KR20240082083A - Crane system for preventing fall and tracking of moving target and control method accordingly - Google Patents

Abstract

A crane system for preventing falls and tracking the position of a moving object according to the present invention includes a top support frame positioned horizontally on the upper surface of the moving object; a rear support frame positioned perpendicularly in a rear direction opposite to the front direction in which the moving object moves forward; a side support frame positioned perpendicularly to the left or right of the moving object; a tilt sensor attached to the moving object and measuring a tilt of the moving object; a connecting member for traction connecting the upper support frame and the moving object; a traction motor that pulls the traction connection member to pull the moving object upward; two or more first distance sensors that measure the distance between the moving object and the rear support frame; one or more second distance sensors that measure the distance between the moving object and the side support frame; a plurality of wheels installed on the rear and side support frames; a plurality of moving motors driving the plurality of wheels; And if the inclination of the moving object detected through the tilt sensor is inclined more than a predetermined angle, the traction motor is driven to tow the moving object upward by a predetermined first height, and the first distance sensor detects the movement of a moving object using the measured value detected by the sensor and the measured value detected by the second distance sensor, and drives the plurality of moving motors according to the movement of the moving object to drive the plurality of wheels, The housing comprised of the upper support frame, the rear support frame, and the side support frame includes a control device that allows the housing to follow the moving object.

Description

Crane system for preventing fall and tracking of moving target and control method accordingly}

The present invention relates to a safety device for walking training, and more specifically, to a safety device for walking training, which prevents falling of a moving object and tracks its position to enable stable performance of walking experiments or walking training of a moving object. It relates to a crane system and corresponding control method for prevention and position tracking.

Research and development of walking robots that have a joint system similar to that of humans and can walk and coexist with humans in human work and living spaces are actively underway. The walking robot is composed of a multi-legged walking robot having a plurality of legs, such as two or three legs, and must drive actuators such as electric motors and hydraulic motors located at each joint for stable walking.

The driving method of the actuator is a position-based ZMP (Zero Moment Point) control method that gives the command angle of each joint, that is, the command position, and controls it to follow it, and gives the command torque to each joint. One example is the torque-based FSM (Finite State Machine) control method that follows and controls it.

The ZMP control method is based on the ZMP constraint condition, that is, the safety area within the support polygon consisting of the leg supported by the ZMP (the area of the foot when supporting on one foot, and the area of both feet when supporting on both feet) within the convex polygon. The walking direction, walking width, walking speed, etc. are set in advance to satisfy the conditions of existing in a small area for safety considerations, and a walking pattern for each leg corresponding to these settings is created, Calculate the walking trajectory of each leg according to the walking pattern.

In addition, the angle of the joint of each leg is calculated through inverse kinematics calculation of the calculated walking trajectory, and the target control value of each joint is calculated based on the current angle and target angle of each joint. In addition, it is implemented through servo control that allows each leg to follow the calculated walking trajectory at each control time. In other words, when walking, it detects whether the position of each leg accurately follows the walking trajectory according to the walking pattern, and when each leg deviates from the walking trajectory, the torque of the motor is adjusted to control each leg to accurately follow the walking trajectory. am.

The walking experiment on the moving object, which is a walking robot, was conducted with the walking robot connected to a crane to prevent falls, and a person directly moving the crane following the movement of the walking robot.

If the walking robot above falls and receives shock, problems may occur in the performance of the walking robot. Accordingly, the operator is directly lifting the robot using the controller when the robot is about to fall.

Automation of these manual crane systems has not yet been achieved. Therefore, to safely operate a crane, at least two operators were required: one to operate the crane up and down and one to move the crane along the target object.

Accordingly, there has been an urgent need to develop technology that can prevent falls of moving objects and provide an environment for stable walking experiments on walking robots.

In addition, in the past, there was an urgent need for the development of technology that could prevent a large number of operators from being consumed for the safety of a moving object by automatically tracking the movement of the moving object in a safety system for the moving object.

Republic of Korea Patent Registration No. 1017780270000 Republic of Korea Patent Registration No. 1017861040000 Republic of Korea Patent Registration No. 1018099720000

The purpose of the present invention is to provide a crane system and control method for preventing falls of a moving object and tracking its position, which allows stable performance of walking experiments or walking training of a moving object by preventing the object from falling. Do this.

In addition, another object of the present invention is a crane system for preventing falls and tracking the position of a moving object, in which the crane automatically follows the movement of the moving object and prevents a large number of operators from being consumed for the safety of the moving object, and the crane system for tracking the position of the moving object. It provides a control method according to the following.

