SE2251239A1 - Tool-carrying demolition robot with intelligent control system and a means for controlling a machine subsystem included in a demolition robot - Google Patents

Abstract

The invention relates to a demolition robot tool system comprising, a demolition robot (1) and a tool (14) in the demolition robot's (1) arm body (10), an operation subsystem (30:1) with a control unit (20) and nominal work data (WDnom) for the demolition robot, a electronic data storage device (21) with identification data (ID) for the tool (14), a sensor (31) detecting the presence of the tool (14), a controller (30) which via a communication interface (22) can receive identification data (ID) from the tool's electronic data storage device (21). To control the operating characteristics of an operating subsystem, the controller (30) can identify the tool (14) and carry out at least one of the following actions; a) establishing a connection to a cloud service (210) through said communication interface (22); receiving preferred work data (WDpref) for the identified tool from the cloud service (210) and, in accordance therewith, manipulating the control signals of the control unit (20) in the operation subsystem (30:1); b) to establish a connection to the tool's electronic data storage device (21), through said communication interface (22) to receive preferred work data (WDpref) for the identified tool (14) from the tool's electronic data storage device (21) and in line therewith to manipulate the control unit's (20 ) control signals in the operating subsystem (30:1).

Description

Tool-carrying demolition robot with intelligent control system and a method for controlling a machine subsystem that is part of a demolition robot TECHNICAL FIELD The present invention relates to a Tool-carrying demolition robot with intelligence for adapting the operating characteristics of at least one machine subsystem included in the same according to the preamble to patent claim 1. The invention also relates to a method to control the operating characteristics of a machine subsystem of a Tool-Carrying Demolition Robot according to the preamble of patent claim 12. The invention also relates to a tool intended to be carried by a demolition robot according to the patent claim BACKGROUND A demolition robot is a Tool-Carrying Robot Vehicle that is normally remotely controlled by an operator who walks next to the demolition robot and remotely controls it by a remote control device, i.e. basically a portable communication device that is carried on the operator's body via a harness or similar.

A demolition robot typically has an undercarriage with a propulsion unit that can include crawler tracks and an upper carriage rotatable on said undercarriage in a horizontal plane with a maneuverable arm organ that has a tool attachment at its free end, a so-called quick attachment with which the demolition robot can switch between carrying different types of tools. Which tool the demolition robot currently carries, for example a hydraulic hammer, concrete shears, saw or the like, depends on the demolition robot's current area of use or work task. The work is normally carried out through a combination of different work steps, for example, it may involve crushing or shaping concrete with a hydraulic hammer, cutting steel reinforcement with concrete shears and removal of felled building materials with a shovel tool.

Each of the various tools that the demolition robot is intended to carry normally has different operating characteristics and thus places different demands on the demolition robot's various machine subsystems. The demolition robot's hydraulic system is to the highest degree such a machine or operating subsystem whose prevailing operating parameters affect how efficiently a tool attached to the armature can work because not only different tools have varying operating needs, but also similar tools but of different makes can normally show varying operating needs.

As an example, it can be mentioned that a tool in the form of a hydraulic hammer or a saw normally requires large hydraulic fluid flows (l/min) to drive a power-demanding hydraulic motor that the consumer in question is equipped with, while, for example, a concrete shear normally requires the reverse, namely that the concrete shear has relatively small hydraulic flow requirement to drive its working hydraulic cylinder but high hydraulic pressure requirements.

It is previously known to store predetermined work data with control parameters adapted to the operation of a limited number of different standard tools in a fixed memory of the demolition robot. With the help of a regulator in the form of a microprocessor, the operating characteristics of the operating subsystems included in the demolition robot's hydraulic system can be manually manipulated through appropriate programming by the operator so that the associated operating subsystem is adapted to the current standard tool attached to the armature.

Said programming usually takes place by the operator via a user interface on the remote control device, for example in the form of menus with graphic symbols representing various standard tools such as a hammer or a saw. Customization of the operating characteristics is limited to the extent that the operator can only specify the general type of tool currently attached to the armature. It should be understood that the term "fixed" in the following means that the tool is retentively supported, secured or locked in the arm member's bracket.

Guided by the operator's choice among the portable remote control device's various menus, the appropriate operating mode is selected by the controller receiving predetermined control and limitation parameters from memory depending on the tool type selected by the operator. If the operator has not made a tool selection and thus the appropriate operating mode is missing, the system automatically selects stored default operating characteristic parameters.

