Vibration damping device

Abstract

An object of the present invention is to provide a technique capable of appropriately controlling the vibration of a string-shaped object. The vibration control device includes a first rotation mechanism that adjusts a first rotation angle in a first direction of an insertion port, a second rotation mechanism that adjusts a second rotation angle in a second direction of the insertion port, first position information of a connected object, second position information of the insertion port, a load applied from a side portion of the string-shaped object to the insertion port, or a control unit that controls the first rotation mechanism and the second rotation mechanism based on third position information of a predetermined portion of the string-shaped object.

Description

Technical Field

[0001] The present disclosure relates to a vibration damping device.

Background Art

[0002] In order to reduce the cost and improve the working efficiency of infrastructure inspection using an unmanned aerial vehicle, it is effective to use the unmanned aerial vehicle in combination with a traveling vehicle that performs wired power supply to the unmanned aerial vehicle to enable the flight of the unmanned aerial vehicle to continue. However, in order to stably supply power from the traveling vehicle to the unmanned aerial vehicle by a power supply cable, it is necessary to suppress the disturbance of the power supply cable caused by disturbances such as acceleration and deceleration of the traveling vehicle and wind.

[0003] As a technique for suppressing disturbance, for example, the technique of Patent Document 1 has been proposed. The vibration damping device of Patent Document 1 includes a ground support vehicle, a power supply cable, and an unmanned flying object. The ground support vehicle includes a reel that feeds out the power supply cable and an arm that bears the outlet portion of the power supply cable. The vibration damping device performs control to rotate the reel in the direction of winding up the power supply cable when the tension of the power supply cable decreases, and performs control to rotate the reel in the direction of feeding out the power supply cable when the tension increases.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The vibration damping device of Patent Document 1 measures the tension of a stretched power supply cable near the reel and rotates the reel, but there is a problem that it cannot be applied to a bent power supply cable. For example, when the power supply cable is bent between the reel and the outlet portion, hysteresis appears between the rotation angle of the reel and the tension at the outlet portion of the power supply cable. Therefore, in a technique premised on the power supply cable being stretched, there has been a problem that appropriate vibration damping control cannot be performed.

[0006] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a technique capable of appropriately vibration damping control of a string-like object such as a power supply cable.

Means for Solving the Problems

[0007] The vibration damping device according to the present disclosure includes an insertion port through which a string-like object connected to a connected body is inserted, a first rotation mechanism that adjusts a first rotation angle in a first direction of the insertion port, and a second rotation mechanism that adjusts a second rotation angle in a second direction different from the first direction of the insertion port, a first position information of the connected body, a second position information of the insertion port, and a load applied from a side portion of the string-like object to the insertion port Heavy and and a sensor that acquires the load, and a control unit that controls the first rotation mechanism and the second rotation mechanism based on the first position information, the second position information, and the load Heavy and .

Effects of the Invention

[0008] According to the present disclosure, the first rotation mechanism and the second rotation mechanism are controlled based on the first position information, the second position information, and the load or the third position information. With such a configuration, it is possible to appropriately vibration damping control the string-like object. The object, features, aspects, and advantages of the present disclosure will become clearer from the following detailed description and the accompanying drawings.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Embodiments for Carrying Out the Invention

[0010] <Embodiment 1> FIG. 1 is a perspective view showing a configuration example of the vibration control device 100 according to the first embodiment. The vibration control device 100 includes a string-like object 1, a length adjustment mechanism 3, a first rotation mechanism 4, a second rotation mechanism 5, a jet outlet 6 which is an insertion port, a sensor including a load sensor 7 and a position sensor 8, and a control arithmetic unit 11 which is a control unit.

[0011] As will be described below, the vibration control device 100 is capable of suppressing the vibration (disturbance) of the string-like object 1. In the first embodiment, the string-like object 1 of the vibration control device 100 is a power supply cable connected to a connected object 2 also called a fastened object, and supplies power to the connected object 2. Also, in the first embodiment, the connected object 2 is an unmanned flying object (moving object) such as a drone and an unmanned aerial vehicle for infrastructure inspection that can sustain flight using the power from the power supply cable which is the string-like object 1. Note that the string-like object 1 and the connected object 2 are not limited to a power supply cable and an unmanned flying object, respectively. Also, in the first embodiment, the connected object 2 is hovering and generally stopped.

[0012] The length adjustment mechanism 3 is, for example, a winding winch (also called a reel). The length adjustment mechanism 3 is a mechanism that adjusts the length L from the connection point between the string-like object 1 and the connected object 2 to the contact point between the string-like object 1 and the jet outlet 6 as the length of the string-like object 1. The length adjustment mechanism 3 can measure the length L of the string-like object 1 based on, for example, the number of windings of the string-like object 1. Note that the length adjustment mechanism 3 is not essential, and the length L of the string-like object 1 may be constant (known).

[0013] The first rotation mechanism 4 is a mechanism that rotates the length adjustment mechanism 3 and the ejection port portion 6 in the first direction, and adjusts the first rotation angle of the length adjustment mechanism 3 and the ejection port portion 6 in the first direction. The first direction corresponds to, for example, the azimuth direction which is the direction of increase or decrease of the azimuth angle.

[0014] The base side portion of the first rotation mechanism 4 is fixed to the ground, and a position sensor attachment device 10 is mounted on the base side portion. On the follower side portion of the first rotation mechanism 4, the length adjustment mechanism 3 and the base side portion of the second rotation mechanism 5 are directly mounted, and the ejection port portion 6 and the load sensor 7 are indirectly mounted. Note that the follower side portion is a portion that is movable or rotatable with respect to the base side portion. For example, the follower side portion of the first rotation mechanism 4 is rotatable with respect to the base side portion of the first rotation mechanism 4.

[0015] The second rotation mechanism 5 is a mechanism that rotates the length adjustment mechanism 3 and the ejection port portion 6 in a second direction different from the first direction, and adjusts the second rotation angle of the length adjustment mechanism 3 and the ejection port portion 6 in the second direction. The second direction corresponds to, for example, the elevation direction which is the direction of increase or decrease of the elevation angle.

[0016] The base side portion of the second rotation mechanism 5 is fixed to the follower side portion of the first rotation mechanism 4. The load sensor 7 is directly mounted on the follower side portion of the second rotation mechanism 5, and the ejection port portion 6 is indirectly mounted.