In order to achieve the above object, a crane system for preventing falls and tracking the position of a moving object according to the present invention includes a top support frame positioned horizontally on the upper surface of the moving object; a rear support frame positioned perpendicularly in a rear direction opposite to the front direction in which the moving object moves forward; a side support frame positioned perpendicularly to the left or right of the moving object; a tilt sensor attached to the moving object and measuring a tilt of the moving object; a connecting member for traction connecting the upper support frame and the moving object; a traction motor that pulls the traction connection member to pull the moving object upward; two or more first distance sensors that measure the distance between the moving object and the rear support frame; one or more second distance sensors that measure the distance between the moving object and the side support frame; a plurality of wheels installed on the rear and side support frames; a plurality of moving motors driving the plurality of wheels; And if the inclination of the moving object detected through the tilt sensor is inclined more than a predetermined angle, the traction motor is driven to tow the moving object upward by a predetermined first height, and the first distance sensor detects the movement of a moving object using the measured value detected by the sensor and the measured value detected by the second distance sensor, and drives the plurality of moving motors according to the movement of the moving object to drive the plurality of wheels, The housing comprised of the upper support frame, the rear support frame, and the side support frame includes a control device that allows the housing to follow the moving object.

The present invention provides the effect of preventing a moving subject from falling and enabling stable performance of walking experiments or walking training of a moving subject.

In addition, the present invention provides the effect of preventing a large number of operators from being consumed for the safety of the moving object by allowing the crane to automatically follow the movement of the moving object.

1 is an external view of a crane system for preventing falls and tracking the position of a moving object according to a preferred embodiment of the present invention.
Figure 2 is a block diagram of a crane system for preventing falls and tracking the position of a moving object according to a preferred embodiment of the present invention.
Figure 3 is a procedure diagram of a control method of a crane system for preventing falls and tracking the position of a moving object according to a preferred embodiment of the present invention.
Figure 4 is a diagram showing a crane system and a moving object on a coordinate system.
Figure 5 is a diagram showing a crane system using multiple Mecanum wheels and a moving object.

The present invention prevents a moving object from falling and makes it possible to stably carry out walking experiments or walking training of a moving object.

In addition, the present invention allows the crane to automatically follow the movement of the moving object, preventing a large number of operators from being consumed for the safety of the moving object.

A crane system for preventing falls and tracking a moving object according to a preferred embodiment of the present invention and its control method will be described in detail with reference to the drawings.

<Configuration of a crane system to prevent falls of moving objects and track position>

Figure 1 is a diagram showing the appearance of a crane system for preventing falls and tracking the position of a moving object according to a preferred embodiment of the present invention, and Figure 2 is a block configuration of a crane system for preventing falls and tracking the position of the moving object. It shows the diagram. Referring to FIGS. 1 and 2, the configuration of a crane system for preventing falls and tracking the position of the moving object will be described.

The crane system for preventing falls and tracking the position of the moving object is a hexahedral-shaped housing with open front and bottom surfaces consisting of a top support frame 1001, side support frames 1002 and 1003, and a rear support frame 1004. (100) is provided.

The moving object 10 is located inside the housing 100, and a plurality of distance sensors 204 and tilt sensors 232 are mounted on the moving object 10.

Two or more of the plurality of distance sensors 204 are separated by the same distance from the rear support frame 1004 when the moving object 10 is facing the front, and the direction in which the moving object 10 faces changes In this case, it is installed at predetermined positions of the moving object 10 that are at different distances from the rear support frame 1004. For example, if the moving object is a person undergoing walking training, it may be installed on both shoulders, and if the moving object is a walking robot that follows the person's outward movements, it may be installed on both shoulders. Two or more of these plurality of distance sensors 204 measure the distance between the moving object 10 and the rear support frame 1004 and provide the corresponding measured value to the control device 200.

And one of the plurality of distance sensors 204 measures the distance between the moving object 10 and one of the side support frames 1002 and 1003 and sends the corresponding measured value to the control device 200. provided to.

The upper support frame 1001 is positioned horizontally in the upper surface direction of the moving object 10, and a traction motor 230 is mounted on the upper support frame 1001. A traction connecting member 228 is connected between the traction motor 230 and the moving object 10, and as the traction motor 230 is driven, the traction connecting member 228 is pulled to move the moving object ( 10) is towed upward, or the traction connection member 228 is released to return the moving object 10 to its original position.

The traction motor 230 and the traction connection member 228 constitute a traction device 226 responsible for traction of the moving object 10.

First to fourth mechanism wheels 210 to 216 and first to fourth moving motors 218 to 224 are provided at each of the lower ends of the side support frames 1002 and 1003 and the rear support frame 1004. When mounted, the frame system moves in all directions.

