KR102580641B1 - Safety ladder apparatus with automatic position control - Google Patents

Abstract

The present invention relates to a safety ladder device capable of automatic position control and a control method using the same. More specifically, a wheel is mounted on the end of the ladder so that when the worker works on the ladder, the worker tilts the center of gravity to one side. It relates to a safety ladder device capable of automatic position control that maintains balance by slowing down the movement of the wheel to achieve balance, and a control method using the same.

Description

Safety ladder device with automatic position control {SAFETY LADDER APPARATUS WITH AUTOMATIC POSITION CONTROL}

The present invention relates to a ladder device capable of automatic position control and a control method using the same. More specifically, the present invention relates to a ladder device capable of automatic position control and a control method using the same. More specifically, a wheel is mounted at the end of the ladder so that when the worker works on the ladder, the worker's center of gravity is tilted to one side, causing balance. It relates to a ladder device capable of automatic position control that maintains balance by controlling the moving speed of the wheel in order to maintain balance, and a control method using the same.

Recently, in order to prevent fall accidents in the construction industry, safety measures have been taken to require workers to wear personal protective equipment such as hard hats when performing work using a ladder, such as replacing light fixtures, but safety accidents are occurring.

Figure 1 is a diagram showing a worker falling to death while working using a ladder. As shown in Figure 1, a worker climbs a ladder to replace a light, completes the light replacement work on the ladder, and the worker comes down the ladder while holding a part of the ladder, and falls during the process. Figure 2 shows step ladders and safety standards.

Here, when using a stepladder, workers are provided with and supervised to wear personal protective equipment such as a safety helmet and safety belt when working, regardless of the height of the ladder. However, there are limitations to safety education, so there is a need to develop technology for ladder devices that can prevent safety accidents in ladder work.

Republic of Korea Patent Publication No. 10-2021-0104959 Republic of Korea Patent Publication No. 10-2021-0022205 Republic of Korea Patent Publication No. 10-2013-0005833 Republic of Korea Patent Publication No. 10-2011-0086672 Republic of Korea Patent Publication No. 10-2009-0013899

The present invention is intended to solve the above problems, and its purpose is to provide a safety ladder device capable of automatic position control that controls the wheels provided on the ladder even if the center of gravity of the worker working on the ladder moves, and a control method thereof.

The safety ladder device capable of automatic position control of the present invention includes a ladder module; a position control module where wheels are located at each of the four ends of the ladder module and which reduces the rotational speed of the wheels according to changes in the center of gravity of the ladder module; and a command transmission module that monitors the rotation state of the wheel of the position control module and changes the rotation condition of the wheel of the position control module.

The ladder module is connected to a right ladder main body, a left ladder main body, one end of the right ladder main body, and one end of the left ladder main body, and a ladder rotating part through which the right ladder main body and the left ladder main body rotate, and the right ladder main body. A plurality of right horizontal sticks are spaced at regular intervals and allow the user to step on and climb the ladder, and a plurality of left horizontal sticks are spaced at regular intervals on the left ladder main body to allow the user to step on and climb the ladder.

The position control module includes a wheel unit, sensor unit, control unit, driver unit, motor unit, battery unit, speaker unit, and LED light emitting unit.

The wheel unit is provided with a pair of right wheels located at both ends of the right ladder main body and a pair of left wheels located at both ends of the left ladder main body, and the pair of right wheels and the pair of left wheels are independently from each other on the ground. moves in a certain direction.

The sensor unit has a sensor that measures the degree to which the worker's center of gravity is off-center at the end of the wheel.

The control unit calculates a pulse width modulation signal for driving the driver unit based on data obtained from the sensor unit and transmits it to the driver unit.

The driver unit generates a signal to drive the reduction gear of the motor based on the transmitted pulse width modulation signal.

The motor unit receives a drive signal transmitted from the driver unit and reduces the rotational speed of the wheel, which increases in rotational speed due to the center of gravity being increased in one direction.

The battery unit stores and supplies power to drive the position control module.

The speaker unit generates sound when the wheel unit rotates.

The LED light emitting unit turns the LED on and off when the wheel unit rotates.

