Climbing apparatus and method

Abstract

An apparatus is disclosed for climbing objects such as trees, poles, pipes, and the like. The apparatus includes at least one actuator with at least two clamps operatively attached to the actuator. Each of the clamps has an opening, which is at least as large as the cross-sectional measurement of the object being climbed. Links are attached to the clamps. A controller directs operation of the climbing apparatus.

What is claimed:  
     
         1 . An apparatus for climbing objects such as trees, poles, pipes and the like, comprising: 
 not less than one actuator;    not less than two clamps operatively attached to said actuator, said not less than two clamps having an opening not less than the cross-sectional measurement of the object to be engaged;    not less than two links operatively attached to said not less than two clamps; and    a controller.    
     
     
         2 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two clamps are C-shaped.  
     
     
         3 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two clamps are curvilinear in shape.  
     
     
         4 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two clamps are rectilinear in shape.  
     
     
         5 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two clamps are characterized by both rectilinear and curvilinear features.  
     
     
         6 . The apparatus for climbing objects according to  claim 1 , further comprising at least one sensor for sensing engagement, disengagement, or obstacles.  
     
     
         7 . The apparatus for climbing objects according to  claim 6 , wherein said not less than one sensor comprises touch sensors.  
     
     
         8 . The apparatus for climbing objects according to  claim 6 , wherein said not less than one sensor comprises force sensors.  
     
     
         9 . The apparatus for climbing objects according to  claim 6 , wherein said not less than one sensor comprises contact sensors.  
     
     
         10 . The apparatus for climbing objects according to  claim 1 , wherein said controller comprises an on-board controller.  
     
     
         11 . The apparatus for climbing objects according to  claim 1 , wherein said controller comprises a remote controlling device.  
     
     
         12 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two clamps comprises two clamps.  
     
     
         13 . The apparatus for climbing objects according to  claim 1 , wherein said not less than two links comprises two links.  
     
     
         14 . The apparatus for climbing objects according to  claim 1 , wherein said not less than one actuator comprises one actuator.  
     
     
         15 . The apparatus for climbing objects according to  claim 1 , further comprising software directing movement of the climbing apparatus.  
     
     
         16 . A method for operating a climbing device, said climbing device including not less than one actuator, not less than two clamps operatively connected to not less than two links, and a controller, the method comprising: 
 engaging a structure to be climbed in not less than two locations with said clamps;    bringing a first clamp into perpendicular relationship with said structure at a first position;    disengaging said first clamp from said structure;    moving said first clamp to a second position along said structure that is closer to a second clamp engaged with said structure;    re-engaging said structure at said second position with said first clamp;    bringing said second clamp into perpendicular relationship with said structure at a third position;    disengaging said second clamp from said structure;    moving said second clamp to a fourth position along said structure that is more removed from the position of said first clamp;    re-engaging said structure at said fourth position with said second clamp;    repeating the sequence of bringing a clamp into perpendicular relationship with said structure, disengaging a clamp, moving the disengaged clamp to a new position and re-engaging the structure with the clamp until the desired location is reached on said structure.    
     
     
         17 . The method for operating a climbing device according to  claim 16 , wherein moving said first clamp to a second position along said structure that is closer to a second clamp further comprises bringing the links to an angular position relative to each other.  
     
     
         18 . The method for operating a climbing device according to  claim 16 , wherein moving said second clamp to a fourth position along said structure that is more removed from the position of said first clamp further comprises bringing the links to an extended position relative to each other.  
     
     
         19 . The method for operating a climbing device according to  claim 16 , wherein the controller directs the movement of the clamps and links.