KR102042732B1 - An artificial intelligence ladder for prevention of falling. - Google Patents

Abstract

According to an embodiment of the present invention, an artificial intelligence ladder for prevention of falling comprises: a main frame installed to be supported on the ground; a plurality of step frames coupled to the main frame and enabling a user to step with feet; and a pin frame individually coupled to an end at one side of the main frame to be fixated. The ladder comprises: a deformation detection unit installed in the main frame to detect deformation of the main frame; a control unit configured to determine detection of a falling from a signal measured by the deformation detection unit; and a risk signal from the control unit to a worker.

Description

An artificial intelligence ladder for prevention of falling.

The present invention relates to a fall prevention ladder, and more particularly, to a fall prevention artificial ladder that analyzes the load added to the ladder and automatically informs the user of the fall risk.

In general, in various industrial sites and homes, A-shaped ladders that are developed in a mountain shape are mainly used to perform work at high positions where human hands do not reach properly. Most ladders are designed to be easy to carry and carry, so they are relatively weak in safety. In other words, when using the A-type ladder, there is always a risk of a safety accident due to slipping on the ground or falling. In actual industrial sites, many accidents of industrial safety accidents occur through ladders. Such a safety accident can cause a great loss of life such as a death accident. Therefore, when working with a ladder, safety measures must be prepared.

Every year, workers are seriously injured or killed by falling accidents caused by falling ladders. Many workers in the field are uneasy about the use of ladders because of the risk of accidents in working with them. In the field, the ladder safety support (conduction guard) is installed on the ladder to reduce the risk of ladder falling by extending the base of the ladder. As safety awareness on the site increases, ladder safety supports are increasingly attached to ladders.

However, the safety support alone is limited in preventing various types of accidents that occur between ladder operations. The safety support only functions by forming support from the moment the ladder begins to fall (at the time of one of the floor supports on the ladder falls from the ground), but does not eliminate the condition in which the ladder falls. In this sense, the safety support is not an active preventive measure. The condition that the ladder is inverted is due, among other things, to what posture the operator has performed on the ladder.

The inversion of the ladder occurs when the posture is unstable so that the center of the worker's body is out of the base of the ladder, or when the worker is working with force even if the center of the body is within the ladder. Many workers feel sensory and try to be as stable as possible. However, in parallel with the work, it is possible to misjudge a situation in which sensory perception is deteriorated or inverted, which leads directly to thinking. The fact that accidents occur frequently, even for long-time experienced workers in the field, means that the operator's risk predictions can fail. Ladder inversion occurs when there is a mismatch between the mechanical conditions of ladder inversion and the sensory risk prediction of the operator.

If the operator can clearly see that the ladder is in a dynamic condition that is prone to falling, the worker can prevent the fall from ladder falling by changing the posture and movement of the work or stopping the work. Changing work postures and movements or stopping work according to the operator's clear perception is an aggressive and aggressive accident prevention measure in the sense of eliminating the conditions for the ladder to fall over.

Therefore, in order to actively prevent the fall accident of the ladder, it is necessary to develop a technology that enables the operator to recognize the fall condition in advance.

The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

Republic of Korea Utility Model Registration Publication No. 20-047669 (2016.02.17.)

The present invention has been made to solve this problem, an object of the present invention is to analyze the user's posture, motion through the ladder artificial intelligence system in order to prevent the fall accident when the user uses the ladder and fall danger situation It is to provide a fall prevention artificial ladder that can inform the user in advance.

In order to achieve the above object, the artificial ladder for preventing fall according to an embodiment of the present invention includes a main frame installed to support the ground, a plurality of step frames coupled to the main frame, and which the user can step on, of the main frame. In the ladder comprising a pin frame coupled to each of the one end can be fixed, the ladder is installed on the main frame for detecting the deformation of the main frame, the risk of conduction risk from the signal measured by the deformation measuring unit And a danger display unit displaying a danger signal to the operator from the controller.

The deformation measuring unit may include a unit frame formed on each side of the main frame and a strain gauge sensor installed inside the unit frame to measure the strain of the main frame.

