Crane system for fall prevention and position tracking of moving objects and its control method

Crane system with tilt and distance sensing for fall prevention and autonomous tracking

This technology is a crane control mechanism that uses multiple distance and tilt sensors to monitor the real-time status of a moving object (such as a walking robot). It prevents falls by activating a traction motor when a tilt is detected and autonomously tracks the object's movement in real time using a mecanum wheel-based drive system.

Current gait training requires manual operation of the crane to prevent falls, leading to inefficient labor use. Furthermore, the inability to respond immediately to a robot's fall poses a risk of performance degradation and equipment damage.

This technology detects the robot's posture via tilt sensors and immediately lifts the robot using a traction motor if it exceeds a certain angle. Additionally, it uses PID control on the angular velocity of the mecanum wheels based on the relative coordinates (X, Y, and rotation angle) measured by multiple distance sensors, allowing the crane housing to autonomously track the robot's movement.

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Key Features:

• Top, rear, and side support frames positioned respectively at the top, rear, and sides of the moving object
• A tilt sensor attached to the moving object to measure inclination, along with a traction connection member and traction motor that connect the top support frame to the object to provide upward support
• First and second distance sensors that measure the distance between the moving object and the rear and side support frames
• A control unit that drives the traction and movement motors based on tilt and distance measurements to ensure the housing tracks the moving object

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