[0017] FIG. 2 is a perspective view showing a configuration example of the ejection port portion 6. The ejection port portion 6 according to the first embodiment includes a component 6a that restrains the movement of the string-like object 1 in the first direction and a component 6b that restrains the movement of the string-like object 1 in the second direction, as shown in FIG. 2. The string-like object 1 is inserted into the ejection port portion 6. The ejection port portion 6 is a portion that sends out the string-like object 1 bent around the first direction and the second direction.

[0018] Movement in a third direction perpendicular to the first and second directions, that is, movement in the extending direction of the string-like object 1 in FIG. 2, is not restricted by the components 6a and 6b, but is restricted by the length adjustment mechanism 3. The ejection port portion 6 may be a cylindrical component (not shown) that restricts the side portion of the string-like object 1, not limited to the components in FIG. 2. In that case, the movement in the first and second directions can be restricted by a single component. The side portion of the string-like object 1 corresponds to the outer peripheral portion in the cross-section of the string-like object 1. It is preferable that there is no gap between the ejection port portion 6 and the side portion of the string-like object 1.

[0019] The load sensor 7 measures the contact load, which is the load applied from the side portion of the string-like object 1 to the ejection port portion 6 when the side portion of the string-like object 1 touches the ejection port portion 6. In the first embodiment, the contact load includes a first contact load (first load) in the first direction and a second contact load (second load) in the second direction, and the load sensor 7 includes a first load sensor portion 7a that measures the first contact load and a second load sensor portion 7b that measures the second contact load.

[0020] The base side portion of the load sensor 7 is fixed to the follower side portion of the second rotation mechanism 5, and the ejection port portion 6 is mounted on the follower side portion of the load sensor 7. In the first embodiment, a component 6a that restricts the movement of the string-like object 1 in the first direction is mounted on the follower side portion of the first load sensor portion 7a, and a component 6b that restricts the movement of the string-like object 1 in the second direction is mounted on the follower side portion of the second load sensor portion 7b. Note that the load sensor 7 may be a single load sensor that measures contact loads in multiple axes of two or more axes. In that case, two axes of the multiple axes may be applied to the first and second directions.

[0021] The position sensor 8 in FIG. 1 is a device that acquires the first position information of the object to be connected 2 and the second position information of the ejection port portion 6.

[0022] In the first embodiment, the first position information of the object to be connected 2 is the position r in FIG. 4 of the position sensor attachment device 9 that can calculate the position r' in FIG. 4 of the connection point of the object to be connected 2 D The position r' in FIG. 4 of the connection point of the object to be connected 2 D,measured is as follows. Dis the position r of the device 9 with a position sensor D,measured and can be calculated from the mechanical dimensions and posture angles of the connected object 2.

[0023] In the first embodiment, the second position information of the injection port portion 6 is the position r' in FIG. 4 of the contact point between the string-like object 1 and the injection port portion 6 WiEd which is the position in FIG. 4 of the device 10 with a position sensor that can calculate Wi,measured The position r in FIG. 4 of the rotation center coordinate origin, which is the point where the first rotation axis in the first direction and the second rotation axis in the second direction intersect WiAzC is the position of the device 10 with a position sensor Wi,measured and can be calculated from the mechanical dimensions of the first rotation mechanism 4 and the first rotation angle. And the position r' in FIG. 4 of the contact point between the string-like object 1 and the injection port portion 6 WiEd is the position r of the rotation center coordinate origin WiAzC and can be calculated from the mechanical dimensions of the first rotation mechanism 4 and the first rotation angle, and the mechanical dimensions of the second rotation mechanism 5 and the second rotation angle.

[0024] When the position sensor 8 in FIG. 1 is, for example, a camera, the first position information and the second position information are acquired by positioning the devices 9 and 10 with position sensors using a motion capture system. When the position sensor 8 is, for example, a satellite signal receiver of a GPS (Global Positioning System), GNSS (Global Navigation Satellite System) or RTK (Real-time Kinematic) system, the first position information and the second position information are acquired based on the satellite signal. Note that the position sensor 8 may be, for example, a LIDAR (Light Detection and Ranging). It is preferable that the position sensor 8 can position the devices 9 and 10 within the entire moving range of the devices 9 and 10 with position sensors.

[0025] The device 9 with a position sensor is a device to be positioned by the position sensor 8 (for example, a device including a reflector) and is provided at an arbitrary portion of the connected object 2. The position r' in FIG. 4 of the connection point of the connected object 2 DWhen prioritizing simplification and high precision of the calculation process for [the relevant item], the device 9 with a position sensor may be provided at the connection point of the object to be connected 2 or in its vicinity.

[0026] The device 10 with a position sensor is a device to be positioned by the position sensor 8 (for example, a device including a reflector), and is provided, for example, at the base side portion of the first rotation mechanism 4. The position r in FIG. 4 of the origin of the rotation center coordinates WiAzC If it is known, the device 10 with a position sensor may not be provided. Also, the position r' in FIG. 4 of the contact point of the ejection port portion 6 WiEd When prioritizing simplification and high precision of the calculation process for [the relevant item], the device 10 with a position sensor may be provided at the contact point of the ejection port portion 6 or in its vicinity. In this case, the position r' of the contact point of the ejection port portion 6 WiEd From the position r' of the contact point of the ejection port portion 6, the mechanical dimensions and the first rotation angle of the first rotation mechanism 4, and the mechanical dimensions and the second rotation angle of the second rotation mechanism 5, the position r WiAzC of the origin of the rotation center coordinates can be calculated.

[0027] The control calculation unit 11 in FIG. 1 is provided, for example, at the base side portion of the first rotation mechanism 4 or on the ground. The control calculation unit 11 is connected to the length adjustment mechanism 3, the first rotation mechanism 4, the second rotation mechanism 5, the load sensor 7, and the position sensor 8 by at least one of wired and wireless means so as to be communicable. The control calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on the first position information of the object to be connected 2, the second position information of the ejection port portion 6, and the load measured by the load sensor 7. Hereinafter, the control calculation unit 11 will be described in detail.

[0028] FIG. 3 is a block diagram showing a configuration example of the control calculation unit 11 according to Embodiment 1. FIGS. 4 and 5 are perspective views and a plan view for explaining the calculation process of the control calculation unit 11, respectively, and FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5. The coordinate system o in FIGS. 5 and 6 may be defined at an arbitrary position as long as the z-axis corresponds to the vertical direction. On the other hand, the origins of the x-axis and y-axis of the coordinate system o' coincide with a part of the ejection port portion 6 (for example, the mechanical end), and the origin of the z-axis of the coordinate system o' is defined to coincide with the coordinate system o.