A total of eight deformation measuring units may be installed above and below each of the main frames.

The controller may include a calculator configured to determine whether the ladder is in danger of falling through a calculation according to a deformation degree sensed by the strain measurer, and a storage unit that stores a value measured by the strain measurer.

The calculation unit is measured in real time as a function of the strain values ( ε ₁ , ε ₂ , ε ₃ , ε ₄ , ε ₅ , ε ₆ , ε ₇ , ε ₈ ) of the _eight main frames measured by the strain gauge. It is possible to set a value and a threshold value for determining the conduction state of the ladder, and when the value derived in real time as a function of the strain value of the main frame is smaller than the threshold value, it is possible to determine the fall risk of the ladder.

The measured values derived in real time as a function of the strain values ( ε ₁ , ε ₂ , ε ₃ , ε ₄ , ε ₅ , ε ₆ , ε ₇ , ε ₈ ) of the _eight main frames measured by the strain gauge are ladders. Mass ( m ), the width of the ladder ( W ), the height from the ground of the step frame on which the worker stands ( S ), the center of mass ( C ) of the worker whose origin is the midpoint of the step frame on which the worker stands, and the worker As a feedback, the distance from the center of mass of the operator to the position where the worker reaches out to work ( B ) and the calculated value derived as a function of the force ( Z ) that the operator receives as a variable This can be used to improve the accuracy of the ladder's risk of falling.

The hazard indicator may be a speaker or an indicator lamp.

According to the artificial ladder for preventing fall according to the present invention has the following effects.

First, it is possible to prevent accidents by detecting deformation of the ladder itself and informing the worker of the danger of falling compared to the conditions of the entire city of the ladder.

Second, it is possible to manufacture a ladder with a simpler configuration by installing as a part of the frame without having a separate device.

Third, unlike the separate safety support, the worker can work in consideration of the risk in advance can prevent the fall accident more effectively than if there is a safety support.

Fourth, it is possible to improve the system by integrating the usage records with deep learning technology when the worker uses them in the industrial field.

1 is a perspective view of a fall prevention artificial ladder according to an embodiment of the present invention.
Figure 2 is a view showing a deformation measuring unit of the artificial ladder for preventing fall according to an embodiment of the present invention.
3 is a view showing a deformation measuring unit of the artificial ladder for preventing fall according to an embodiment of the present invention.
Figure 4 is a view showing the control unit and the danger display of the artificial ladder for preventing falling according to an embodiment of the present invention.
5 is a view showing the operation of the fall prevention artificial ladder according to an embodiment of the present invention.
6 is a view briefly illustrating a risk determination process of an artificial ladder for preventing falling according to an embodiment of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a,” “an,” and “the” include plural forms as well, unless the phrases clearly indicate the opposite. As used herein, the meaning of "comprising" embodies a particular property, region, integer, step, operation, element, and / or component, and other specific properties, region, integer, step, operation, element, component, and / or group. It does not exclude the presence or addition of.

Unless defined otherwise, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. Commonly defined terms used are additionally interpreted to have a meaning consistent with the related technical literature and the presently disclosed contents, and are not interpreted in an ideal or very formal sense unless defined.

Hereinafter, with reference to the accompanying drawings will be described for the artificial ladder for preventing fall according to a preferred embodiment of the present invention. 1 is a perspective view of a fall prevention artificial ladder according to an embodiment of the present invention. Referring to Figure 1, the artificial ladder for preventing fall 100 according to an embodiment of the present invention is coupled to the main frame 10, the main frame 10 is installed on the left and right to support the ground and the user foot In the ladder comprising a plurality of step frame 20 that can be tread, the pin frame 30 is coupled to each of the one end of the main frame can be fixed, the main frame 10 is installed on the main frame 10 Deformation measurement unit 40 for detecting a deformation of the), a control unit 50 for determining whether the danger of falling from the signal measured by the deformation measurement unit and a risk display unit 60 for displaying a danger signal from the control unit to the user do.