The command transmission module includes a portable control unit and a mobile unit, wherein the portable control unit selects a power button for driving the position control module, a fixed state of the wheel unit, and a movable state of the wheel unit with a stick. It is equipped with a wheel state selection button, an emergency button for an emergency stop of the wheel unit, and a monitor to check the driving status of the position control module, and the mobile unit is wirelessly linked with the portable control unit to determine the location of the position on a plurality of mobile devices. Check the operating status of the control module.

The ladder module has a right wheel rotating part between the right ladder main body and the right wheel, and a left wheel rotating part between the left ladder main body and the left wheel, and the right wheel rotating part is parallel to the longitudinal axis of the right ladder main body. The right wheel rotates around the rotation axis, and the left wheel rotation unit rotates the right wheel around the rotation axis in a direction parallel to the longitudinal axis of the right ladder main body.

The wheel uses an omni wheel.

A safety ladder device capable of automatic position control according to an embodiment of the present invention includes a ladder module; a position control module in which a rotating ball unit is located at each of the four ends of the ladder module and that reduces the rotational speed of the moving ball according to a change in the center of gravity of the ladder module; and a command transmission module that monitors the rotation state of the moving ball of the position control module and changes the rotation condition of the moving ball of the position control module.

The ball unit is provided with a pair of right balance balls at each end of the right ladder main body of the ladder module and a pair of left balance balls at each end of the left ladder main body of the ladder module, and the ball unit A support plate for fixing the end of the ladder main body and a plurality of extension plates connected to a lower surface of the support plate are provided, and a moving ball is formed to be surrounded by the plurality of extension plates.

A method of controlling a ladder using an automatic position controllable safety ladder device according to an embodiment of the present invention includes a first step of positioning the automatically position controllable safety ladder device at a work location; A second step in which the worker presses a wheel selection button to change the right wheel and left wheel from a fixed state to a movable state; When the worker works on the ladder module, a third step of detecting that the center of gravity is off-center based on the right ladder main body and the left ladder main body; And when the center of gravity of the right ladder main body is larger than that of the left ladder main body, the rotation speed of the right wheel is rotated at a slower rate than the rotation speed of the left wheel, or when the center of gravity of the left ladder main body is larger than that of the right ladder main body. and a fourth step of slowing down the rotation speed of the left wheel compared to the rotation speed of the right wheel.

The step of detecting deviation from the center of gravity in the third step includes a 3-1 step of measuring the force applied to the ends of the right ladder main body and the left ladder main body; A 3-2 step of calculating the acceleration, velocity, and position applied to the ends of the right and left ladder body parts based on the force measured in the 3-1 step and the Lagrange dynamic equation in the Cartesian coordinate system; Step 3-3 of calculating a right torque value applied to the right wheel of the right ladder body and a left torque value of the left wheel of the left ladder body based on the acceleration, speed, and position data obtained in step 3-2; Includes.

In the fourth step, the wheels are decelerated until the torque value of the right wheel and the torque value of the left wheel become the same, and then the torque value of the right wheel and the torque value of the left wheel become the same and the center of gravity becomes the center. When in, the movement of the right and left wheels is stopped.

According to the safety ladder device capable of automatic position control and its control method of the present invention, even if the worker working on the ladder loses balance and the center of gravity is biased to one side, the worker maintains balance due to the decelerated operation of the wheel, and the worker moves away from the ladder. It has the effect of preventing the risk of falling.