[0029] As shown in FIG. 3, data is generally input and output between the control arithmetic unit 11, the first actuator 21 that drives the first rotation mechanism 4, the second actuator 22 that drives the second rotation mechanism 5, the control target 23, and the sensor 24. The control target 23 is a general term for the first rotation mechanism 4 and the second rotation mechanism 5. The sensor 24 is a general term for the load sensor 7, the position sensor 8, an angle sensor (not shown) for the first rotation angle of the first rotation mechanism 4, and an angle sensor (not shown) for the second rotation angle of the second rotation mechanism 5.

[0030] The control arithmetic unit 11 receives the dimensional sizes of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and length L of the string-like object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r in FIG. 4 of the position sensor attachment device 9 D,measured and the position r in FIG. 4 of the position sensor attachment device 10 Wi,measured and the first contact load T of the first load sensor unit 7a 1,measured and the second contact load T of the second load sensor unit 7b 2,measured are input. The linear density ρ of the string-like object 1 is known. Based on the input information, the control arithmetic unit 11 generates and outputs the applied current i1 to the first actuator 21 and the applied current i2 to the second actuator 22.

[0031] The first actuator 21 applies torque τ1 to the first rotation mechanism 4 based on the applied current i1, and the second actuator 22 applies torque τ2 to the second rotation mechanism 5 based on the applied current i2. The control target 23, that is, the first rotation mechanism 4 and the second rotation mechanism 5, move by the torque τ1 of the first actuator 21 and the torque τ2 of the second actuator 22. As described above, the control arithmetic unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on the input information.

[0032] The sensor 24 detects the movement of the control target 23 and measures the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attachment device 9D,measured and the position r of the position sensor - attached device 10 Wi,measured and the first contact load T 1,measured and the second contact load T 2,measured and outputs them.

[0033] The control arithmetic unit 11 includes a control target value arithmetic unit 11a and an output controller 11h. The components of the control arithmetic unit 11 may be realized by the cooperation of hardware such as a processor and a memory (not shown in the figure) and software such as a control program for controlling the vibration control device 100, or may be realized by dedicated hardware such as a processing circuit.

[0034] The control target value arithmetic unit 11a is input with the mechanical dimensions of the connected body 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and the length L of the string - shaped object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor - attached device 9 D,measured and the position r of the position sensor - attached device 10 Wi,measured Based on the input information, the control target value arithmetic unit 11a generates and outputs the control target value T1 of the first contact load and the control target value T2 of the second contact load.

[0035] The output controller 11h is input with the control target value T1 of the first contact load, the control target value T2 of the second contact load, the first contact load T 1,measured and the second contact load T 2,measured Based on the input information, the output controller 11h generates and outputs the applied current i1 to the first actuator 21 and the applied current i2 to the second actuator 22.

[0036] For example, the output controller 11h is a first PID controller that outputs the applied current i1 based on the difference between the first contact load T 1,measured and its control target value T1, and the second contact load T 2,measuredBased on the difference between it and the control target value T2, it includes a second PID controller that outputs the applied current i2. However, the output controller 11h may be composed of components other than the first PID controller and the second PID controller. Also, the output of the output controller 11h may be the change angles of the first actuator 21 and the second actuator 22 instead of the applied currents i1 and i2.

[0037] The control target value calculation unit 11a includes a relative position calculation unit 11b, a catenary calculation unit 11c, and a load decomposition calculation unit 11d.

[0038] The relative position calculation unit 11b receives the mechanical dimensions of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor accessory device 9 D,measured and the position r of the position sensor accessory device 10 Wi,measured are input. Based on the input information, the relative position calculation unit 11b calculates the position r' of the connection point between the string-like object 1 and the connected object 2 D and the position r of the origin of the rotation center coordinates where the first rotation axis and the second rotation axis intersect WiAzC and the position r' of the contact point between the string-like object 1 and the ejection port 6 WiEd and the position r' of the contact point WiEd and the angle θ in FIG. 5 formed by the direction of the tension T from the string-like object 1 at the position r' and the first direction. Cat1 are generated. An example of the generation will be described below.

[0039] Based on the mechanical dimensions of the connected object 2 and the position r in FIG. 4 of the position sensor accessory device 9, the relative position calculation unit 11b calculates the position r' in FIGS. 4 and 5 of the connection point between the string-like object 1 and the connected object 2 D,measured and generates it. D

[0040] Based on the mechanical dimensions of the first rotation mechanism 4, the first rotation angle θ of the first rotation mechanism 4 1,measured and the position r in FIG. 4 of the position sensor accessory device 10, the relative position calculation unit 11b calculates the position r in FIGS. 4 and 5 of the origin of the rotation center coordinates Wi,measured and generates it.WiAzC generates it. The relative position calculation unit 11b calculates based on the mechanical dimensions of the first rotation mechanism 4, the mechanical dimensions of the second rotation mechanism 5, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the origin of the rotation center coordinates in FIGS. 4 and 5 WiAzC to generate the position r' of the contact point between the string-like object 1 and the ejection port 6 in FIGS. 4 and 5. WiEd

[0041] As shown in FIG. 5, the relative position calculation unit 11b calculates based on the position r' of the connection point of the connected object 2 D the position r of the origin of the rotation center coordinates WiAzC and the position r' of the contact point of the ejection port 6 in FIG. 5 WiEd to generate the angle θ formed by the direction of the tension T of the string-like object 1 and the first direction at the position r' of the contact point. WiEd Cat1

[0042] As shown in FIG. 3, the relative position calculation unit 11b outputs the position r' of the connection point of the connected object 2 D and the position r' of the contact point of the ejection port 6 WiEd to the catenary calculation unit 11c. Further, the relative position calculation unit 11b outputs the second rotation angle θ of the second rotation mechanism 5 2,measured and the angle θ formed by the direction of the tension T and the first direction Cat1 to the load decomposition calculation unit 11d.

[0043] The linear density ρ and length L of the string-like object 1, the position r' of the connection point of the connected object 2 D and the position r' of the contact point of the ejection port 6 WiEd are input to the catenary calculation unit 11c. The catenary calculation unit 11c generates the shape of the catenary that is the string-like object 1 based on the input information. Then, the catenary calculation unit 11c generates the catenary number C of the catenary and the horizontal distance x of the lowest point of the catenary on the z-axis of the coordinate system o' shown in FIG. 6 v based on the shape of the catenary.