Basically, the artificial ladder for preventing fall 100 according to an embodiment of the present invention is basically a folding type A or straight ladder, and a basic skeleton structure includes a main frame 10, a step frame 20, and a pin frame 30. ). In the present embodiment, a ladder of type A is taken as an example, but when the angle of opening of the pin frame is adjusted, it is also possible to use a straight line.

This type A ladder is a type of ladder commonly used in industrial sites. The mainframe 10 is composed of a total of four and each end is formed to be supported on the ground. The step frame 20 is connected in a horizontal direction over a pair of main frames 10 arranged in the vertical direction so that the operator can work up. The number of step frames 20 is determined according to the length of the main frame 10. As the length of the main frame 10 increases, the number of step frames 20 increases. The pin frame 30 has a hinge structure to fold and unfold the ladder and is connected to one end of the pair of main frames 10.

The deformation measuring unit 40 is installed at one side of the main frame 10 to measure whether the main frame 10 is deformed. 2 and 3 is a view showing a deformation measuring unit of the artificial ladder for preventing falling according to an embodiment of the present invention. 2 and 3 specifically include a unit frame 41 and a strain gauge sensor 42. Deformation measuring unit 40 may be installed on one side of the main frame 10 and a total of eight of each of the two main frame 10 may be installed. It is possible to calculate the force added to the ladder in the case of two installations for each main frame.

The unit frame 41 is attached to the strain gauge sensor 42 may be installed on one side of the main frame. The shape 41 of the unit frame should be able to maintain a constant level of strength while increasing the measurement accuracy of the strain gauge sensor 42. On the other hand, since the unit frame 41 can receive the force according to the Poisson effect by the difference in the degree of warpage between the main frame 10 and the unit frame 41, it is preferable to distribute the stress through the groove of the unusual shape. In the present embodiment, a dumbbell-shaped groove 45, but any structure that can disperse the stress can be appropriately changed and adopted. As shown, the unit frame is coupled to one side of the main frame 10, the strain gauge 42 is attached to one surface of the main frame 10 in a state of being installed in the unit frame 41. When the deformation of the main frame 10 occurs, the deformation of the unit frame 41 also occurs, which is detected by the strain gauge sensor 42. The reason why the direct installation of the strain gauge sensor 42 to the unit frame 41 rather than to the main frame 10 is that the overall design of the ladder can be improved while improving the strain measurement through the structural design of the unit frame 41. This is to increase the structural strength of the. In addition, when the unit frame 41 is introduced, mass production can be facilitated by separately manufacturing.

The unit frame and the main frame can be combined by various methods. For example, screw coupling is possible, and an adhesive method and an interference fitting method are also possible.

Figure 4 is a view showing the control unit and the danger display of the artificial ladder for preventing falling according to an embodiment of the present invention. Referring to FIG. 4, the controller 50 may include an indicator 51, a storage 52, and a calculator 53. The controller 50 basically calculates the degree of deformation of the main frame 10 detected through the deformation measuring unit 40 to determine whether the danger of falling and to transmit the falling danger signal. The indicator 51 is electrically connected to the strain gauge sensor 42 and used to calibrate the measured strain value. The storage unit 52 stores the strain information of the main frame 10 corrected through the indicator 51. The storage unit 52 may store not only information received through the indicator 51, but also calculation results of the operation unit 53 connected thereto and basic information of a program driven by the operation unit 53. The calculator 53 analyzes the strain information of the main frame 10 to determine whether the ladder is in danger of falling through the stored program. A detailed judgment method is mentioned later.

The danger display unit 60 serves to receive a fall danger signal of the ladder from the control unit 50 and display it to the worker. In detail, a method of displaying a danger signal may be performed by using a visual method and an audio method. In a visual manner, the display lamp 61 may be installed on the upper surface of the step frame 20 so that an operator can easily see it. In the case of the display lamp 61, the degree of danger may be displayed according to the color of the lamp. On the other hand, the speaker 62 can be installed in an auditory manner. It is possible to indicate the danger of falling of the ladder through a loudspeaker or a warning sound through the speaker. Although such a display method is taken as an example, any method that can be recognized by an operator is not limited to the above means.