Figure 1 is a diagram showing a worker falling to death while working using a ladder.
Figure 2(a) shows a schematic diagram of a stepladder, and Figure 2(b) shows safety standards for a stepladder.
Figure 3 shows a schematic diagram of an automatic position controllable safety ladder device according to an embodiment of the present invention.
Figure 4 shows coordinates and vectors that are elements for controlling the wheel of the safety ladder device capable of automatic position control, which is an embodiment of the present invention.
Figure 5(a) shows a schematic diagram showing the change in torque applied to the wheel when the center of gravity of the safety ladder device capable of automatic position control, which is an embodiment of the present invention, is shifted to the right, and Figure 5(b) shows the change in torque applied to the wheel of the safety ladder device capable of automatic position control, which is an embodiment of the present invention. A schematic diagram showing the change in torque applied to the wheel when the center of gravity of a safety ladder device capable of automatic position control, which is one embodiment, is shifted to the left.
Figure 6 shows that the center of gravity of the safety ladder device capable of automatic position control, which is an embodiment of the present invention, is moved to the right, and then the safety ladder device capable of automatic position control rotates the wheel so that the center of gravity is moved to the left, so that the center of gravity is moved to the left. Shows a schematic diagram of returning to position.
Figure 7(a) shows a wheel as one embodiment of the present invention, and Figure 7(b) shows a wheel as another embodiment of the present invention.
Figure 8 shows a conceptual diagram of a safety ladder device capable of automatic position control, which is an embodiment of the present invention.
Figure 9 shows a conceptual diagram of a position control module according to an embodiment of the present invention.
Figure 10 shows a conceptual diagram of a command transmission module according to an embodiment of the present invention.
Figure 11 shows a flow chart of a control method of a safety ladder device capable of automatic position control, which is an embodiment of the present invention.
Figure 12 shows a flow chart of a method for detecting the degree of deviation from the center of gravity, according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, B, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term “and/or” includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Hereinafter, the present invention will be described in detail with reference to the drawings.

Figure 3 shows a schematic diagram of a safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention. As shown in FIG. 3, the ladder module 100 includes a right ladder main body 10R, a left ladder main body 10L, one end of the right ladder main body 10R, and one end of the left ladder main body 10L. Ladder rotating parts 40 connected to each other, a plurality of right horizontal sticks 20R spaced at regular intervals on the right ladder main body 10R for the user to step on and climb the ladder, and spaced at regular intervals on the left ladder main body 10L. It is provided with a plurality of left horizontal sticks (20L) that are spaced apart and allow the user to climb up the ladder. Here, the right ladder main body 10R and the left ladder main body 10L can be folded and unfolded by the ladder rotating part 40.

Figure 4 shows coordinates and vectors that are elements for controlling the wheel of the safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention. Figure 5(a) shows a schematic diagram showing the change in wheel torque when the center of gravity of the safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention, is shifted to the right, and Figure 5(b) shows the change in wheel torque. A schematic diagram showing the change in wheel torque when the center of gravity of the safety ladder device 500 capable of automatic position control, which is an embodiment of the invention, is shifted to the left. As shown in Figures 4 and 5, the driving principle of the safety ladder device 500 capable of automatic position control of the present invention will be described. If the worker's center of gravity changes while climbing the ladder and working, the wheel rotates and rolls in a direction away from the center of gravity. Here, if the rotation speed of the rapidly rotating wheel is reduced, it becomes easier for the worker to maintain balance. Specifically, the wheel unit 210 of the present invention includes a pair of right wheels located at both ends of the right ladder main body 10R, a pair of left wheels located at both ends of the left ladder main body 10L, and a pair of left wheels. The right wheel and the pair of left wheels move in a certain direction on the ground independently of each other in the right ladder main body 10R and the left ladder main body 10L, respectively. Here, as the center of gravity changes, the pair of right wheels rotate and move in the right direction, and the pair of left wheels rotate and move in the left direction.

For example, as shown in Figure 5(a), when the center of gravity is initially the same in the right and left directions, the torque applied to the right and left wheels is the same. (τA = τB = 0) Here, when the worker moves and the center of gravity shifts to the right, the right wheel rotates and rolls to the right, and at this time, the torque applied to the right wheel becomes greater than the torque applied to the left wheel. (τA < τB) At this time, the left wheel stops or moves at a lower rotation speed than the right wheel. Therefore, it is easier to maintain balance when the rotation speed of the right wheel is reduced to a greater extent than the rotation speed of the left wheel.

Meanwhile, as shown in Figure 5(b), when the center of gravity is initially the same in the right and left directions, the torque applied to the right and left wheels is the same. (τA = τB = 0) When the worker moves and the center of gravity shifts to the left, the left wheel rotates and rolls to the left, and at this time, the torque applied to the left wheel becomes greater than the torque applied to the right wheel. (τA > τB) At this time, the right wheel stops or moves at a lower rotation speed than the left wheel. It is easier to maintain balance when the left wheel's rotation speed is reduced to a greater extent than the right wheel's rotation speed.