A disadvantage of hitherto known systems for controlling the operating characteristics of the operating subsystems is not only that the programming operation itself involves a cumbersome and disturbing work step by the operator, but also that the pre-determined control parameters that are stored in the memory for operating different tool types are in practice rough generalized estimates that do not necessarily correspond to reality let alone to the preferred or optimal operating parameters of the tool in question. Although known systems often make it possible for an operator to manually adapt or adjust certain control parameters via user interfaces such as with menus, controls or similar influencing devices, such manual adaptation constitutes a time-consuming and unnecessary work step that often places very high demands on the operator's knowledge and experience. In addition, it should be pointed out that the operating needs can differ significantly not only between different types of tools but also between the same type of tools depending on both the actual dimensions of the tool (weight class) and the make of manufacture.

It is thus desirable to create a demolition robot that makes it possible to adapt operating parameters of one or several of the many operating subsystems included in a demolition robot in a simpler, more efficient way depending on the actual operating needs of the tool in question.

SUMMARY OF THE INVENTION A first purpose of the present invention is thus to create an intelligent demolition robot that can automatically adapt the operating characteristics of at least one machine subsystem included in the same that corresponds to the operating needs of the tool that the demolition robot carries. Another object of the invention is to provide a way to control the operating characteristics of a machine subsystem of a demolition robot depending on each current tool selection for the demolition robot. In a third purpose of the invention, propose a tool intended to be carried by a demolition robot according to the invention. These objects of the invention are achieved with a demolition robot tool system that exhibits the features and characteristics stated in claim 1, a way to control the operating characteristics control the operating characteristics in a machine subsystem of a demolition robot as stated in patent claim 10 and a tool for a demolition robot as stated in patent claim 14. Other features and characteristics of the invention appear from the subclaims.

According to one embodiment, a demolition robot tool system includes a demolition robot and a tool which is exchangeably attached to the demolition robot's movable arm member, an operating subsystem which includes a control unit with nominal work data WDnom for the demolition robot, an electronic data storage device with identification data ID for the tool, a sensor configured to detect presence of the tool, a controller which via a communication interface is configured to receive said identification data ID from the tool's electronic data storage device, wherein the controller is configured to identify the attached tool and carry out at least one of the following actions; a) that communication interface; establishing a connection to a cloud service by said receiving preferred work data WDpref for the identified tool from the cloud service and, guided by the preferred work data, manipulating the controller's control signals in the operating subsystem; b) establishing a connection to the tool's electronic data storage device, through said communication interface. receiving preferred work data (WDpref) for the identified tool from the tool's electronic data storage device and, guided by the preferred work data, manipulating the controller's control signals in the operation subsystem. c) establishing a connection to the tool's electronic data storage device through said communication interface; to receive preferred work data (WDpref) specified by an operator for the identified tool via an input device on a remote control device included in the demolition robot and manipulate the control unit's control signals in the operating subsystem using the preferred work data.

According to another embodiment, the data storage device, for example in the form of an RFID tag, is assigned a unique ID number which controls in which the item or location information about preferred work data WDpref for the tool is stored, i.e. if preferred work data WDpref is stored immediately in the tool's electronic data storage device or if preferred work data WDpref is stored in a cloud service.

According to one embodiment, the controller is configured to receive preferred work data WDpref from the utility's electronic data storage device or from the cloud service guided by location information in the data storage device's identification data (ID).

DESCRIPTION OF FIGURES In the following, the invention is described in more detail with the guidance of an embodiment shown in the attached drawings; on which; flg¿ schematically shows a demolition robot that is guided and controlled by an operator walking next to the machine and how the demolition robot can be assigned preferred work data from a data storage device on a tool or from a cloud service, flgë shows an example of marking data on hydraulic hammers in a first embodiment with relatively low working weight, Fig. 2b shows an example of marking data on a hydraulic hammer in a second embodiment with a relatively higher working weight than the hydraulic hammer in Fig. 2a, Fig. 2b shows schematically a block diagram of a control system for controlling various operating characteristics in at least one operating subsystem for the demolition robot according to the present invention , flg¿ shows a flow chart regarding a way to, in a first embodiment, a way for adapting at least one machine subsystem that is part of a demolition robot according to the invention, Egg shows a flow chart regarding a way to, in a second embodiment, bring about adaptation of at least one machine subsystem that is part of a demolition robot a demolition robot according to the invention.