[0044] ​​​For example, the catenary operation unit 11c corresponds the shape of the catenary, which is a string-like object 1, with the shape of the curve represented by x and z in the following equation (1), and thereby obtains the catenary number C and the horizontal distance x of the lowest point part from the following equation (1). v to obtain.

[0045]

Equation

[0046] In the first embodiment, the horizontal distance from the coordinate system o' is defined as the value of x, and the vertical distance from the coordinate system o' is defined as the value of z. As shown in FIG. 3, the catenary operation unit 11c outputs the catenary number C, the distance x v and the linear density ρ of the string-like object 1 to the load decomposition operation unit 11d.

[0047] The load decomposition operation unit 11d receives the second rotation angle θ 2,measured from the relative position operation unit 11b and the angle θ Cat1 as well as the catenary number C, the distance x v and the linear density ρ from the catenary operation unit 11c. Based on the input information, the load decomposition operation unit 11d generates and outputs the control target value T1 of the first contact load and the control target value T2 of the second contact load.

[0048] For example, the load decomposition operation unit 11d applies the catenary number C, the distance x v and the linear density ρ to the following equation (2) to obtain the tension T of the string-like object 1 at the contact point position r' WiEd at the ejection port part 6 as shown in FIGS. 5 and 6. Note that g is the gravitational acceleration and is a constant.

[0049]

Equation

[0050] The load decomposition operation unit 11d applies the catenary number C and the distance x v to the following equation (3) to obtain the discharge angle θ WiEd of the string-like object 1 at the contact point position r'W Find it.

[0051]

Number

[0052] The load decomposition calculation unit 11d uses the tension T, the angle θ Cat1 , the second rotation angle θ 2,measured and the discharge angle θ W and applies them to the following equations (4) and (5) to decompose the tension T. As a result, the load decomposition calculation unit 11d generates the control target value T1 in FIG. 5 of the first contact load and the control target value T2 in FIG. 6 of the second contact load.

[0053]

Number

[0054]

Number

[0055] <Summary of Embodiment 1> In the prior art, for example, when there is a bend in the power supply cable between the reel and the outlet portion, hysteresis appears between the rotation angle of the reel and the tension at the outlet portion of the power supply cable, so that appropriate vibration damping control cannot be performed.

[0056] On the other hand, according to the vibration damping device 100 according to the first embodiment, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled based on the first position information of the connected object 2, the second position information of the outlet portion 6, and the load of the load sensor 7. In the bent string-like object 1, the first rotation angle θ 1,measured of the first rotation mechanism 4, and 2,measured the second rotation angle θ of the second rotation mechanism 5 1,measured correspond one-to-one with the first contact load T 2,measured occurring at the outlet portion 6 and the second contact load T, respectively. Therefore, the shape of the catenary, which is the string-like object 1, can be correctly controlled.

[0057] Also, as shown in FIG. 7, the amplitude of the force applied to the ejection port portion 6 is correlated with the amplitude of the force applied to the connected body 2. Therefore, when the first rotation mechanism 4 and the second rotation mechanism 5 are controlled using the force applied to the ejection port portion 6 as an input to the output controller 11h, the vibration of the force applied to the ejection port portion 6 is suppressed, and the vibration of the force applied to the connected body 2 by the string-like object 1 can also be suppressed.

[0058] Also, in the first embodiment, in addition to the control of the first rotation mechanism 4 and the second rotation mechanism 5, the length L of the string-like object 1 can be adjusted by the length adjustment mechanism 3. Therefore, the vibration of the string-like object 1 can be more appropriately suppressed. Also, in the first embodiment, since the above effects can be obtained only by providing the position sensor attachment device 9 to the connected body 2, the connected body 2 can be made as lightweight as possible.

[0059] <Embodiment 2> FIG. 8 is a perspective view showing a configuration example of the vibration damping device 100 according to the second embodiment. Hereinafter, among the components according to the second embodiment, the same or similar components as the above-described components are denoted by the same or similar reference numerals, and different components will be mainly described.

[0060] The configuration of FIG. 8 is the same as the configuration in which the position sensor attachment device 12 is added to the configuration of FIG. 1. Note that in the second embodiment, the load sensor 7 is not essential.

[0061] In the second embodiment, similar to the first embodiment, the connected body 2 is an unmanned aerial vehicle (mobile body) for infrastructure inspection that can sustain flight using the power from the power supply cable that is the string-like object 1, and is hovering and generally stopped.

[0062] The length adjustment mechanism 3 is a mechanism that adjusts the length L from the joining point of the string-like object 1 and the connectable object 2 to the contact point between the string-like object 1 and the ejection outlet 6, and the length L1 from the position sensor attachment device 12 to the contact point between the string-like object 1 and the ejection outlet 6. The length adjustment mechanism 3 is capable of measuring the lengths L and L1, for example. Note that the length adjustment mechanism 3 is not essential, and the lengths L and L1 may be constant (known).

[0063] The first rotation mechanism 4 is a mechanism that rotates the length adjustment mechanism 3 and the injection outlet portion 6 in a first direction, and adjusts a first rotation angle in the first direction of the length adjustment mechanism 3 and the injection outlet portion 6. The second rotation mechanism 5 is a mechanism that rotates the length adjustment mechanism 3 and the injection outlet portion 6 in a second direction, and adjusts a second rotation angle in the second direction of the length adjustment mechanism 3 and the injection outlet portion 6. The string-like object 1 is inserted into the injection outlet portion 6.

[0064] The position sensor 8 not only acquires the first position information of the connectable object 2 and the second position information of the outlet portion 6, but also acquires third position information of the position sensor attachment device 12, which is a predetermined part of the string-like object 1. In the second embodiment, the third position information is the position of the position sensor attachment device 12. It is preferable that the position sensor 8 be able to measure the positions of the position sensor attachment devices 9, 10, and 12 within the entire movement range of the position sensor attachment devices 9, 10, and 12.

[0065] The position sensor attachment device 12 is a device (for example, a device including a reflector) to be positioned by the position sensor 8, and is provided at a predetermined portion of the string-like object 1. The three-dimensional position r of the position sensor attachment device 12 measured by the position sensor 8 is C,measured is the control target value r of the three-dimensional position of the position sensor attachment device 12 when the string-like object 1 has the shape of a catenary line. C It should be noted that, as long as the length L1 from the position sensor attachment device 12 to the contact point between the string-like object 1 and the ejection port portion 6 can be determined, the predetermined location where the position sensor attachment device 12 is provided may be changed as appropriate.

