A carrier comprising at least a first hydraulic cylinder and a second hydraulic cylinder both having each a piston and a piston position sensor, wherein the carrier is arranged to carry a tool through the use of the hydraulic cylinders and wherein the controller is configured to: receive control information to move the tool in a direction along a working line; receive position information for the first cylinder; receive position information for the second cylinder; determine if the working line for the tool is maintained, and, if the working line is not maintained, then adapt for the movement of the first cylinder by providing control of the second cylinder to maintain the working line for the tool and thereby feeding the tool along the working line.

A method for, in particular completely or partially, disassembling a tower of a wind power plant, comprising the following steps: selecting suitable disassembly measures as a function of the tower location and the tower characteristics; preparing the disassembly, in particular of the tower and optionally the surroundings; carrying out the disassembly; and transporting the disassembled tower away.

A hydrodemolition rig for an inclined surface comprises a frame, a carriage, and a plurality of wheel assemblies. The wheel assemblies are spaced from one another about the frame, with at least two of the wheel assemblies comprising a wheel and a hydraulic assembly for selectively adjusting the spacing between the wheel and the frame. The carriage is configured to reciprocate within the frame and to carry one or more nozzles for delivering water for hydrodemolition.

A surface, e.g., a concrete surface, is worked by guiding a lance (23) which comprises a water jet mouthpiece (27) coupled to the high-pressure water over the surface in a working path and at the same oscillating the lance transversely to the working path. The oscillation is driven by an eccentric mechanism (30, 31) and has a stable eccentric position when the mechanism is rotated in the one direction and a stable eccentric position when it is rotated in the other direction. The two positions have a different eccentricity and impart different widths to the working. The working depth and the working width can be changed by changing the direction of rotation.

A remote controlled demolition robot (10) comprising a controller (17) and at least one actuator (12) controlled through a hydraulic system (400) comprising at least one valve (13a) and a hydraulic gas accumulator (440), wherein the controller (17) is configured to determine a fluid flow in the hydraulic system (400), determine if the determined fluid flow in the hydraulic system is above a first threshold, and if so discharge the accumulator (440) to provide power to the actuator (12); and determine if the determined fluid flow in the hydraulic system is below a second threshold, and if so charge the accumulator (440) for buffering power in the hydraulic system (400).

A steeply inclined surface is hydrodemolished by providing a staging platform and a rig that includes a base frame defining a planar footprint within the frame. The rig is suspended from the platform by a cable such that frame is coplanar with the surface and the incline of the surface causes the rig to lean against it. Rails are provided on the surface to restrain spurious lateral movement of the rig. The rig is positioned on the surface and nozzles mounted on a trolley within a travelling carriage on the frame travel in two dimensions to hydrodemolish the surface within the footprint. The rig is moved vertically along the rails and laterally along the platform to reposition the rig to work a new section of the surface in conjunction with other rails that are also mounted on the surface.

A device for the treatment of a surface, such as a flat and/or curved surface, the device including at least one surface treatment tool mounted onto a secondary motorized carriage capable of moving along a rail between two primary carriages that can move along tubes, preferably parallel, straight or curved. The primary carriages are mounted onto the rail, on the one hand, in such a way as to rotate around an axle that is orthogonal to the rail and, on the other hand, in such a way as to slide along the rail.

A hydrodemolition apparatus provides multiple degrees of freedom enabling the treatment of overhanging or vertically inclined surfaces. A nozzle wall or track is pivotable to present the nozzles substantially normal to the overhanging or inclined surface. The nozzle wall or track is positioned proximate to the inclined surface by a combination of a vertically displaceable carriageway, a laterally displaceable carriage and an elongated member that terminates in the pivotable nozzle wall or track.

A hydrodemolition apparatus provides multiple degrees of freedom enabling the treatment of overhanging or vertically inclined surfaces. A nozzle wall or track is pivotable to present the nozzles substantially normal to the overhanging or inclined surface. The nozzle wall or track is positioned proximate to the inclined surface by a combination of a vertically displaceable carriageway, a laterally displaceable carriage and an elongated member that terminates in the pivotable nozzle wall or track.