With reference to Fig. 1, a demolition robot tool system is shown which includes a demolition robot 1 with a device for controlling operating characteristics in at least one of the many different operating subsystems that are part of the demolition robot depending on a current tool selection. In the following, the term operating subsystem or machine subsystem refers to each of the various systems whose task is to control and diagnose various parts of a demolition robot electronically with the help of control units (microcomputers).

In Fig. 2, a dash-dotted contour line is shown as an example of some of the large number of "n" subsystems 30:1, 30:2, 30:3 which are part of a demolition robot 1 and whose operating characteristics will, for exemplary purposes, be varied in accordance with the present invention.

In the following, the invention is essentially described only with the starting point of the demolition robot's hydraulic operating subsystem and how the invention is applied to the same. However, it should be understood that the invention is applicable to controlling operating parameters of each "n" operating subsystem 30:1-30n included in a demolition robot. However, each of the three operating subsystems listed below will be touched upon in the following; a first operating subsystem 30:1 comprising a hydraulic system; a second operating subsystem 3022 comprising an electric motor control system; a third operating subsystem 30:3 comprising an operator control system; At the outset, it should also be mentioned that in a hydraulic system, selected operating parameters may refer to flow pressure limitations, limitation of the hydraulic flow consumers' permitted movement ranges for tools, etc.: In an electric motor control system, selected operating parameters may include dynamic control of the electric motor to respond to the power requirements required by the hydraulic system, speed control, for example to provide noise reduction for tools with low power requirements, current limiting regulation; and in an operator control system, selected operating parameters can refer to the selection of joystick functions, steering wheel button functions adapted to the tool in question, etc. Furthermore, it can be mentioned that control units that are part of each operating subsystem can form one or more computer networks at different levels and are usually of the CAN bus type or similar . Again with reference to fig. 1, it is shown how an operator 2 walks next to the demolition robot 1 and remotely controls it wirelessly via a remote control device 3. 4 generally denotes a chassis with a carriage that exhibits an upper carriage 5 and a lower carriage 6. The upper carriage 5 is rotatably supported on the undercarriage 6 for swinging in a horizontal plane about a vertical axis. The undercarriage 6 is equipped with a propulsion device comprising right and left caterpillar tracks 8. 9 denotes support legs which are operated by associated hydraulic cylinders and 10 an operable arm organ which is supported on the upper carriage 5 and maneuverable by means of hydraulic cylinders 11. The above-mentioned hydraulic components form part of the first mentioned operating subsystem 30:1 which includes the demolition robot's hydraulic system.

12 denotes a cable intended to be connected to a stationary electrical line network to supply the demolition robot 1 with electrical power. In addition to a quantity of motor control electronics (not shown), said cable 12 forms part of the above-mentioned second operating subsystem 30:2 which includes the demolition robot's 1 electric motor control system.

The armature 10 is provided at its free end with a tool holder 13 in which different types of tools 14 such as a hydraulic hammer, a hydraulic shear and a bucket can be interchangeably attached and, where applicable, also connected for hydraulic operation. Said tool 14 is included in the present demolition robot tool system. Said hydraulic hammer, saw and hydraulic scissors respectively constitute typical such hydraulically driven tools 14 whose function can be controlled and controlled by means of the remote control device. The remote control device 3 includes control levers 3a, buttons and similar devices that can be influenced by the operator 2 to control and control the various functions of the demolition robot. The operator 2 can set the demolition robot 1 in different driving modes, so-called modes via the remote control device 3. Depending on the selected driving mode, the joysticks 3a and other controls will control various functions of the demolition robot. As examples of such driving modes can be mentioned; "Driving function undercarriage", or "Driving function arm system", whereby the demolition robot can be steered and controlled by influencing the control levers. Selected driving mode can be displayed using symbols on a user interface on the remote control device 3. The above-mentioned levers and controls thus form part of the above-mentioned third operating subsystem 30:3 which includes an operator control system.

For the further understanding of the invention, Fig. 2a and Fig. 2b show examples of how the marking data and thus also preferred working data can differ significantly between two known hydraulic hammers of the same make, but of different weight classes.