In Figure 5, if the moving direction of the right and left wheels is defined as the x-axis direction, the direction parallel to the ground and perpendicular to the x-axis is defined as the y-axis direction, and the direction perpendicular to the ground is defined as the z-axis direction, (+)x The axis direction can be defined as the right direction, and the (-)x-axis direction can be defined as the left direction.

Figure 6 shows that the center of gravity of the safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention, is moved to the right, and then the safety ladder device 500 capable of automatic position control is moved to the left to return to its original position. Shows a schematic diagram of returning to . In Figure 5, when the center of gravity is biased in a certain direction, the worker slows down the rotation of the wheel with the biased center of gravity to correct the center of gravity, and then the wheel stops. Meanwhile, as shown in FIG. 6, the stopped wheel can be rotated and moved to its original position to continue work at its original position. In other words, after the worker moves the wheel at a reduced speed in a certain direction according to the bias of the center of gravity, when the worker wants to work again at the original position, the wheel can be moved and returned so that the worker is located at the memorized position. After moving the wheel according to the change in the center of gravity in the portable control unit, when the center of gravity becomes the same for the right and left directions, the wheel selects whether the wheel will remain at rest or the wheel unit will move and remain in the initial state. A return mode may be provided, and if a return command is selected in the wheel return mode, the wheel may rotate to move to the initial position after the center of gravity changes.

For example, if the center of gravity is initially the same in the right and left directions, the torque applied to the right and left wheels is the same when the right and left wheels are stationary. (τA = τB = 0) When the worker moves and the center of gravity shifts to the right, the right wheel rotates and rolls to the right, and at this time, the torque of the left wheel becomes greater than the torque of the right wheel. (τA > τB) After that, when the worker wants to return to the first working position, the ladder can be positioned at the first working position by moving the right wheel more than the left wheel so that the ladder can move to the original preset position. there is. (τA = τB = 0) Therefore, the worker can reduce the inconvenience of climbing up the ladder by descending from the ladder and changing the position of the ladder again after the wheel has slowed down.

Figure 7(a) shows a wheel unit according to an embodiment of the present invention, and Figure 7(b) shows a wheel unit according to another embodiment of the present invention. As shown in the pair of wheels installed separately on both sides of the ladder body 10 in Figure 7(a), the pair of wheels rotates with the two wheels connected to the ends of the ladder body 10 by connecting pins. can do. Here, the two wheels located at one end of the ladder main body 10 can be separated from the two wheels located at the other end of the ladder main body 10 and driven independently of each other. As shown in the pair of wheels installed to be connected to both sides of the ladder main body 10 in FIG. 7(b), the pair of wheels is connected to two wheels at the ends of the ladder main body 10 by connecting pins 31L. It can rotate while connected. Here, the two wheels located at one end of the ladder main body 10 can be connected to and driven by the two wheels located at the other end of the ladder main body 10 by the connecting rod 32. When the pair of wheels rotate while connected by the connecting rod 32, the worker's weight applied to the ladder body 10 has the advantage of being driven by the pair of wheels with the same force.

The position control module 200 of the present invention is provided with coupling portions 11L and 11R for combining the position control module 200 and the ladder module 100 so as to be detachable from the ladder module 100, and the ladder module 100 ) and the position control module 200 have the advantage of being stored separately. Additionally, the connecting rod 32 is provided with a length adjustment portion 32C to control its length. When using ladder modules 100 of various sizes, the spacing of the ladder main body 10 may be different from each other, so when the length of the connecting rod 32 is adjusted by the length adjustment unit 32C, the ladder modules having various spacing ( 100) has the advantage of being removable from the position control module 200 by adjusting the length of the connecting rod 32.

Figure 8 shows a schematic diagram of a safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention. As shown in Figure 8, the safety ladder device 500 capable of automatic position control of the present invention includes a ladder module 100; A position control module 200 where wheels are located at each of the four ends of the ladder module 100 and slows down the rotation of the wheels according to a change in the center of gravity of the ladder module 100; and a command transmission module 300 that monitors the rotation state of the wheel of the position control module 200 and changes the wheel rotation condition of the position control module 200.