The first to fourth mechanism wheels (210 to 216) and the first to fourth moving motors (218 to 224) are moving object tracking devices for following the crane system according to the movement of the moving object (10). It constitutes (208).

And the control device 200 provided in the crane system controls each part of the crane system, and when a fall of the moving object 10 is detected according to a preferred embodiment of the present invention, the moving object 10 is pulled upward. And, when the movement of the moving object 10 is detected, the crane system is driven by following the movement of the moving object 10.

To explain further, if the inclination of the moving object 10 detected through the inclination sensor 232 is more than a predetermined angle, the control device 200 operates the traction motor installed on the upper support frame 1001. By controlling the motor control device 206 to drive the traction motor 230, the traction connection member 228 connected to the traction motor 230 is pulled and the moving object 10 is towed upward by a predetermined first height. do.

In addition, after towing the moving object 10 upward by a predetermined first height, the control device 200 controls the motor control device 206 to return to the original height after a predetermined time has elapsed. The traction motor 230 is driven in the reverse direction to restore to .

In addition, the control device 200 detects the movement of the moving object 10 using the measurement values detected by the plurality of distance sensors 204, and according to the movement of the moving object 10, the first to The motor control device 206 is controlled to drive the fourth moving motors 218 to 224 to drive the first to fourth mechanism wheels 210 to 216. Accordingly, the crane system follows the movement of the moving object 10.

To explain further, the control device 200 detects the distance difference between the moving object 10 and the rear support frame 1004 using the measured values detected by each of the plurality of distance sensors 204. The direction in which the moving object 10 is facing is detected, the first distance between the moving object and the rear support frame is detected, the second distance between the moving object and the side support frame is detected, and the To calculate the angular velocity for each of the plurality of moving motors (218 to 224) based on the first distance and the second distance and direction, and to control the driving of the plurality of moving motors (218 to 224) according to the calculated angular velocity. A control command is generated and provided to the motor control device 206.

And the motor control device 206 provided in the crane system drives the first to fourth moving motors 218 to 224 of the moving object tracking device 208 under the control of the control device 200 to drive the first to fourth moving motors 218 to 224 of the moving object tracking device 208. Drives the fourth mechanism wheels (210-216).

In addition, the motor control device 206 drives the traction motor 230 of the moving object traction device 226 under the control of the control device 200 to pull or release the traction connection member 228 to move the moving object ( 10) Tow or return to its original position.

And the memory unit 202 provided in the crane system stores various information for controlling the control device 200.

<Control procedures of the crane system to prevent falls of moving objects and follow position>

Figure 3 is a flowchart of a control method of a crane system for preventing falls and tracking the position of a moving object according to a preferred embodiment of the present invention. Referring to FIG. 3, a control method of a crane system for preventing falls and tracking the position of the moving object will be described.

The control device 200 detects the tilt of the moving object 10 through the tilt sensor 232 (step 300) and determines whether the moving object 10 is tilted by a certain angle or more (step 302). Detection of the tilt of the moving object 10 is continuously performed from the moment power is supplied to the crane system.

When the moving object 10 is tilted at a certain angle or more, the control device 200 drives the traction motor 230 installed on the upper support frame 1001 to move the moving object 10 to a predetermined first height. Elevate (level 304). Thereafter, the control device 200 stops driving the traction motor 230 for a certain period of time (step 306), and then lowers the moving object 10 to a predetermined second height (ground level) by using the traction motor (step 306). 230) is driven in the reverse direction to return the moving object 10 to its original position (step 308). The above constant time may be set as a time sufficient for the moving object to stabilize.

If the moving object 10 is not tilted more than a certain angle, the control device 200 detects the position and direction of the moving object 10 through a plurality of distance sensors 204 (step 310), The axis position, Y-axis position, and Z-axis rotation angle are measured to calculate angular velocity values for each of the first to fourth Mecanum wheels 210 to 216 (step 312), and the first to fourth Mecanum wheels 210 ~216) Using each angular velocity value as an input value, the first to fourth moving motors 218 to 224 are PID controlled to follow the movement of the moving object 10 (step 314).

Now, the process of detecting and following the movement of the moving object 10 will be described in more detail.

The present invention uses a distance sensor to determine the movement of a moving object. Through the distance sensor, the distance in the front and back (X) direction and the left and right (Y) direction are measured between the crane system and the moving object (10), and the moving object ( 10) Detects the angle of the direction of movement facing.

는 이동 대상(10)과 크레인 시스템 간의 앞뒤 거리,

는 좌우 거리,

는 전방을 기준으로 대상이 바라보는 움직임 방향의 각도를 나타낸다. ○는 이동 대상에 부착된 거리 센서를 나타내며,

좌표계는 크레인 시스템의 기준 좌표계,

좌표계는 이동 대상(10)의 중심 좌표계를 나타낸다.