With reference to Fig. 3, some of the main components that are part of a hydraulic system 15 of the demolition robot 1 are shown schematically. The hydraulic system 15 includes a number of consumers of hydraulic flow, whereby the above-mentioned hydraulic cylinder 11 in the armature 10 constitutes one among a number of such, a number of hydraulic motors 16 of which an external hydraulic motor can form a drive for a tool (hydraulic hammer, saw), other internal hydraulic motors that are part of the demolition robot are normally used partly to drive the demolition robot's caterpillar track 8, partly to rotate the upper carriage 5 relative to the lower carriage 6. The hydraulic system 15 also includes a electronically controlled hydraulic valve 17 of proportional type which is located between a hydraulic pump 18 and each of said consumers. Again with reference to Fig. 1, it is shown how the hydraulic system 15 can include a series of sensors 19a-19c (see Fig. 3) among which can be mentioned a length measuring sensor 19a for sensing the longitudinal displacement of each hydraulic cylinder 11, an angle/speed sensor 19b which senses a hydraulic motor's twisting movements and thus would be used to determine the relative angular position of the upper carriage 5 and thus also the arm member 10 in a horizontal plane in relation to the undercarriage 6. The hydraulic system 15 can also include angle sensors 19c which are arranged for sensing a mutual angular position between the various arm parts that are included in armorganet Guided by information from said sensors 19a-19c, i.e. in the present example, length measuring sensor 19a and angle sensor 19b, 19c can, for example, during autonomous driving, both the position and speed of movement of a tool 14 in a coordinate system in a three-dimensional space (3D space) be calculated, which can also be used to control and control a tool to move along a path in a predetermined route or to check that a tool is within a tool's permitted working range and/or does not exceed a predetermined speed of movement.

As mentioned above, the remote control device 3 includes control levers 3a, buttons and knobs that can be influenced by the operator 2 to control and control the various functions of the demolition robot 1. With the help of the electronic hydraulic valve 17, the function of the various consumers is controlled and thus the movements of the demolition robot as a whole. A control unit 30 for controlling the hydraulic valve 17 based on a signal from the control lever 3a for conveying a control order to the control unit 30, whereby the unit is arranged to control the hydraulic valve 17 according to predetermined functions stored in a data storage device belonging to the control unit 30 In Fig. 1 is denoted by 31 a tool sensor device configured to detect the presence of a tool 14 attached to the arm member. The tool sensor device 31 can in its simplest form consist of a mechanical switch which is affected by the attached tool 14 when the attachment is in its locked position, but is advantageously chosen from one of the known sensors that allow non-contact presence detection, for example the type that uses radio waves or light to detect the presence and location of a tool 14 in the bracket The demolition robot 1 also includes a tool reading device 32 that includes a communication interface 22 that can be put in communication with the electronic data storage device 21 on the tool 14 to retrieve the identification data ID and preferred work data WDpref for the tool 14 attached to the arm member 10. The tool reading device 32 is activated to read data from the data storage device 21 on the tool 14 upon receiving a signal to the tool sensor device 31 that a tool 14 is located in the arm member 10 bracket 13. The tool reading device 32 conveniently includes a unit for short-range data communication that uses radio waves within the license-free area, for example near field communication (NFC) or blue tooth communication (BLE). The tool reading device 32 can also be of so-called RFID type (Radio-frequency identification) that can remotely read from transponders and so-called memories. RFID tags. These RFID tags include a unique ID number and, if they are of so-called passive type, normally transmit a few decimeters without own power source. An RFID transponder has all information stored in a database. The record or location where the information is stored is normally tied to the unique ID number of the RFID transponder. Depending on where the item is stored can thus be controlled by the RFID transponder's unique ID number.

In an embodiment where the electronic data storage device 21 on the tool includes both identification data ID and preferred work data for the tool WDpref, an active or semi-passive RFID tag can be used whereby said combination of data can be read by the tool reading device In an alternative embodiment of the invention, the demolition robot system is arranged to establish a connection to a cloud service 210 through said communication interface 22, and to receive preferred work data WDpref for the identified tool from the cloud service 210 and, guided by the preferred work data, manipulate the control signals of the control unit 20 in the operating subsystem 30:1. An RFID tag's unique ID number can conveniently be used to indicate that information about items with preferred work data WDpref for a current tool 14 is stored is stored in the cloud service 210. wireless communication interface 22 to communicate with the cloud service 210 directly or indirectly The demolition robot 1 can preferably be equipped with one by communicating via another device, such as a server, a personal computer or smartphone. Examples of such wireless communication devices are Wifi® (IEEE 802.1 lb), Bluetooth®, Global System Mobile (GSM) and LTE (Long Term Evolution), to name a few. Where applicable, the controller 30 is configured to receive preferred work data WDpref from the cloud service 210 guided by location information in the data storage device 21's identification data ID.