Figure 9 shows a conceptual diagram of the position control module 200, which is an embodiment of the present invention. As shown in Figure 9, the position control module 200 of the safety ladder device 500 capable of automatic position control of the present invention includes a wheel unit 210, a sensor unit 220, a control unit 230, and a driver unit 240. , motor unit 250, battery unit 260, speaker unit 270, and LED light emitting unit 280.

The wheel unit 210 includes a pair of right wheels located at both ends of the right ladder main body 10R, a pair of left wheels located at both ends of the left ladder main body 10L, and the pair of right wheels. By rotating the wheel and the pair of left wheels, the right ladder main body 10R and the left ladder main body 10L move independently of each other in a certain direction on the ground.

The sensor unit 220 includes a sensor at the end of the wheel unit 210 that measures the degree to which the worker deviates from the center of the ladder. Specifically, the sensor unit 220 may include a tilt sensor that measures the inclination of the ladder, a torque sensor that measures the torque of the wheel, and a speed measurement sensor that measures the rotational speed of the wheel. The sensor unit 220 can be attached and used to each of the four wheels. For example, the degree to which the worker's center of gravity is tilted can be measured by measuring the tilt angle using a tilt sensor, measuring the torque of the wheel by the center of gravity, or measuring the rotational speed of the wheel by the torque of the wheel.

The control unit 230 calculates a pulse width modulation signal for driving the driver unit 240 based on the data obtained from the sensor unit 220 and transmits it to the driver unit 240. The four control units 230 can be linked to each of the sensor units 220.

The driver unit 240 generates a signal that drives the gear of the motor based on the transmitted pulse width modulation signal. Here, the gear can reduce the rotational speed of each of the four wheels using four reduction gears. Normal speed and deceleration can be preferably used at a reduction ratio of 1:0.1 to 0.9.

The motor unit 250 receives the drive signal transmitted from the driver unit 240 and reduces the rotational speed of the wheel, which has increased rotational speed due to the center of gravity being biased in one direction. Here, four deceleration motors attached to each of the four wheels can independently control the speed of the wheels.

The battery unit 260 stores and supplies power to drive the position control module 200. A lithium-ion battery or a lithium-polymer battery may be preferably used in the battery unit 260 to reduce battery volume and increase battery capacity.

The speaker unit 270 generates sound when the wheel unit rotates. The speaker unit 270 is provided with a right speaker attached to the right ladder main body 10R and a left speaker attached to the left ladder main body 10L. When the right wheel is moved, only the right speaker generates and outputs sound, and the left speaker generates and outputs sound. When the wheel moves, an optional speaker mode is provided that causes only the left speaker to generate and emit sound, so that the movement of the right or left wheel of the ladder can be recognized by the worker or other workers near the ladder in which direction. .

The LED light emitting unit 280 turns the LED on and off when the wheel unit rotates. The LED light emitting unit 280 is provided with a right LED attached to the right ladder main body 10R and a left LED attached to the left ladder main body 10L, and when the right wheel is moved, only the right LED flashes at a certain period, and the left LED flashes at regular intervals. When the wheel moves, a selective flashing mode is provided in which only the left LED blinks at a certain period, so that the movement of the right wheel or left wheel of the ladder can be recognized by the worker or other workers near the ladder. Furthermore, when the wheel rotates at a first speed, the LED light emitting unit 280 blinks in a first cycle, and when the wheel rotates at a second speed faster than the first speed, the LED light emitting unit 280 flashes at a second speed. Equipped with a speed-selective flashing mode that flashes with a second cycle shorter than one cycle, the worker or other workers near the ladder can prepare more safely for the rapid movement of the wheel.

Figure 10 shows a conceptual diagram of the command transmission module 300, which is an embodiment of the present invention. As shown in Figure 10, the command transmission module 300 includes a portable control unit 310 and a mobile unit 320.

The portable control unit 310 includes a power button for driving the position control module 200, a wheel state selection button for selecting a fixed state of the wheel and a movable state of the wheel with a stick, and a button for suddenly stopping the wheel. It is equipped with an emergency button and a display to check the operating status of the position control module 200.