는

방향 선속도,

는

방향 선속도,

는

방향에 대한 각속도를 나타낸다.Figure 4 shows the crane system and the moving object 10 on the coordinate system. Referring to Figure 4 above,

is the front and rear distance between the moving object 10 and the crane system,

is the left and right distance,

represents the angle of the object's direction of movement relative to the front. ○ indicates a distance sensor attached to the moving target,

The coordinate system is the reference coordinate system of the crane system,

The coordinate system represents the central coordinate system of the moving object 10.

Is

Directional linear velocity,

Is

Directional linear velocity,

Is

It represents the angular velocity with respect to the direction.

,

를 구한 후 수학식 1을 이용하여

를 산출하고, 좌우 방향 거리를 계산할 때는 거리 센서 1개를 이용하여

를 산출한다.When calculating the distance in the front and rear directions, use two distance sensors

,

After finding , use Equation 1 to

When calculating the distance in the left and right directions, one distance sensor is used to calculate

Calculate .

,

값과 이동 대상(10)의 가로 길이

를 이용하여 수학식 2를 통해

를 계산한다.And the direction the moving target is facing is calculated using two distance sensors, and

,

Horizontal length of value and moving object (10)

Through Equation 2 using

Calculate .

And, using the front and rear ( The process of driving the mechanism wheels 210 to 216 to follow the moving object 10 will be described.

,

,

)를 검출하고, 이에 대한 변화량을 미분하여 이동 대상(10)의

방향 선속도

,

방향 선속도

,

방향에 대한 각속도

를 산출한다.The crane system uses a plurality of distance sensors 204 to determine the front and rear (

,

,

) is detected, and the change amount for this is differentiated to determine the

direction linear speed

,

direction linear speed

,

angular velocity relative to direction

Calculate .

,

,

를 추종하기 위한 각 메커넘 휠(210~216)의 각속도값

,

,

,

이 산출된다.And Equation 3 represents the kinematics equation used in a mobile robot equipped with a mecanum wheel, through which the movement of the moving object 10 is expressed.

,

,

The angular velocity value of each mechanism wheel (210~216) to follow

,

,

,

This is calculated.

은 크레인 시스템의 중심으로부터 메카넘 휠 중심까지의

방향 길이,

는 크레인 시스템의 중심으로부터 메카넘 휠 중심까지의

방향 길이이며,

은 메카넘 휠의 외경을 나타낸다.Figure 5 shows a crane system using multiple Mecanum wheels and a moving object 10, through which the variables used in Equation 3 can be confirmed. That is, in Equation 3

is the distance from the center of the crane system to the center of the Mecanum wheel.

direction length,

is the distance from the center of the crane system to the center of the Mecanum wheel.

is the direction length,

represents the outer diameter of the Mecanum wheel.

In addition, the angular velocity value of the mechanism wheels 210 to 216 calculated through the kinematic equation and the error between the angular velocity values of each mechanism wheel 210 to 216 can be obtained and used as the error value in PID control.

Additionally, considering the performance differences of each motor, it is advisable to perform gain tuning for each motor individually.

Additionally, if the value obtained through the PID control is substituted into each mechanism wheel (210 to 216), each mechanism wheel (210 to 216) of the crane system operates according to the input value.

In addition, the present invention can track the omnidirectional movement of the moving object 10 because it tracks the angular velocity that implements omnidirectional movement through PID control. At this time, thanks to the mechanism wheel, which can move in all directions, the crane system can freely follow forward and backward, left and right, diagonal, and rotational movements. Additionally, the crane system continuously follows the moving object 10 so that the moving object 10 maintains its initial position and initial direction within the housing of the crane system.

In the above embodiments of the present invention, only application to a walking experiment of a walking robot with a human shape was exemplified, but it can be applied during rehabilitation training of a rehabilitation trainer or a walking experiment of a walking robot with a non-human shape. This is apparent to those skilled in the art through the present invention.

The embodiments of the present invention described above have been disclosed for illustrative purposes, and those skilled in the art will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications , changes and additions should be regarded as falling within the scope of this patent claim.