The device according to the invention is operative to enable effective adaptation or limitation of at least one operating parameter for at least one of the many operating subsystems 30: 1-30 the tool data storage device 31 that each tool 14 is equipped with includes that is included in the demolition robot 1. The electronic identification data ID for the tool and preferred work data WDpref for the tool 14 where said preferred work data includes data for controlling at least one operating parameter OP of at least one operating subsystem 30 included in the demolition robot: In an alternative embodiment, it is conceivable that the cloud service 210 is configured to collect operational settings of the operating subsystem's 30:1 parameter adjusted nominal work data WDnom and to transmit this collected data together with the identification data ID of the tool 14 and an Iogg storage task for the collected data to the cloud service 210. Thanks to the possibility of collecting at the place of use of the tool specific tool settings for different tools 14 during operation and to transfer such collected data to the cloud 210 together with an Iogg storage task, the material becomes searchable and possible to use for example for machine manufacturers in follow-up, tracking and tool and/or machine development or to provide an owner of a fleet of demolition robot machines with desirable information about the machines' operating conditions.

The operating information that is included in preferred, on each tool 14:1-14n stored and readable work data WDpref can include predetermined operational values for the specific tool 14 such as for example the tool's own weight, working length or other properties that are limiting for the tool's movement in space partly for to avoid collision, partly risk of the demolition robot tipping due to inappropriate center of gravity movement due to the weight of the tool.

As described above, the demolition robot 1 includes at least one operating subsystem 30:1 where each such operating subsystem includes a control unit 20 with nominal working data WDnom for functions stored in a data storage device 23. An arm organ 10 of the demolition robot 1. In the following, the expression nominal value refers to the control of the operating subsystem's various tools 14 is further normally fixed in or the work data or parameters declared by the equipment manufacturer. Also compare the expression rated data which in the context can be considered essentially equivalent to the expression nominal value as used here.

An electronic data storage device 21 is arranged for the tool 14 with means for storing data including identification data ID for the tool, a sensor device 31 arranged on the arm member 10 is configured to detect the presence of the tool 14 attached to the arm member 10, a regulator 30 which is configured via a communication interface 22 retrieve said identification data ID from the attached tool's electronic data storage device 21, whereby the controller 30 is further configured to identify the attached tool. Controller 30 is via said communication interface 22 configured to receive said identification data ID from the tool's 14 electronic data storage device 21, whereby the controller 30 is configured to identify the attached tool 14 and performing at least one of the following actions; a) that communication interface 22; establish a connection to a cloud service 210 by said receiving preferred work data WDpref for the identified tool from the cloud service 210 and, guided by the preferred work data, manipulate the control signals of the control unit 20 in the operation subsystem 30:1; b) to establish a connection to the tool's electronic data storage device 21, through said communication interface to receive preferred work data WDpref for the identified tool 14 from the tool's electronic data storage device 21 and, guided by the preferred work data, manipulate the control signals of the control unit 20 in the operating subsystem 30: The controller 30 can be configured to achieve manipulated control of the operating subsystem 30:1 by replacing at least one nominal operating parameter OPnom that is part of the operating subsystem 30:1 or by parameter adjustment of at least one nominal operating parameter OPnom in the operating subsystem 30: According to the invention, the term manipulated refers to any type of distortion, parameter adjustment or exchange of one or several operating parameters OP of the nominal work data WDnom which is part of a control unit 20 in each operating subsystem of a demolition robot.

The controller 30 is configured to provide manipulated control of at least one operating subsystem 30:1 by using preferred work data WDpref from the tool 14 data storage device 21, ie. the controller 30 is configured to identify the attached tool 14 and, guided by the preferred work data WDpref, manipulate the control signals of the control unit 20 in the operation subsystem 30:1. In one embodiment of the invention, the controller 30 can be configured to manipulate the operating subsystem 30:1 to control each operating parameter OP in the operating subsystem guided by preferred work data (WDpref).