The portable control unit 310 is connected to the position control module 200 through wired or wireless communication. The wireless communication of the present invention can be used by selecting one of short-range wireless communication, mid-range wireless communication, and long-distance wireless communication. Short-range wireless communication can be one of Bluetooth, Zigbee, Wi-Fi, IrDA, HomeRF, WLAN, WPAN, EnOcean, and Wi-SUN, and long-distance wireless communication can be LoRaWAN, SigFox, LTE-M, NB-IoT, and 5G. It may be one of, and in the present invention, sensor data and control signals are transmitted and received according to at least one wireless communication technology in a range including wireless communication technologies not listed above.

When the ladder is installed in the workplace and the worker turns on the power button to drive the position control module 200, the position control module 200 is turned on. Then, the operating state of the position control module 200 is determined by pressing the wheel state selection button that selects the fixed state and the movable state of the wheel with a stick. For example, when a worker wants to climb a ladder and work, the position control module 200 is operated by selecting the movable state of the wheel with the stick, and when the worker wants to climb or come down the ladder, the fixed state of the wheel is selected. Therefore, the position control module 200 can be selected not to operate. The emergency button for an emergency stop of the wheel can be used to stop the operation of the position control module 200 by pressing the emergency button when an operator needs an emergency. Through the display, the operator can check the driving status of the position control module 200, battery status, movement of the wheel unit, etc.

The mobile unit 320 is linked with the portable control unit 310 through wireless communication to check the operating state of the location control module 200 in a plurality of mobile devices. For example, when an operator is operating the portable control unit 310, another operator can check the driving state of the position control module 200, etc.

Figure 13 relates to a safety ladder device capable of automatic position control according to another embodiment of the present invention. As shown in FIG. 13, the ladder module has a right wheel rotating part 215R between the right ladder main body and the right wheel, and a left wheel rotating part 215L between the left ladder main body and the left wheel. The right wheel rotating part 215R rotates the right wheel about a rotation axis R in a direction parallel to the longitudinal axis of the right ladder main body, and the left wheel rotating part 215L rotates the right wheel along the longitudinal axis of the right ladder main body. Rotate the right wheel in a direction parallel to the rotation axis L. Accordingly, when the ladder device is tilted to the side, the movement of the ladder can be controlled in response.

Figure 14 relates to a safety ladder device capable of automatic position control according to another embodiment of the present invention. As shown in Figure 14, the ladder device may be equipped with a position control module equipped with an omni wheel in the ladder module. A pair of right omni wheels (410R) may be provided at the end of the right ladder main body of the ladder module, and a pair of left omni wheels (410L) may be provided at the end of the left ladder main body of the ladder module. Therefore, the ladder module can move forward and backward and left and right based on the ladder.

Figure 15 relates to a safety ladder device capable of automatic position control according to another embodiment of the present invention. As shown in Figure 15, a ball unit equipped with four rotating balance balls is located at each of the four ends of the ladder module. That is, the safety ladder device capable of automatic position control includes a ladder module; a position control module that reduces the rotational speed of the moving ball according to a change in the center of gravity of the ladder module; and a command transmission module that monitors the rotation state of the moving ball of the position control module and changes the rotation condition of the moving ball of the position control module.

The ball unit 420 is provided with a pair of right balance balls (420R) at each end of the right ladder main body of the ladder module, and a pair of left balance balls (420L) at each end of the left ladder main body of the ladder module. ), wherein the balance ball is provided with a support plate 421 for fixing the end of the ladder main body on the upper surface, a plurality of extension plates 422 connected to the lower surface of the support plate 421, and a moving ball 423 is formed surrounded by the plurality of extension plates. Here, a plurality of balls or belts are provided between the plurality of extension plates 422 and the moving balls 423 so that the moving balls 423 can move on the plurality of extension plates 422 to distribute the force applied to the ladder module. Thus, the moving ball 423 can move.

Figure 11 shows a flowchart of a control method of a safety ladder device 500 capable of automatic position control, which is an embodiment of the present invention. As shown in Figure 11, the control method of the safety ladder device 500 capable of automatic position control includes a first step (S10) of positioning the safety ladder device 500 capable of automatic position control at a place where work is to be performed; A second step (S20) in which the worker presses a wheel state selection button to change the right wheel and left wheel from a fixed state to a movable state; When the worker works on the ladder module 100, a third step (S30) of detecting that the center of gravity is off-center with respect to the right ladder main body 10R and the left ladder main body 10L; And when the center of gravity of the right ladder main body 10R is greater than that of the left ladder main body 10L, the right wheel is rotated at a reduced speed, or the left ladder main body 10L is heavier than the right ladder main body 10R. When the center of gravity becomes larger, the left wheel rotates at a reduced speed (S40).