200: control device
202: memory unit
204: Multiple distance sensors
206: motor control device
208: moving target tracking device
226: Moving target towing device
232: tilt sensor

Claims (6)

In a crane system for preventing falls of moving objects and tracking the position,
A top support frame positioned horizontally on the top surface of the moving object;
a rear support frame positioned perpendicularly in a rear direction opposite to the front direction in which the moving object moves forward;
a side support frame positioned perpendicularly to the left or right of the moving object;
a tilt sensor attached to the moving object and measuring a tilt of the moving object;
a connecting member for traction connecting the upper support frame and the moving object;
a traction motor that pulls the traction connection member to pull the moving object upward;
two or more first distance sensors that measure the distance between the moving object and the rear support frame;
one or more second distance sensors that measure the distance between the moving object and the side support frame;
A plurality of wheels installed on the rear and side support frames;
a plurality of moving motors driving the plurality of wheels; and
If the inclination of the moving object detected through the tilt sensor is inclined more than a predetermined angle, the traction motor is driven to tow the moving object upward by a predetermined first height,
Detects the movement of a moving object using the measurement values detected by the first distance sensors and the measurement values detected by the second distance sensor, and drives the plurality of moving motors according to the movement of the moving object to A crane system for preventing falls and tracking the position of a moving object, comprising a control device that drives a wheel to cause the housing, which is composed of the top support frame, the rear support frame, and the side support frame, to follow the moving object. . According to paragraph 1,
The control device, after towing the moving object upward by a predetermined first height, drives the traction motor in the reverse direction to restore the original height after a predetermined time has elapsed. Crane system for fall prevention and position tracking. According to paragraph 1,
The first distance sensors are installed at two or more positions where the distance from the rear support frame changes depending on the movement direction of the moving object,
The control device detects the direction of movement facing the moving object by detecting the distance difference between the moving object and the rear support frame using the measured values detected by each of the first distance sensors,
Detecting a distance in a first direction between the moving object and the rear support frame using measurement values detected by each of the first distance sensors,
Detecting a distance in a second direction between the moving object and the side support frame using the measured values detected by the second distance sensor,
Calculating an angular velocity for each of the plurality of wheels based on the distance in the first direction, the distance in the second direction, and the direction of movement, and controlling the driving of the plurality of mobile motors that drive the plurality of wheels according to the calculated angular velocity. A crane system for preventing falls and tracking the position of moving objects. In the control method of a crane system for preventing falls of moving objects and tracking the position,
In the crane system, an upper support frame positioned horizontally on the upper surface of the moving object, a tilt sensor attached to the moving object to measure the tilt of the moving object, and a traction connection connecting the upper surface support frame and the moving object. A member, a traction motor that pulls the traction connecting member to pull the moving object upward, a rear support frame positioned perpendicularly in the rear direction opposite to the front direction in which the moving object moves forward, a left or right side of the moving object A side support frame positioned perpendicular to the direction, two or more first distance sensors that measure the distance between the moving object and the rear support frame, and one or more second distance sensors that measure the distance between the moving object and the side support frame. It includes a distance sensor, a plurality of wheels installed on the rear and side support frames, and a plurality of movement motors and control devices that drive the plurality of wheels,
The control device detecting the inclination of the moving object through the inclination sensor and confirming whether the inclination is more than a predetermined angle;
If the inclination is more than a predetermined angle, the traction connection member connecting the upper surface support frame positioned horizontally on the upper surface of the moving object and the moving object is pulled, and the moving object is raised to a predetermined first height. Driving a traction motor installed on the upper support frame to be pulled upward as much as possible;
detecting, by the control device, the movement of a moving object using the measurement values detected by the first distance sensors and the measurement values detected by the second distance sensors; and
The control device drives the plurality of moving motors to drive the plurality of wheels according to the movement of the moving object, so that the housing consisting of the upper support frame, the rear support frame, and the side support frame follows the moving object. A method of controlling a crane system for preventing falls of a moving object and tracking its position, further comprising: According to clause 4,
After the control device tows the moving object upward by a predetermined first height, driving the traction motor in the reverse direction to restore the original height after a predetermined time has elapsed; further comprising: A control method of a crane system for preventing falls and tracking the position of a moving object, characterized by: According to clause 4,
The first distance sensors are installed at two or more positions where the distance from the rear support frame changes depending on the movement direction of the moving object,
The control device detects the direction of movement facing the moving object by detecting a distance difference between the moving object and the rear support frame using the measured values detected by each of the first distance sensors,
Detecting a distance in a first direction between the moving object and the rear support frame using measurement values detected by each of the first distance sensors,
Detecting a distance in a second direction between the moving object and the side support frame using the measured values detected by the second distance sensor,
Calculating an angular velocity for each of the plurality of wheels based on the distance in the first direction, the distance in the second direction, and the direction of movement, and controlling the driving of the plurality of mobile motors that drive the plurality of wheels according to the calculated angular velocity. A control method for a crane system to prevent falls and track the position of a moving object.