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US 10,895,882 B2Granted
Controlling load transporting devices
AssigneeEntro Industries, Inc.
InventorsJason Ross, Brian Unger, Shawn Smith
Life of this patent
Estimating the term…
Abstract
A control system may control multiple devices, such as jacks. The control system may adjust the speeds of the devices based on their distances from associated targets. The control system improves overall walking system performance by more efficiently directing more of the limited resources, such as hydraulic fluid, to the furthest back jacks.
Claims17
A method of controlling multiple lifting or traveling devices, comprising:
- monitoring states of the devices to identify one of the devices in a furthest back state at a time;
- computing differences between the state of the identified one of the devices and the states of one or more of the other devices;
- adjusting speeds of the devices based on the differences;
- and
- after adjusting the speeds of the devices, performing a set of operations one or more times until a target end state is reached, wherein the set of operations includes:
- identify one of the devices in a furthest back state at a next time;
- computing differences between the state of the identified one of the devices in the furthest back state at the next time and states of one or more other devices at the next time;
- and
- re-adjusting the speeds of the devices based on the differences between the state of the identified one of the devices in the furthest back state at the next time and the states of the one or more other devices at the next time.
6 more elements
A method of controlling multiple lifting or traveling devices, comprising:
- identifying states of the devices;
- detecting extended positions of the devices;
- identifying a first one of the devices in a furthest back state at a time, including identifying one of the devices with one of the extended positions less than or equal to the extended positions of the other devices as the first one of the devices in the furthest back state at the time;
- computing state differences between the state of the first one of the devices and the states of one or more of the other devices;
- computing valve position differences between a valve position of the first one of the devices and valve positions of the one or more of the other devices;
- computing new speed values for the devices based on the state differences and the valve position differences;
- and
- adjusting speeds of the devices based on the new speed values.
5 more elements
A method for controlling multiple devices used for moving a load, comprising:
- identifying current states of the devices;
- identifying one of the devices with a furthest back one of the current states as a lead device;
- identifying differences between the current state of the lead device and the current states of the other devices;
- reducing speeds of the other devices based on the differences;
- computing synchronization speeds for the devices based on the differences between the lead device and the other devices;
- deriving new speed setpoints for the devices by subtracting the synchronization speeds from a speed of the lead device;
- and
- adjusting the speeds of the devices based on the new speed setpoints.
5 more elements
Dependencies are inferred from the claim text.