The first step (S10) of positioning the safety ladder device 500 capable of automatic position control at a work location represents the step of unfolding the right ladder main body 10R and the left ladder main body 10L and placing them at the work site.

The second step (S20), in which the worker presses the wheel selection button to change the right wheel and left wheel from the fixed state to the movable state, is performed when the right wheel and left wheel are fixed to the ground. This is a step in which the worker selects to go up to the ladder module 100 or to go up to the ladder module 100 with the right wheel and left wheel moving on the ground. Here, the worker can climb the ladder with the right wheel and left wheel in a movable state, or can climb the ladder with the right wheel and left wheel in a fixed state.

When the worker works on the ladder module 100, the third step (S30) is a sensor that detects that the center of gravity is off-center with respect to the right ladder main body 10R and the left ladder main body 10L. This is the step of measuring the change in wheel torque due to the difference in weight on a pair of right wheels and a pair of left wheels with the center of gravity based on the center of the ladder with the data measured.

When the center of gravity of the right ladder main body 10R is greater than that of the left ladder main body 10L, the right wheel is rotated at a reduced rate, or the center of gravity of the left ladder main body 10L is greater than that of the right ladder main body 10R. When it becomes larger, the fourth step (S40), in which the left wheel rotates at a reduced speed, is a step in which a reduction gear is driven on the side of the wheel where the center of gravity is biased to reduce the moving speed of the wheel, allowing the worker to regain the center of gravity without falling. .

Figure 12 shows a flow chart of a method for detecting the degree of deviation from the center of gravity, according to an embodiment of the present invention. As shown in FIG. 12, when an operator works on the ladder module 100, a third step of detecting that the center of gravity is off-center based on the right ladder main body 10R and the left ladder main body 10L (S30) is a 4-1 step of measuring the force applied to the ends of the right ladder main body 10R and the left ladder main body 10L; Calculating the acceleration, velocity and position applied to the ends of the right ladder body (10R) and the left ladder body (10L) based on the force measured in step 4-1 and the Lagrange dynamic equation in the Cartesian coordinate system. Step 4-2; Based on the acceleration, speed, and position data obtained in step 4-2, calculate the right torque value applied to the right wheel of the right ladder main body 10R and the left torque value of the left wheel of the left ladder main body 10L. It includes a 4-3 step.

Step 4-1 of measuring the force applied to the ends of the right ladder body portion 10R and the left ladder body portion 10L is to measure the force applied to the wheel at each end of the four ladder body portions 10. do. The applied force can be measured by various sensors, including one or more of an inclination sensor, a torque sensor that measures the torque of the wheel, and a speed measurement sensor that measures the rotational speed of the wheel. You can obtain data such as speed.

The right ladder body is based on the force measured in step 4-1 based on the Lagrange dynamic equation (τ=M(q)q''+V(q,q')+G(q)) in the Cartesian coordinate system. The 4-2 step of calculating the acceleration, velocity, and position of the end of the ladder body 10R and the left ladder body 10L is to calculate the Lagrange dynamic equation in the Cartesian coordinate system of the end of the ladder main body 10. It is converted to the Lagrangian dynamic equation, and the acceleration is calculated and integrated to obtain the velocity and position values. For example, torque can be obtained from the force caused by gravity using a FT (force to torque) sensor, and data can be obtained using a rotation actuator on a wheel and an encoder that can measure the rotation angle.

Based on the acceleration, speed, and position data obtained in step 4-2, calculate the right torque value applied to the right wheel of the right ladder main body 10R and the left torque value of the left wheel of the left ladder main body 10L. Step 4-3 is to convert the obtained acceleration, velocity and position data into an impedance model and a Jacobian transpose matrix (τ _wheel = J ^T F _ladder , where τ _wheel is the torque of the wheel and F _ladder is to the ladder main body 10. The applied force (F _ladder represents the Jacobian matrix) can be used to calculate the right torque value applied to the right wheel of the right ladder body (10R) and the left torque value of the left wheel of the left ladder body (10L). . The method of generating the torque value in the wheel described above can be obtained through a sensor module using the known Lagrange dynamic equations.