In addition, the control unit 50 and the danger display unit 60 is preferably mounted inside the step frame 20. Attaching a separate device may interfere with work and may cause damage.

In addition, a battery 54 capable of supplying power to the control unit 50 and the danger display unit 60 may be installed.

Hereinafter, the operation relationship for measuring the risk of falling of the ladder through the calculation unit will be described. 5 is a view showing the operation of the fall prevention artificial ladder according to an embodiment of the present invention. 6 is a view briefly illustrating a risk determination process of an artificial ladder for preventing falling according to an embodiment of the present invention.

When a force is applied to any object, the object must deform. In this case, the strain measured is a strain. The theoretical idea of the present invention is to find out the mechanical behavior of the frames constituting the ladder by measuring and analyzing the strain distribution when the main frame is deformed by an external force. When the worker of the ladder climbs up the step frame and performs some work, the force generated by the work and the weight of the worker exert a force on the main frame through the step frame. At this time, the applied force causes the main frame to bend as a bending moment. The amount of curvature can be expressed by strain which is dimensionless on a micrometer scale.

The longitudinal maximum strain of the main frame is proportional to the longitudinal bending moment of the main frame. Approximately engineeringly reasonable proportionality. (Maximum shear stress) / (maximum bending stress) = (thickness) / (2 * length), since the thickness and length ratio are 1:10 or more, the strain in the cross-sectional shear direction can be ignored. The proportional coefficient is expressed as a function (constant value) of the inertia of the mainframe cross section, the modulus of the metal and the thickness of the cross section. The greatest bending moment is also the largest strain. On the other hand, since the strain and the bending moment have a linear relationship, it is easy to calibrate for electrical measurement of strain.

When a concentrated load is applied to one main frame, the magnitude of the bending moment has a mountain function with respect to the longitudinal direction of the main frame. At each end of the main frame the bending moment is zero. Since the ground end of the main frame is a free end, the pin engagement side of the main frame is a pin engagement, so the bending moment can be regarded as zero. In addition, the bending moment function of the left and right on the basis of the peak point (mountain peak) is linear. The height of the peak point increases as the external force increases.

The peak point of the bending moment of the main frame only appears at certain locations. For example, if there are five step frames, we can number S ₁ , S ₂ , S ₃ , S ₄ , and S ₅ from the lowest step frame. There are five positions the operator can stand on the ladder. Depending on the location of the point of application of concentrated load is the bending moment (bending moment) that appears in the longitudinal direction of the main frame is determined only in the position of the step frame standing worker FIG operator applied to the main frame standing on the ladder thus M _b (S ₁ ), M _b (S ₂ ), M _b (S ₃ ), M _b (S ₄ ), M _b (S ₅ ) can be represented by only five functions. That is, the peak position of the bending moment is determined discontinuously. If, if the worker in the S _1, the bending moment will follow the function of M _b (S ₁₎ having a peak point at the height of the S _1. Similarly, if the operator is standing on the bending moment S ₄ will follow a function of M _b (S ₄₎ having a peak point at the height of the S _4.

Under the above conditions, if the strain is measured at only two specific points on the main frame, the bending moment function can be specified at all positions on the main frame by physical calculation. Therefore, the bending moment function can be specified for each of the four main frames, and the dynamic behavior of the main frame can be known.

로 변환할 수 있다. 그리고 사다리 자체질량 m, 작업자의 질량 M, 사다리의 폭 W, 작업자가 서 있는 스텝 프레임의 지면으로부터의 높이 S=S(n) (n=1, 2, 3, 4, 5 작업자가 서 있는 스텝 프레임의 중간점을 원점으로 하는 작업자의 질량 중심 C=(V _CM , H _CM ), 작업자의 자세로서 작업자의 질량 중심에서 작업자가 손을 뻗어 작업하는 위치까지의 거리 B=(B _x , B _y ), 작업자의 동작으로써 작업자가 작업에 의해 받는 힘 Z=(Z _x , Z _y )으로 두면, 사다리 위에서 작업자가 임의의 자세로 임의의 작업을 수행하는 모든 상황을 수학적으로 표현할 수 있다.Let P ₁ , P ₂ , P ₃ , and P ₄ the vertical forces acting in the direction perpendicular to the ground at the four feet (four support points) of the ladder touching the ground. About the axis of rotation when the ladder is inverted