[0066] The control arithmetic unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on the first position information of the connected object 2, the second position information of the ejection port portion 6, and the third position information of the position sensor attached device 12. Hereinafter, the control arithmetic unit 11 will be described in detail.

[0067] FIG. 9 is a block diagram showing a configuration example of the control arithmetic unit 11 according to Embodiment 2. FIG. 10 is a plan view for explaining the arithmetic processing of the control arithmetic unit 11, and FIG. 11 is a cross-sectional view taken along line B-B of FIG. 10.

[0068] As shown in FIG. 9, data is generally input and output between the control arithmetic unit 11, the first actuator 21 that drives the first rotation mechanism 4, the second actuator 22 that drives the second rotation mechanism 5, the control target 23, and the sensor 24.

[0069] The control arithmetic unit 11 receives the mechanical dimensions of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and lengths L, L1 of the string-like object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attached device 9 D,measured and the position r of the position sensor attached device 10 Wi,measured and the three-dimensional position r of the position sensor attached device 12 in FIGS. 10 and 11 C,measured as inputs. Based on the input information, the control arithmetic unit 11 generates and outputs the current i1 applied to the first actuator 21 and the current i2 applied to the second actuator 22.

[0070] The sensor 24 detects the movement of the control target 23 and outputs the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attached device 9 D,measured and the position r of the position sensor attached device 10 Wi,measured and the three-dimensional position r of the position sensor attached device 12 C,measured as outputs.

[0071] The control calculation unit 11 includes a control target value calculation unit 11a and an output controller 11h. The control target value calculation unit 11a is input with the mechanical dimensions of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and lengths L, L1 of the string-like object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attachment device 9 D,measured and the position r of the position sensor attachment device 10 Wi,measured are input. Based on the input information, the control target value calculation unit 11a generates and outputs a control target value r of the three-dimensional position of the position sensor attachment device 12 when the string-like object 1 has the shape of a catenary C .

[0072] The output controller 11h is input with the control target value r from the position sensor attachment device 12 C and the three-dimensional position r of the position sensor attachment device 12 measured by the position sensor 8 C,measured . Based on the input information, the output controller 11h generates and outputs the applied current i1 to the first actuator 21 and the applied current i2 to the second actuator 22. For example, the output controller 11h includes a first PID controller that outputs the applied current i1 based on the difference between the measured three-dimensional position r C,measured and its control target value r C , and a second PID controller that outputs the applied current i2 based on the difference between the measured three-dimensional position r C,measured and its control target value r C .

[0073] The control target value calculation unit 11a includes a relative position calculation unit 11b, a catenary calculation unit 11c, and a position calculation unit 11e

[0074] The relative position calculation unit 11b is input with the mechanical dimensions of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attachment device 9 D,measured and the position r of the position sensor attachment device 10 Wi,measuredis input.

[0075] Based on the input information, the relative position calculation unit 11b calculates the position r’ of the connection point between the string-like object 1 and the object to be connected 2 in FIG. 10 D and the position r of the rotation center coordinate origin in FIG. 10 WiAzC and the position r’ of the contact point between the string-like object 1 and the ejection port 6 in FIG. 10 WiEd and the position r’ of the contact point WiEd and the angle θ formed by the B-B line in FIG. 10 and the first direction at the position r’ Cat1 are generated.

[0076] As shown in FIG. 9, the relative position calculation unit 11b outputs the position r’ of the connection point of the object to be connected 2 D and the position r’ of the contact point of the ejection port 6 WiEd to the catenary calculation unit 11c. Further, the relative position calculation unit 11b outputs the position r’ of the contact point of the ejection port 6 WiEd and the first rotation angle θ of the first rotation mechanism 4 1,measured and the angle θ formed by the B-B line in FIG. 10 and the first direction at the position r’ of the contact point WiEd Cat1 to the position calculation unit 11e.

[0077] The linear density ρ and length L of the string-like object 1, the position r’ of the connection point of the object to be connected 2 D are input to the catenary calculation unit 11c. Based on the input information, the catenary calculation unit 11c calculates the catenary number C of the catenary and the horizontal distance x of the lowest point of the virtual catenary on the z-axis of the coordinate system o’ shown in FIG. 11 (cross-sectional view along the B-B line in FIG. 10) WiEd and the position r’ of the contact point of the ejection port 6 v are generated. Similar to Embodiment 1, in this Embodiment 2, the horizontal distance from the coordinate system o’ is defined as the value of x, and the vertical distance from the coordinate system o’ is defined as the value of z. As shown in FIG. 9, the catenary calculation unit 11c outputs the catenary number C and the distance x v to the position calculation unit 11e.

[0078] The length L1 and the position r’ from the relative position calculation unit 11b WiEd are input to the position calculation unit 11e., the first rotation angle θ 1,measured and the angle θ Cat1 and the catenary number C and the distance x from the catenary calculation unit 11c v are input. Based on the input information, the position calculation unit 11e generates and outputs the control target value r of the three-dimensional position of the position sensor attachment device 12 C .

[0079] For example, between the horizontal component x from the coordinate system o' to the position sensor attachment device 12 on the catenary which is the cable-like object 1 c and the length L1, the following relationship of Equation (6) holds. Therefore, the position calculation unit 11e analytically or numerically obtains the horizontal component x using the length L1 and Equation (6). And the position calculation unit 11e uses the horizontal component x c to obtain the vertical component z c , the catenary number C and the distance x v and Equation (7). c

[0080]

Number

[0081]

Number

[0082] The position calculation unit 11e uses the horizontal component x c , the vertical component z c , the first rotation angle θ 1,measured , the position r' of the contact point of the ejection port 6 WiEd , and the angle θ formed by the B-B line and the first direction Cat1 and Equation (8) to generate the control target value r of the three-dimensional position of the position sensor attachment device 12 C .

[0083]

Number

[0084] <Summary of Embodiment 2>​ According to the vibration control device 100 according to the second embodiment, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled based on the first position information of the connected object 2, the second position information of the ejection port portion 6, and the third position information of the position sensor attachment device 12. In the bent string-shaped object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured , and the second rotation angle θ of the second rotation mechanism 5 2,measured corresponds one-to-one with the control target value r C . Therefore, the shape of the suspension line, which is the string-shaped object 1, can be correctly controlled.