In an alternative embodiment of the invention, the demolition robot 1 can include a first data storage device 23 containing nominal working data WDnom which are representative of an admissible range for controlling at least one nominal operating parameter OPnom in at least one operating subsystem 30:1, a second data storage device 24 containing from the attached tool 14 received preferred operating data WDpref for controlling at least one preferred operating parameter OPpref in at least one operating subsystem 30:1, a data interface 26 for communication between the controller 30 and said respective data storage devices 23, 24 and comparison of preferred operating data WDpref with the permitted range of nominal operating data WDnom , whereby if the value of said at least one preferred operating parameter OPpref of preferred working data WDpref is within the permitted range, the operating parameter is selected from said preferred working data WDpref for controlling the operating subsystem 30:1 and if the value of said at least one preferred operating parameter OPpref of preferred working data WDpref is outside the permitted range, said nominal working data WDnom is selected for controlling the operating subsystem 30: The operating subsystems 30:1 which are controlled in a manipulated manner through the regulator 30 may include at least one of the following; a hydraulic subsystem, a subsystem for self-directed or autonomous operation of the tool 14 movement path along a predetermined route in a three-dimensional space. The identification data ID of a tool 14 can include at least one of the following tool types; hammer, grapple, scissors, saw, cutter, shovel Preferred work data WDpref may include at least one of the following; recommended oil flow (l/min), specified tool weight (kg); recommended machine weight carrier (kg), specified tool dimensions (diameter of the working tool working length of the working tool.

In one embodiment of the invention, manipulation of the control unit 20's control signals in the operation subsystem 30:1 can include adaptation of the operation subsystem's 30:1 control signals with respect to the weight of the tool 14 in order to automatically counteract bending of the torque-loaded arm member 10 during parallel movement of the tool.In another embodiment of the invention, manipulation of the control unit's 20 control signals in the operating subsystem 30:1 include automatic limitation of the tool's 14 maximum movement distance to avoid assigning the demolition robot an unwanted center of gravity shift.

In another embodiment of the invention, manipulation of the control unit 20's control signals in the operating subsystem 30:1 can include automatic limitation of the tool's 14 maximum lifting height.

Preferred working data WDpref may include tool weight includes at least one of the following; adaptation of the hydraulic system during parallel movement of the tool, limitation of the tool's maximum movement distance. In one embodiment of the invention, the preferred operating parameter OPpref can be constituted by a maximum movement distance for the tool. In one embodiment, the preferred operating parameter OPpref can be constituted by a maximum height to which the tool 14 can be lifted. In one embodiment, communication interface 22 may include any of the following means; short-range data communication technology using radio waves; near field communication (NFC), blue tooth communication (BLE According to another embodiment, the demolition robot's remote control device 3 can be equipped with an input means 3b with a user interface in the form of a display, graphic display unit with buttons, an electronic port (USB) or similar device that enables the input means to receive preferred work data WDpref specified by an operator for a tool 14 identified by means of the tool's electronic data storage device 21 and guided by preferred work data WDpref to manipulate the control signals of the control unit 20 in the operating subsystem 30: With reference to Fig. 4, a flow chart is shown describing a method according to the invention in a first embodiment for adaptation of at least one included machine subsystem 30: 1. At step S2, the presence of a tool 14 in the bracket 10 of the armature 10 is detected. If this is not the case, the system returns to the starting position. in step S1. When tool 14 is located in bracket 13, identification data ID is retrieved in step S3 from the electronic data storage device 21 of located tool 14. At step S4, at least one preferred operating parameter OPpref is selected from preferred work data WDpref from tool 14 for controlling at least one subsystem 30: 1-30 of the demolition robot wherein the operation subsystem 30:1 is controlled by the control unit 20 with signals manipulated by the controller 30 guided by received preferred work data WDpref.

With reference to Fig. 5, a flowchart describing a method according to the invention is shown, a second exemplary embodiment for adaptation of at least one machine subsystem 30:1 included therein. At step S10, the process starts. At step S20, the presence of a tool 14 is detected in the attachment 13 of the armor member 10. If this is not the case, the system returns to the starting position S10. When the tool 14 is located in the bracket 13, the controller 30 in step S retrieves data storage device 21. In step S40, preferred work data WDpref stored in an identification data ID from the located tool 14's electronic first data storage device 23 is compared with nominal work data WDnom stored in a second data storage device 24. If the controller in step S40 S40 finds that the preferred work data WDpref is below or equal to the nominal work data WD by selecting the preferred work data in step S50. If the controller in step S40 finds that the preferred work data WDpref is above the nominal work data, the nominal work data WDnom is selected for the tool in step S50, whereby the operation subsystem 30:1 is controlled by the control unit 20 with signals manipulated by the controller 30 guided by the received preferred work data WDpref.

If the tool 14 lacks information about the identification data ID or if the preferred work data WDpref for the tool is missing, the nominal work data WDnom is selected.

