to one skilled in the art to which these inventions pertain having the benefit of theteachings presented in the foregoing descriptions and the associated drawings. Therefore, it is tobe understood that the inventions are not to be limited to the specific embodiments disclosed andthat modifications and other embodiments are intended to be included within the scope of theappended claims. Moreover, although the foregoing descriptions and the associated drawingsdescribe exemplary embodiments in the context of certain exemplary combinations of elementsand/or functions, it should be appreciated that different combinations of elements and/orfunctions may be provided by alternative embodiments without departing from the scope of theappended claims. In this regard, for example, different combinations of elements and/orfunctions than those explicitly described above are also contemplated as may be set forth in someof the appended claims. In cases where advantages, benefits or solutions to problems aredescribed 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, 22 AttyDktNo: 38004/101 l2/P3 179SE00 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 specificterms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. 23

Claims

AttyDktNo: 38004/101 l2/P3 179SE00 THAT WHICH IS CLAIMED:

1. l. A robotic vehicle comprising processing circuitry configured to: receive power cord-information indicative of position-data of at least a portion of a powercord operably coupled to the robotic vehicle, tension-data of at least a portion of a power cordoperably coupled to the robotic vehicle, or both; receive operating parameters for a predetermined minimum operating dimension betweenthe robotic vehicle and the power cord, for a predetermined maximum tension of the power cord,or both; determine an actual operating dimension between the robotic vehicle and the power cord,an actual tension of the power cord, or both; and prevent operation of the robotic vehicle when the actual operating dimension between therobotic vehicle and the power cord meets or exceeds the predeterrnined minimum operationdimension, when the actual tension of the power cord meets or exceeds the predetermined maximum tension of the power cord, or both.

2. The robotic vehicle of claim l, wherein the processing circuitry is furtherconfigured to compare the predetermined minimum operating dimension with the actual operatin g dimension, the predetermined maximum tension with the actual tension, or both.

3. The robotic vehicle of claims 1-2, wherein the processing circuitry is furtherconfigured to receive robotic vehicle positioning-information indicative of robotic vehicleposition-data of the robotic vehicle transiting a work area at one or more locations on the work afßa.

4. The robotic vehicle of claim 3, wherein the actual operatin g dimension betweenthe robotic vehicle and the power cord is based at least in part on the position-data of the powercord operably coupled to the robotic vehicle and the robotic vehicle position-data of the robotic vehicle. 24 AttyDktNo: 38004/101 l2/P3 179SE00

5. The robotic vehicle of claims 1-4, wherein receiving the Operating parameters comprises receiving the Operating parameters locally at the robotic vehicle.

6. The robotic vehicle of claims 1-4, wherein receiving the Operating parameters comprises receiving the Operating parameters remotely.

7. The robotic vehicle of claim 6, wherein receivin g the Operating parameters remotely comprises receiving the Operating parameters wireles sly.

8. The robotic vehicle of any of the precedin g claims, wherein the predeterminedminimum Operating dimension between the robotic vehicle and the power cord comprises from 6 inches to 3 feet.

9. The robotic vehicle of any of the precedin g claims, wherein the power cord comprises one or more position sensors detectable by the robotic vehicle.

10. The robotic vehicle of claim 9, wherein the one or more position sensorscomprises a boundary wire directly or indirectly attached along a length of the power cOrd; wherein the boundary wire emits electrical signals detectable by the robotic vehicle.

11. The robotic vehicle of claim 10, wherein the boundary wire is directly or indirectly attached along 1% to 99% of the length of the power cord.

12. The robotic vehicle of claims 10-11, wherein the boundary wire is operably coupled to a boundary wire power source.12. The robotic vehicle of claim 9, wherein the one or more position sensors comprise a plurality of discrete and independent position sensors located spaced apart from each other along a length of the power cord. AttyDktNo: 38004/10112/P3179SE00

13. The robotic vehicle of any of the precedin g claims, wherein the power cord comprises one or more tension sensors detectable by the robotic vehicle.

14. The robotic vehicle of claim 13, wherein the power cord comprises a tension sensor located from every 3 feet to 20 feet along a length of the power cord.

15. The robotic vehicle of claims 13-14, wherein the one or more tension sensors comprise strain gauges.

16. The robotic vehicle of any of the precedin g claims, wherein the processingcircuitry is further configured to receive dimensional warning parameters for a predeterminedwamin g dimension between the robotic vehicle and the power cord and to trig ger a warning ifthe actual operating dimension between the robotic vehicle and the power cord exceeds the predeterrnined waming dimension.

17. The robotic vehicle of any of the precedin g claims, wherein the processingcircuitry is further configured to receive tension warning parameters for a predetermined wamin gtension of the power cord and to trigger a waming if the actual tension of the power cord exceeds the predetermined waming tension.

18. The robotic vehicle of claims 16-17, wherein the waming comprises a visual warning, an audio wamin g, a vibrating warning, or any combination thereof.

19. The robotic vehicle of claim 18, wherein the vibrating warning comprises vibrating a control device operated by a user.

20. The robotic vehicle of claim 19, wherein the control device comprises a remote control. 26 AttyDktNo: 38004/101 l2/P3 179SE00

21. The robotic vehicle of any of the precedin g claims, wherein the power cordcomprises a proximate end configured to releasably attach to a socket of the robotic vehicle and a distal end configured to releasably attach to a power supply.

22. The robotic vehicle of claim 2l, wherein the proximate end configured toreleasably attach to a socket of the robotic vehicle comprises a magnetic connection configuredto detach from the socket of the robotic vehicle when the predetermined maximum tension is placed on the power cord.

23. The robotic vehicle of claim 22, wherein the magnetic connection comprises a magnetic strength being less than the predetermined maximum tension.

24. The robotic vehicle of any of the precedin g claims, wherein the power cordcomprises a proximate end configured to releasably attach to a socket of the robotic vehicle and adistal end configured to releasably attach to a power supply; wherein the proximate endcomprises a proximate end construction that is stronger than a distal end construction of the distal end.

25. The robotic vehicle of claim 24, wherein the proximate end construction comprises a larger diameter than the distal end construction.

26. The robotic vehicle of claims 24-25 , wherein the proximate end construction comprises a protective sheath overlying the proximate end of the power cord.

27. The robotic vehicle of claims 24-26, wherein the protective sheath comprise a rigid protective sheath.

28. The robotic vehicle of claims 24-27, wherein the proximate end construction comprises from l to 6 feet of the proximate end of the power cord. 27 AttyDktNo: 38004/101 12/P3 179SE00

29. The robotic of any of the preceding claims, wherein the power cord comprises aproximate end configured to releasably attach to a socket of the robotic vehicle and a distal endconfigured to releasably attach to a power supply; wherein the proximate end comprises a proximate end construction that is configured to hover off the ground.

30. The robotic vehicle of claim 29, wherein the proximate end construction beingconfigured to hover off the ground comprises enabling from 1 to 6 feet of the proximate end of the power cord adjacent the robotic vehicle to hover off the ground.

31. The robotic vehicle of any of the precedin g clairns, wherein the robotic vehicle comprises a demolition robot.

32. The robotic vehicle of claim 31, wherein the demolition robot comprises a plurality of outriggers and a control arm. 28