Automatic walking for a load transporting apparatus
AssigneeEntro Industries, Inc.
InventorBrian Unger
Life of this patent
Estimating the term…
Abstract
A control system retracts lifting devices to a stored reset height during a reset operation to raise support feet off of a base surface. The control device raises a load to a stored moving height above the base surface during a moving operation. The control system automatically repeats the reset and moving operations using the stored reset and stored moving heights. The control device may receive an adjustment signal identifying anew height of the support feet or load bearing frame above the base surface and uses the new height during subsequent reset or moving operations. The control device may default to a minimum reset height or a minimum moving height when the new height would cause the support feet or load bearing frame to drag on the base surface.
Claims21
A method of walking a load using a plurality walking apparatuses comprising:
- storing a reset height for the lifting devices;
- storing a moving height for the lifting devices;
- retracting the lifting devices to the stored reset height during a reset operation to raise the support feet off of a base surface;
- moving the support feet while lifted off the base surface during the reset operation;
- extending the lifting devices to the stored moving height during a moving operation to lower the support feet and lift the load off of the base surface;
- moving the load while being lifted off of the base surface during the moving operation;
- and
- automatically repeating the reset and moving operations for multiple walking cycles.
A control system for controlling a plurality of walking apparatuses that move a load above a base surface, the control system comprising:
- a computer configured to:
- store a reset height;
- store a moving height;
- perform reset operations that raise support feet of the walking apparatuses above the base surface to the stored reset height and move the support feet while raised above the base surface;
- perform moving operations that raise the load above the base surface to the stored moving height and move the load while raised above the base surface;
- and
- repeat the reset operations at the stored reset height and repeat the moving operations at the stored moving height.
A computer program for controlling stepping operations for one or more walking apparatuses that move a load bearing frame, the computer program comprising a set of instructions operable to:
- perform reset operations that raise support feet of the walking apparatuses above a base surface and move the support feet while raised above the base surface;
- perform moving operations that lower the support feet to raise the load bearing frame above the base surface, and move the load bearing frame while raised above the base surface;
- repeat the reset operations and the moving operations in response to receiving a walking signal from a remote control device;
- stop the reset and moving operations, raise the support feet, and lower the load bearing frame back onto the base surface when the walking signal is no longer received;
- adjust the walking apparatus to steer the load bearing frame in a different direction based on a steering signal received from the remote control device;
- and
- restart and repeat the reset operations and the moving operations in response to receiving the walking signal from the remote control device.
Dependencies are inferred from the claim text.