Can be converted to And the ladder's own mass m , the worker's mass M , the ladder's width W , and the height from the ground of the step frame on which the operator stands, S = S (n) (n = 1, 2, 3, 4, 5 Center of mass of worker C = (V _CM , H _CM ) with the midpoint of the frame as the starting point, distance from the center of mass of the worker to the position where the worker reaches out and works B = (B _x , B _y If you put the force Z = (Z _x , Z _y ) on the work as the worker's movement, you can mathematically represent all situations where the worker performs any task in any position on the ladder.

이다. 또한 계측된 8개의 stain ε에 대해서도 실측값

로 된다. 이때, 사다리 전도 조건은

이거나

이다. Therefore

to be. In addition, the measured values for the eight measured stain ε

It becomes At this time, the ladder conduction conditions

Or

to be.

이거나

인 조건은 매우 특수한 조건으로서, 실시간적으로 변형률(strain)을 계측, 연산하는 상황에서는 사다리 전도에 대한 안정적인 예측이 불가하다. 따라서 특수하게 설계된 함수를 도입할 필요가 있다.But

Or

The phosphorus condition is a very special condition, and stable prediction of ladder conduction is impossible in a situation in which strain is measured and calculated in real time. Therefore, it is necessary to introduce specially designed functions.

로 바꿀 수 있다. 스트레인 게이지 센서(Strain gauge sensor)를 통한 계측과 굽힘 모멘트(bending moment)의 물리적 연산에 의해서

과

를 알 수 있고, 따라서

과

를 알 수 있으므로

과

의 함수로

를 도입하여 실험값 K를 결정하면 사다리 전도 조건에 대한 연산 평가가 안정적으로 가능해진다.Operators by mathematical techniques

Can be changed to Measurement by strain gauge sensor and physical calculation of bending moment

and

And therefore

and

As you can see

and

As a function of

When the experimental value K is determined by introducing, it is possible to stably evaluate the calculation of the ladder conduction condition.

로서 시간에 대한 실시간 값이다. 작업자가 사다리 위 고소작업을 위하여 사다리의 첫 번째 스텝프레임

에 올라서면 연산자

에 의해서 작업자의 질량이 측정된다. 즉,

로 표현될 수 있다. 또한 물리적인 제약조건을 가지는 B, C는 합리적인 가정에 의해서 안전계수를 고려하여 최대값으로 산정할 수 있다. S는 다음과 같이 굽힘 모멘트(bending moment)함수 모드에 의해 결정된다.

Operator

As is the real time value for time. First step frame of ladder for workers to sue on ladder

Operator on the

The mass of the operator is measured by In other words,

It can be expressed as. In addition, B and C , which have physical constraints, can be estimated as the maximum values by considering the safety factor by reasonable assumptions. S is determined by the bending moment function mode as follows.

로서 연산자

의 변화량 함수를 통해 알 수 있다. 결과적으로 사다리를 사용한 고소작업 상황에 대한 물리적 변수값을 모두 알 수 있다. 따라서

과

의 실측값과 연산값의 차이인

를 계산할 수 있으며, 피드백 시스템에 따라 다시

로 연산함으로써 시스템의 신뢰도를 높일 수 있다. And Z is

As operator

This can be seen from the change function of. As a result, it is possible to know all the values of the physical variables for the aerial work situation using the ladder. therefore

and

Is the difference between

Can be calculated and again according to the feedback system

The reliability of the system can be increased by

값이 K값 보다 작아지면 전도가 일어날 가능성이 아주 크다는 의미이고, 이에 따라 사다리는 작업자에 위험 경보를 시작한다. 작업자는 경보를 듣고 작업 중이던 동작을 바꾸거나 작업을 중지함으로써 전도 위험을 회피할 수 있다.Theoretically, mathematically, the ladder artificial intelligence system knows all the variables for height on the ladder and compares them with K to make predictions about what will happen.