[0085] Further, the amplitude of the position of the position sensor attachment device 12 is correlated with the amplitude of the force applied to the connected object 2. Therefore, when the first rotation mechanism 4 and the second rotation mechanism 5 are controlled with the position of the position sensor attachment device 12 as the input of the output controller 11h, the vibration of the position of the position sensor attachment device 12 is suppressed, and the vibration of the force applied to the connected object 2 by the string-shaped object 1 can also be suppressed.

[0086] Also, in the second embodiment, in addition to the control of the first rotation mechanism 4 and the second rotation mechanism 5, the length L of the string-shaped object 1 can be adjusted by the length adjustment mechanism 3. Therefore, the vibration of the string-shaped object 1 can be more appropriately suppressed. Also, in the second embodiment, since the above effects can be obtained only by providing the position sensor attachment device 9 on the connected object 2, the connected object 2 can be made as lightweight as possible.

[0087] <Embodiment 3> FIG. 12 is a perspective view showing a configuration example of the vibration control device 100 according to the third embodiment. Hereinafter, among the components according to the third embodiment, the same or similar components as the above-described components are given the same or similar reference numerals, and different components will be mainly described.

[0088] The configuration of FIG. 12 is generally the same as the configuration of FIG. 1. However, in the configuration of FIG. 12, the length adjustment mechanism 3, the first rotation mechanism 4, the second rotation mechanism 5, the ejection port portion 6, the load sensor 7, and the position sensor attachment device 10 are mounted on the moving device 14.

[0089] The mobile device 14 is a traveling vehicle that moves on the ground movement path r W,trajectory In the third embodiment, similar to the first embodiment, the connected object 2 is an unmanned aerial vehicle (mobile object) for infrastructure inspection that can sustain flight using the power from the power supply cable, which is a string-like object 1. However, in the third embodiment, the connected object 2 moves along the aerial movement path r W,trajectory corresponding to the ground movement path r D,trajectory The movement path r W,trajectory and the movement path r D,trajectory may be constant (known) or may be changed as appropriate.

[0090] The control calculation unit 11 may be provided, for example, on the base side portion of the first rotation mechanism 4 or on the ground, or may be mounted on the mobile device 14. The control calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on the first position information of the connected object 2, the second position information of the ejection port portion 6, the load measured by the load sensor 7, the first movement path information that is the information of the movement path r D,trajectory of the connected object 2, and the second movement path information that is the information of the movement path r W,trajectory of the mobile device 14. Hereinafter, the control calculation unit 11 will be described in detail.

[0091] FIG. 13 is a block diagram showing a configuration example of the control calculation unit 11 according to the third embodiment. Data is generally input and output between the control calculation unit 11, the first actuator 21 that drives the first rotation mechanism 4, the second actuator 22 that drives the second rotation mechanism 5, the control target 23, and the sensor 24.

[0092] The control calculation unit 11 includes the mechanical dimensions of the connected object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and length L of the string-like object 1, the first rotation angle θ 1,measured of the first rotation mechanism 4, the second rotation angle θ 2,measured of the second rotation mechanism 5, the position r D,measured of the position sensor accessory device 9, the position r Wi,measured of the position sensor accessory device 10, the first contact load T 1,measured of the first load sensor unit 7a, and the second contact load T 2,measuredand the first movement path information (r D,trajectory ) of the connected object 2 and the second movement path information (r W,trajectory ) of the moving device 14 are input. Based on the input information, the control calculation unit 11 generates and outputs the current i1 applied to the first actuator 21 and the current i2 applied to the second actuator 22.

[0093] The control calculation unit 11 includes a control target value calculation unit 11a and an output controller 11h. The control target value calculation unit 11a according to the third embodiment is the same as the control target value calculation unit 11a according to the first embodiment.

[0094] The output controller 11h receives the control target value T1 of the first contact load, the control target value T2 of the second contact load, the first contact load T 1,measured and the second contact load T 2,measured and the first movement path information (r D,trajectory ) of the connected object 2 and the second movement path information (r W,trajectory ) of the moving device 14 are input. Based on the input information, the output controller 11h generates and outputs the current i1 applied to the first actuator 21 and the current i2 applied to the second actuator 22.

[0095] For example, the output controller 11h may perform machine learning (training) such as AI (Artificial Intelligence) on the input information and the output information (applied currents i1, i2). Thereby, the applied currents i1, i2 are adjusted so that the first contact load T 1,measured and the second contact load T 2,measured approach the control target value T1 and the control target value T2 of the second contact load, respectively.

[0096] <Summary of the Third Embodiment> According to the vibration control device 100 according to the third embodiment as described above, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled in consideration of the first movement path information of the connected object 2 and the second movement path information of the moving device 14. According to such a configuration, since the range that can be inspected for infrastructure at the connected object 2 can be expanded by the movement of the moving device 14, the high functionality of the configuration of the first embodiment is possible. In the above description, the third embodiment is applied to the configuration of the first embodiment, but it may also be applied to the configuration of the second embodiment. That is, the control arithmetic unit 11 includes the first position information of the connected object 2, the second position information of the ejection port portion 6, and the movement path r of the connected object 2 D,trajectory which is the information of the first movement path information, and the movement path r of the moving device 14 W,trajectory which is the information of the second movement path information, and the third position information of the position sensor attachment device 12, the first rotation mechanism 4 and the second rotation mechanism 5 may be controlled.

[0097] <Embodiment 4> FIG. 14 is a perspective view showing a configuration example of the vibration control device 100 according to the fourth embodiment. Hereinafter, among the components according to the fourth embodiment, the same or similar components as the above-described components are denoted by the same or similar reference numerals, and different components will be mainly described.

[0098] The configuration of FIG. 14 is generally the same as the configuration of FIG. 12. However, in the configuration of FIG. 14, a wind direction and wind speed meter 17 mounted on the moving device 14 is added. The wind direction and wind speed meter 17 is a device that measures the direction and speed of the wind acting on the string-like object. The wind direction and wind speed meter 17 only needs to be able to measure the wind direction and wind speed in the inertial space, and the wind direction and wind speed meter 17 does not necessarily have to be mounted on the moving device 14. Note that v is a vector.