In accordance with the invention, at least one of the following operating subsystems is controlled in a manipulated manner through the regulator 30; a first operating subsystem 30:1 comprising a hydraulic system; a second operating subsystem 30:2 comprising an electric motor control system; a third operating subsystem 30:3 comprising an operator control system In the inventive way of controlling an operating subsystem in a demolition robot, a tool 14 is included which is intended to be interchangeably carried at the free end of an arm organ 10 of the demolition robot. The tool includes an electronic data storage device 21 in which data belonging to the tool, which includes identification data ID for the tool, has been stored in order to use preferred work data WDpref which is either also stored together with the identification data in the data storage device 21 or retrieved from a cloud service 210 for at least one adjustment of the operating characteristics of operating subsystem 13:1 of the demolition robot.

Claims (2)

Demolition robot tool system comprising, a demolition robot (1) and a tool (14) which is exchangeably attached to the demolition robot's (1) movable arm member (10), an operating subsystem (30:1) which includes a control unit (20) with nominal work data (WDnom) for the demolition robot, an electronic data storage device (21) with identification data (ID) for the tool (14), a sensor (31) configured to detect the presence of the tool (14), a controller (30) which via a communication interface (22) is configured to receiving said identification data (ID) from the tool's electronic data storage device (21), wherein the controller (30) is configured to identify the attached tool (14) and perform at least one of the following actions; a) establishing a connection to a cloud service (210) through said communication interface (22); receiving preferred work data (WDpref) for the identified tool from the cloud service (210) and, guided by the preferred work data, manipulating the controller (20) control signals in the operation subsystem (30:1); b) establishing a connection to the tool's electronic data storage device (21), through said communication interface (22). to receive preferred work data (WDpref) for the identified tool (14) from the tool's electronic data storage device (21) and, guided by the preferred work data, manipulate the control signals of the control unit (20) in the operating subsystem (30:1) c) to establish a connection to the tool's electronic data storage device (21), through said communication interface (22); via an input device (3b) on a remote control device (3) included in the demolition robot, to receive preferred work data (WDpref) specified by an operator (2) for the identified tool (14) and, guided by the preferred work data, to manipulate the control signals of the control unit (20) in the operating subsystem (30:1). Demolition robot tool system according to claim 1, wherein the controller (30) is configured to receive preferred work data (WDpref) from the tool's (14) electronic data storage device (21) or from the cloud service (210) guided by location information in the data storage device (21) identification data (ID).3 . Demolition robot tool system according to any one of claims 1 - 2, wherein the controller (30) is configured to manipulate the operation subsystem (30:1) by replacing at least one nomine|| operating parameter (OPnom) included in the operational subsystem (30:1) nominal working data (WDnom) or by parameter adjustment of at least one nomine|| operating parameter (OPnom) in the operating subsystem (30:1) nominal working data (WDnom) guided by preferred working data (WDpref). A demolition robot tool system according to any one of claims 1 - 3, wherein the controller (30) is configured to manipulate the operation subsystem (30:1) to control each operation parameter (OP) of the operation subsystem guided by preferred work data (WDpref). Demolition robot tool system according to any one of claims 1 - 4, comprising a first data storage device (23) containing nominal work data (WDnom) which is representative of a permissible range for control of at least one nomine|| operating parameter (OPnom) in the operating subsystem (30:1), a second data storage device (24) containing received preferred working data (WDpref) for controlling at least one preferred operating parameter (OPpref) in the first operating subsystem (30:1), a data interface (26) for communication between the controller (30) and said respective data storage devices (23, 24) and comparison of preferred working data (WDpref) with the permissible range of nominal working data (WDnom), whereby if the value of said at least one preferred operating parameter (OPpref) of preferred working data (WDpref) is within the permitted range, the operating parameter is selected from said preferred operating data (WDpref) for controlling the operating subsystem (30:1) and if the value of said at least one preferred operating parameter (OPpref) of preferred operating data (WDpref) is outside the permitted area, said nominal work data (WDnom) is selected for control of the operating subsystem (30:1). Demolition robot tool system according to any one of claims 1 - 5, wherein at least one of the following operating subsystems is controlled in a manipulated manner through the controller (30); a first operating subsystem (30:1) comprising a hydraulic system; a second operating subsystem (30:2) comprising an electric motor control system; a third operating subsystem (30:3) comprising an operator control system. Demolition robot tool system according to any of claims 1 - 6, wherein the identification data (ID) includes at least one of the following tool types; hammer, grapple, scissors, saw, cutter, scoop, grinder, cutting tool, plasma thermal tool, Cracker. Demolition robot tool system according to any of claims 1 - 7, wherein preferred work data (WDpref) comprises at least one of the following; recommended oil flow (l/min), machine weight recommended pressure (Pa), recommended (kg), work tool working length), recommended power for electric powered tool. stated tool weight (kg); carrier specified tool dimension (diameter of the work tool) Demolition robot tool system according to any of claims 1 - 8, wherein manipulation of the control unit's (20) control signals in the operating subsystem (30:1) comprises at least one of the following actions; adaptation of the operating subsystem's (30:1) control signals with respect to the tool's (14) weight to automatically counteract bending of the torque-loaded arm member (10) during parallel movement of the tool (14); automatic limitation of the maximum movement of the tool (14) to avoid assigning the demolition robot an unwanted center of gravity shift; automatic limitation of the maximum of the tool (14). lifting height. 1.-9, the following Demolition robot tool system claims wherein (22) short-range radio wave data communication technology; near field communication (N FC), blue tooth communication (BLE). according to any of the communication interface comprises any of means; Demolition robot tool system according to any one of claims 1 - 10, wherein the controller (30) is further configured to collect operational settings of the operation subsystem (30:1) parameter adjusted nominal work data (WDnom) and to transmit the collected data together with identification data (ID) of the tool and a log storage task to the cloud service (210). Method for controlling the operating characteristics of a demolition robot tool system (1) comprising a demolition robot and a tool (14) which is exchangeably attached to the demolition robot's (1) movable arm member (10), an operation subsystem (13:1) with a control unit (20) with nominal work data (WDnom) of the demolition robot, which way includes the steps of the following operations; a) that electronic data storage device (21) with identification data (ID) of the tool (14) is provided to the tool, b) that a sensor (31) configured to detect the presence of the tool (14) is provided to the demolition robot, c) that (30) communication interface (22) is configured to receive said identification data (ID) the demolition robot is assigned to a controller which via one from the tool's electronic data storage device (21), wherein the controller (30) is configured to identify the attached tool (14) and carry out at least one of the following actions; d) that communication interface (22); establishing a connection to a cloud service (210) by said receiving preferred work data (WDpref) for the identified tool from the cloud service (210) and, guided by the preferred work data, manipulating the control signals of the controller (20) in the operation subsystem (30:1); e) establishing a connection to the tool's electronic data storage device (21), through said communication interface (22). receiving preferred work data (WDpref) for the identified tool (14) from the tool's electronic data storage device (21) and, guided by the preferred work data, manipulating the control signals of the control unit (20) in the operating subsystem (30:1). f) establishing a connection to the tool's electronic data storage device (21), through said communication interface (22); (3b) on a remote control device (3) receive preferred work data specified by an operator (2) to via an input means the demolition robot input (WDpref) for the identified tool (14) and guided by preferred work data manipulate the control signals of the control unit (20) in the operating subsystem (30:1). Method according to claim 12 further comprising the step; g) that the controller (30) is configured to receive preferred work data (WDpref) from the tool (14) electronic data storage device (21) or from the cloud service (210) guided by location information in the data storage device (21) identification data (ID). Method according to claim 13, further comprising the step; h) that preferred work data (WDpref) is compared with nominal work data (WDnom) whereby if the controller (30) finds that the preferred work data (WDpref) is below or equal to the nominal work data (WDnom) the preferred work data (WDpref) is selected, and if the controller in step S40 finds that the preferred work data (WDpref) is above the nominal work data (WDnom) the nominal work data for the tool is selected in step S Set according to one of the requirements 1 2.-14, whereby if the tool (14) lacks information on identification data (ID) or location information on preferred work data (WDpref) for the tool, nominal work data (WDnom) is selected. 16. Method according to any one of claims 12 - 15, wherein at least one of the following operating subsystems is controlled in a manipulated manner through the regulator (30); a first operating subsystem 30:1 comprising a hydraulic system; a second operating subsystem 30:2 comprising an electric motor control system; a third operating subsystem 30:3 comprising an operator control system; 17.Tool (14) intended to be interchangeably carried in the open air by an arm organ (10) of a demolition robot (1), characterized in that it comprises an electronic data storage device (21) with identification data (ID) for the tool (14) and location information for preferred working data (WDpref) for the tool.