If the value is less than the K value, it means that there is a very high possibility that a fall will occur, so the ladder will trigger a hazard warning to the operator. The operator can avoid the danger of falling by listening to the alarm and changing the action being taken or stopping the work.

The K value can be continuously updated by incorporating deep learning technology into industrial accident data reported annually and various ladder usage records (usage DB) of workers using the present invention. In this way, AI systems can be improved.

과

를 측정할 때에 스트레인 게이지 센서(strain gauge sensor)가 아닌 압력센서를 사용할 경우 굽힘 모멘트 함수를 알 수 없으므로 작업자의 작업 높이에 대한 판단이 불가능 해진다. 또한 사다리 네 발 지지점의 지면과의 접점 상황에 따라

과

값의 측정이 불가능할 수 있다. 반면, 스트레인 게이지 센서(strain gauge sensor)를 사용할 경우, 앞에서 기재한 바와 같이 부가되는 힘의 인식이 가능할 뿐 만 아니라 메인 프레임의 휘어진 정도를 계측하는 것이기 때문에

과

을 측정할 수 있다.

and

When the pressure sensor is used instead of the strain gauge sensor, the bending moment function is not known. Therefore, the worker's working height cannot be judged. Also, depending on the situation of contact with the ground

and

Measurement of the value may not be possible. On the other hand, when a strain gauge sensor is used, not only can the applied force be recognized as described above, but also the degree of bending of the main frame is measured.

and

Can be measured.

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that.

Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. .

10: main frame 20: step frame
30: pin frame 40: deformation measurement unit
41: unit frame 42: strain gauge sensor
50: control unit 51: indicator
52: storage unit 53: arithmetic unit
60: danger indicator 61: indicator lamp
62: speaker

Claims (7)

In the ladder comprising a main frame which is installed to support the ground, a plurality of step frames coupled to the main frame and the user can step on the foot, and a pin frame coupled to one end of the main frame, respectively,
A deformation measuring unit installed at the main frame to detect deformation of the main frame;
A control unit for determining whether the danger of falling from the signal measured by the deformation measuring unit; And
And a danger display unit displaying a danger signal to the worker from the control unit.
The deformation measuring unit includes a unit frame formed on each side of the main frame and a strain gauge sensor installed inside the unit frame to measure the strain of the main frame,
A total of eight deformation measuring units are installed above and below each of the main frames.
The control unit includes a calculation unit for determining whether the risk of falling of the ladder through the calculation according to the deformation degree detected by the deformation measurement unit and a storage unit for storing the value measured by the deformation measurement unit,
The calculation unit is measured in real time as a function of the strain values ( ε ₁ , ε ₂ , ε ₃ , ε ₄ , ε ₅ , ε ₆ , ε ₇ , ε ₈ ) of the _eight main frames measured by the strain gauge. Setting a threshold and a threshold value for determining the conduction state of the ladder, and determining the falling risk of the ladder when the value derived in real time as a function of the strain value of the main frame is smaller than the threshold value,
The measured values derived in real time as a function of the strain values ( ε ₁ , ε ₂ , ε ₃ , ε ₄ , ε ₅ , ε ₆ , ε ₇ , ε ₈ ) of the _eight main frames measured by the strain gauge are ladders. Mass ( m ), the width of the ladder ( W ), the height from the ground of the step frame on which the worker stands ( S ), the center of mass ( C ) of the worker whose origin is the midpoint of the step frame on which the worker stands, and the worker As a feedback, the distance from the center of mass of the operator to the position where the worker reaches out to work ( B ) and the calculated value derived as a function of the force ( Z ) that the operator receives as a variable Anti-fall AI ladder, characterized in that to improve the accuracy when determining the risk of falling ladder using deep learning technology.
delete delete delete delete delete The method according to claim 1,
The danger indicator is a fall prevention artificial ladder, characterized in that the speaker or display lamp.

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