[0099] The control arithmetic unit 11 may be provided, for example, on the base side portion of the first rotation mechanism 4 or on the ground, or may be mounted on the moving device 14. The control arithmetic unit 11 is connected by at least one of wired and wireless means so as to be communicable with the wind direction and wind speed meter 17. The control arithmetic unit 11 includes the first position information of the connected object 2, the second position information of the ejection port portion 6, the load measured by the load sensor 7, and the first movement path information (r of the connected object 2D,trajectory ) and the second movement route information (r of the moving device 14 W,trajectory ) and the direction and speed v of the wind measured by the wind direction and speed meter 17, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled. Hereinafter, the control arithmetic unit 11 will be described in detail.

[0100] FIG. 15 is a block diagram showing a configuration example of the control arithmetic unit 11 according to the fourth embodiment. FIG. 16 is a plan view for explaining the arithmetic processing of the control arithmetic unit 11, and FIGS. 17 and 18 are cross-sectional views taken along the C-C line and the D-D line of FIG. 16, respectively.

[0101] As shown in FIG. 15, data is generally input and output between the control arithmetic unit 11, the first actuator 21 that drives the first rotation mechanism 4, the second actuator 22 that drives the second rotation mechanism 5, the control object 23, and the sensor 24.

[0102] The control arithmetic unit 11 includes the mechanism dimensions of the connected body 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and length L of the string-like object 1, the first rotation angle θ of the first rotation mechanism 4 1,measured and the second rotation angle θ of the second rotation mechanism 5 2,measured and the position r of the position sensor attachment device 9 D,measured and the position r of the position sensor attachment device 10 Wi,measured and the first contact load T of the first load sensor unit 7a 1,measured and the second contact load T of the second load sensor unit 7b 2,measured and the first movement route information (r of the connected body 2 D,trajectory ) and the second movement route information (r of the moving device 14 W,trajectory ) and the direction and speed v of the wind measured by the wind direction and speed meter 17 are input. Based on the input information, the control arithmetic unit 11 generates and outputs the current i1 applied to the first actuator 21 and the current i2 applied to the second actuator 22.

[0103] The control arithmetic unit 11 includes a control target value arithmetic unit 11a and an output controller 11h. The control target value arithmetic unit 11a receives the dimensional sizes of the connected object 2, the first rotating mechanism 4, and the second rotating mechanism 5, the linear density ρ and length L of the string-like object 1, the first rotation angle θ of the first rotating mechanism 4 1,measured and the second rotation angle θ of the second rotating mechanism 5 2,measured and the position r of the accessory device 9 with a position sensor D,measured and the position r of the accessory device 10 with a position sensor Wi,measured and the direction and velocity v of the wind measured by the wind direction and speed meter 17. Based on the input information, the control target value arithmetic unit 11a generates and outputs the control target value T1 of the first contact load and the control target value T2 of the second contact load. The output controller 11h according to the fourth embodiment is the same as the output controller 11h according to the third embodiment.

[0104] The control target value arithmetic unit 11a includes a relative position arithmetic unit 11b, a string tension arithmetic unit 11f, and a load decomposition arithmetic unit 11g. The relative position arithmetic unit 11b according to the third embodiment is the same as the relative position arithmetic unit 11b according to the first embodiment. The relative position arithmetic unit 11b outputs the position r' of the joint point of the connected object 2 D and the position r' of the contact point of the ejection port 6 WiEd to the string tension arithmetic unit 11f. Also, the relative position arithmetic unit 11b outputs the second rotation angle θ of the second rotating mechanism 5 2,measured and the angle θ formed by the C-C line in FIG. 16 and the first direction Cat1 to the load decomposition arithmetic unit 11g.

[0105] The string tension arithmetic unit 11f in FIG. 15 receives the linear density ρ and length L of the string-like object 1, the position r' of the joint point of the connected object 2 D and the position r' of the contact point of the ejection port 6 WiEd and the direction and velocity v of the wind. Based on the input information, the string tension arithmetic unit 11f calculates the tension T from the thick string-like object 1 at the position r' of the contact point between the string-like object 1 and the ejection port 6 in FIGS. 16 and 18, the discharge angle θ of the thick string-like object 1 at the position r' of the contact point in FIG. 17 WiEd and the position r' of the contact point WiEd and the discharge angle θ of the thick string-like object 1 at the position r' of the contact point in FIG. 17 W and the position r' of the contact pointWiEd The discharge angle θ of the thick-line string-like object 1 in FIG. 18 v is generated and outputted.

[0106] For example, the string tension calculation unit 11f assumes that an evenly distributed load w(v) due to wind is applied to the string-like object 1, and calculates the balance between the self-weight of the string-like object 1 and the load due to wind. Note that w and v are vectors. In the calculation of the balance, the string tension calculation unit 11f uses, for example, the following equation (9) that models the string-like object 1 as a flexible multi-body system.

[0107]

Equation

[0108] In Equation (9), M is the generalized mass matrix of the string-like object 1, C is the generalized damping matrix of the string-like object 1, K is the generalized stiffness matrix of the string-like object 1, and q is the generalized coordinate of the string-like object 1. Note that the character with one dot above q is the value obtained by differentiating q once with respect to time, and in the text of the specification, due to the notation constraints, it is denoted as q (1) is denoted. The character with two dots side by side above q is the value obtained by differentiating q twice with respect to time, and in the text of the specification, due to the notation constraints, it is denoted as q (2) is denoted.

[0109] Also, in Equation (9), F is the generalized external force of the string-like object 1, and the evenly distributed load w(v) is reflected. C is the holonomic constraint of the string-like object 1, and C q is the value obtained by partially differentiating C with respect to the generalized coordinate q, and λ is the Lagrange undetermined multiplier. In Equation (9), among the acceleration constraint equations for C q q (2) obtained by differentiating the holonomic constraint C twice with respect to time, the terms other than C q q (2) are defined as γ. When q (2) = q (1) = 0, the lower side of the matrix in Equation (9) becomes unnecessary for calculation, and the following Equation (10) is obtained.

[0110] [Number]

[0111] The generalized elastic force Kq and the generalized constraint force C in Equation (10) q T λ is a vector orthogonal to each other. The string tension calculation unit 11f calculates the generalized coordinate q and the Lagrange undetermined multiplier λ at the equilibrium position of the load from Equation (10). Then, based on the calculation results, the string tension calculation unit 11f determines the position r' of the contact point between the string-like object 1 and the ejection port 6 WiEd The tension T in FIGS. 16 and 18 from the string-like object 1 at the position r' of the contact point, and the position r' of the contact point WiEd The discharge angle θ in FIG. 17 of the string-like object 1 at the position r' W and the discharge angle θ in FIG. 18 of the string-like object 1 at the position r' of the contact point WiEd and the discharge angle θ in FIG. 18 of the string-like object 1 at the position r' of the contact point v are generated.