In the fourth step, the wheels are decelerated until the torque value of the right wheel and the torque value of the left wheel become the same. When the right torque value applied to the right wheel of the right ladder body 10R and the left torque value applied to the left wheel of the left ladder body 10L become the same, the reduction gear no longer operates.

In addition, in the fourth step, after the right torque value applied to the right wheel of the right ladder main body 10R and the left torque value of the left wheel of the left ladder main body 10L become the same, the right ladder main body 10R The right wheel and the left wheel of the left ladder main body 10L may further include a fifth step in which the left wheel is fixed. The position control module 200 may be provided with a wheel fixing unit that allows the right wheel and left wheel to be fixed without rotating when the torque value of the right wheel and the torque value of the left wheel are the same. Therefore, even if the reduction gear no longer operates, the right wheel moves to the right and the left wheel moves to the left, thereby increasing the angle between the right ladder main body (10R) and the left ladder main body (10L), so that the wheel fixing unit As a result, the right wheel of the right ladder main body (10R) and the left wheel of the left ladder main body (10L) are fixed so that the angle between the right ladder main body (10R) and the left ladder main body (10L) is maintained constant. .

The present invention is not limited to the above-mentioned embodiments, but can be manufactured in various different forms, and those skilled in the art may manufacture the present invention in other specific forms without changing the technical idea or essential features of the present invention. You will understand that it can be done. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

100 ladder module
200 position control module
210 wheel unit
220 sensor unit
230 control unit
240 driver unit
250 motor units
260 battery unit
270 speaker unit
280 LED light emitting units
300 command passing module
310 portable control unit
320 mobile units
500 Safety ladder device with automatic position control
10 Ladder main body
20 horizontal stick
40 Ladder rotating part

Claims (10)

ladder module;
a position control module where wheels are located at each of the four ends of the ladder module and which reduces the rotational speed of the wheels according to changes in the center of gravity of the ladder module; and
It includes a command transmission module that monitors the rotation state of the wheel of the position control module and changes the rotation condition of the wheel of the position control module,
The ladder module is connected to a right ladder main body, a left ladder main body, one end of the right ladder main body, and one end of the left ladder main body, and a ladder rotating part through which the right ladder main body and the left ladder main body rotate, and the right ladder main body. A plurality of right horizontal sticks are spaced apart at regular intervals for the user to step on and climb the ladder, and a plurality of left horizontal sticks are spaced at regular intervals on the left ladder main body for the user to step on and climb the ladder,
The position control module includes a wheel unit, sensor unit, control unit, driver unit, motor unit, battery unit, speaker unit, and LED light emitting unit,
The wheel unit is provided with a pair of right wheels located at both ends of the right ladder main body and a pair of left wheels located at both ends of the left ladder main body, and the pair of right wheels and the pair of left wheels are independently from each other on the ground. moves in a certain direction,
The sensor unit has a sensor that measures the degree to which the worker's center of gravity is off-center at the end of the wheel,
The control unit calculates a pulse width modulation signal for driving the driver unit based on the data obtained from the sensor unit and transmits it to the driver unit,
The driver unit generates a signal to drive the reduction gear of the motor based on the transmitted pulse width modulation signal,
The motor unit receives a drive signal transmitted from the driver unit and reduces the rotational speed of the wheel whose center of gravity increases in one direction and the rotational speed increases,
The battery unit stores and supplies power to drive the position control module,
The speaker unit generates a sound when the wheel unit rotates,
The LED light emitting unit is a safety ladder device capable of automatic position control, characterized in that the LED turns on and off when the wheel unit rotates. delete delete In claim 1,
The command transmission module includes a portable control unit and a mobile unit,
The portable control unit includes a power button for driving the position control module, a wheel state selection button for selecting a fixed state of the wheel unit and a movable state of the wheel unit with a stick, an emergency button for an emergency stop of the wheel unit, Equipped with a monitor to check the operating status of the position control module,
A safety ladder device capable of automatic position control, wherein the mobile unit is wirelessly linked with the portable control unit to check the operating status of the position control module on a plurality of mobile devices. delete delete delete delete delete delete