[0112] The second rotation angle θ from the relative position calculation unit 11b and the angle θ 2,measured and the tension T, the discharge angle θ Cat1 from the string tension calculation unit 11f, and the discharge angle θ W and the discharge angle θ v are input to the load decomposition calculation unit 11g. The load decomposition calculation unit 11g generates and outputs the control target value T1 of the first contact load and the control target value T2 of the second contact load based on the input information.

[0113] For example, the load decomposition calculation unit 11g applies the second rotation angle θ 2,measured , the angle θ Cat1 , the tension T, the discharge angle θ in FIG. 17 W , and the discharge angle θ in FIG. 18 v to the following Equation (11) and Equation (12) to decompose the tension T. Thereby, the load decomposition calculation unit 11g generates the control target value T1 of the first contact load and the control target value T2 of the second contact load. Note that T3 is the tension component obtained by projecting the tension T in the direction along the cross-section C-C as shown in FIGS. 16 to 18.

[0114] [Number]

[0115] [Number]

[0116] [Summary of Embodiment 4] According to the vibration damping device 100 according to Embodiment 3 as described above, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled in consideration of the direction and speed of the wind measured by the wind direction and speed meter 17, so that the configuration of Embodiment 3 can be enhanced in functionality. In the above description, Embodiment 4 is applied to the configuration of Embodiment 3, but it may also be applied to the configurations of Embodiments 1 and 2.

[0117] In the present disclosure in English, 'a' and 'an' mean one or more. For this reason, 'a', 'an', 'one or more' and 'at least one' can be used interchangeably.

[0118] It should be noted that each embodiment and each modification can be freely combined, or each embodiment and each modification can be appropriately modified or omitted. The above description is illustrative in all aspects and not limiting. Innumerable modifications that are not illustrated can be assumed.

[0119] Hereinafter, aspects of the present disclosure will be collectively described as appendices.

[0120] (Appendix 1) An insertion port through which a string-like object connected to an object to be connected is inserted, A first rotation mechanism that adjusts a first rotation angle in a first direction of the insertion port, A second rotation mechanism that adjusts a second rotation angle in a second direction different from the first direction of the insertion port, A sensor that acquires the first position information of the object to be connected, the second position information of the insertion port, the load applied from the side portion of the string-like object to the insertion port, or the third position information of a predetermined portion of the string-like object, A control unit that controls the first rotation mechanism and the second rotation mechanism based on the first position information, the second position information, and the load or the third position information A vibration damping device comprising the same.

[0121] (Appendix 2) The vibration damping device according to Appendix 1, wherein the sensor includes a position sensor that acquires the first position information and the second position information, and a load sensor that measures the load including the first load in the first direction and the second load in the second direction, wherein the control unit calculates control target values of the first load and the second load based on the first position information, the second position information, and the load, and controls the first rotation angle and the second rotation angle based on the first load, the second load, and the control target values. A vibration damping device.

[0122] (Appendix 3) The vibration damping device according to Appendix 1, wherein the sensor includes a position sensor that acquires the first position information, the second position information, and the third position information, calculates a control target value of the third position information based on the first position information, the second position information, and the third position information, and controls the first rotation angle and the second rotation angle based on the third position information and the control target value. A vibration damping device.

[0123] (Appendix 4) The vibration damping device according to any one of Appendices 1 to 3, further comprising a length adjustment mechanism for adjusting the length of the string-like object. A vibration damping device.

[0124] (Appendix 5) A vibration damping device according to any one of Appendices 1 to 4, wherein the object to be connected is a moving body, the insertion opening, the first rotation mechanism, and the second rotation mechanism are mounted on a moving device, and the control unit controls the first rotation angle and the second rotation angle based on the first position information, the second position information, the first movement path information of the object to be connected, the second movement path information of the moving device, and the load or the third position information.

[0125] (Appendix 6) A vibration damping device according to any one of Appendices 1 to 5, further comprising an anemometer for measuring the direction and speed of the wind acting on the string-like object, wherein the control unit controls the first rotation angle and the second rotation angle based on the first position information, the second position information, the direction and speed of the wind, and the load or the third position information.

Explanation of Reference Numerals

[0126] 1 String-like object, 2 Object to be connected, 3 Length adjustment mechanism, 4 First rotation mechanism, 5 Second rotation mechanism, 6 Jet outlet, 7 Load sensor, 8 Position sensor, 11 Control arithmetic unit, 14 Moving device, 17 Anemometer, 100 Vibration damping device.

Claims

1. An insertion opening through which a string-like object connected to the connected object is inserted, A first rotation mechanism for adjusting the first rotation angle in the first direction of the insertion opening portion, A second rotation mechanism for adjusting the second rotation angle of the insertion opening in a second direction different from the first direction, A sensor that acquires first position information of the connected object, second position information of the insertion opening, and load applied to the insertion opening from the side of the string-like object, A control unit that controls the first rotating mechanism and the second rotating mechanism based on the first position information, the second position information, and the load. A vibration damping device equipped with the following features.

2. A vibration damping device according to claim 1, The aforementioned sensor is The system includes a position sensor that acquires the first position information and the second position information, and a load sensor that measures the load, including the first load in the first direction and the second load in the second direction. The control unit, A vibration damping device that calculates control target values ​​for the first load and the second load based on the first position information, the second position information, and the load, and controls the first rotation angle and the second rotation angle based on the first load, the second load, and the control target values.

3. A vibration damping device according to claim 1 or claim 2, A vibration damping device further comprising a length adjustment mechanism for adjusting the length of the string-like object.

4. A vibration damping device according to claim 1 or claim 2, The connected object is a movable object. The insertion opening, the first rotation mechanism, and the second rotation mechanism are mounted on a moving device. The control unit, A vibration damping device that controls the first rotation angle and the second rotation angle based on the first position information, the second position information, the first movement path information of the connected object, the second movement path information of the moving device, and the load.

5. A vibration damping device according to claim 1 or claim 2, The system further includes an anemometer for measuring the direction and speed of the wind acting on the string-like object. The control unit, A vibration damping device that controls a first rotation angle and a second rotation angle based on the first position information, the second position information, the direction and speed of the wind, and the load.

Images