Vibration damping device

Abstract

The purpose of the present invention is to provide a technique capable of appropriately controlling vibration damping of a string-shaped object. This vibration damping device comprises: a first rotation mechanism for adjusting a first rotation angle in a first direction of an insertion port portion; a second rotation mechanism for adjusting a second rotation angle in a second direction of the insertion port portion; and a control portion for controlling the first rotation mechanism and the second rotation mechanism on the basis of first position information of a connected object, second position information of the insertion port portion, and a load applied to the insertion port portion from a side portion of the string-shaped object or third position information of a predetermined portion of the string-shaped object.

Description

Vibration control device

[0001] The present disclosure relates to vibration damping devices.

[0002] In order to reduce the cost and improve the work efficiency of infrastructure inspections using unmanned aerial vehicles, it is effective to use the unmanned aerial vehicle in combination with a mobile vehicle that supplies wired power to the unmanned aerial vehicle, enabling the unmanned aerial vehicle to fly sustainably. However, in order to stably supply power from the mobile vehicle to the unmanned aerial vehicle via a power cable, it is necessary to suppress disturbances in the power cable caused by external disturbances such as acceleration and deceleration of the mobile vehicle and wind.

[0003] As a technology for suppressing disturbances, for example, the technology disclosed in Patent Document 1 has been proposed. The vibration control device in Patent Document 1 includes a ground support vehicle, a power feed cable, and an unmanned air vehicle. The ground support vehicle includes a reel that feeds out the power feed cable and an arm that supports the outlet of the power feed cable. The vibration control device controls the rotation of the reel in a direction to wind up the power feed cable when tension in the power feed cable decreases, and controls the rotation of the reel in a direction to pay out the power feed cable when tension increases.

[0004] Japanese Patent Application Laid-Open No. 2020-138640

[0005] The vibration control device of Patent Document 1 measures the tension of a taut power supply cable near the reel and rotates the reel, but has the problem that it cannot be applied to a slack power supply cable. For example, if the power supply cable is slack between the reel and the outlet, hysteresis appears between the reel rotation angle and the tension of the power supply cable at the outlet. Therefore, there is a problem that the technology, which assumes that the power supply cable is taut, cannot perform appropriate vibration control.

[0006] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that can appropriately control the vibration of a string-like object such as a power supply cable.

[0007] The vibration control device according to the present disclosure includes an insertion opening through which a string-like object connected to a connectable object is inserted, a first rotation mechanism that adjusts a first rotation angle of the insertion opening in a first direction, a second rotation mechanism that adjusts a second rotation angle of the insertion opening in a second direction different from the first direction, sensors that acquire first position information of the connectable object, second position information of the insertion opening, and a load applied to the insertion opening from a side of the string-like object, or third position information of a predetermined portion of the string-like object, 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, the load, and the third position information.

[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 this configuration, it is possible to appropriately control the vibration of the string-like object. Objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings.

[0009] FIG. 1 is a perspective view showing an example of the configuration of a vibration damping device according to embodiment 1. FIG. 2 is a perspective view showing an example of the configuration of a portion of the vibration damping device according to embodiment 1. FIG. 3 is a block diagram showing an example of the configuration of a control calculation unit according to embodiment 1. FIG. 4 is a perspective view for explaining the calculation processing of the control calculation unit according to embodiment 1. FIG. 5 is a plan view for explaining the calculation processing of the control calculation unit according to embodiment 1. FIG. 6 is a cross-sectional view for explaining the calculation processing of the control calculation unit according to embodiment 1. FIG. 7 is a diagram showing the correlation between the amplitude at the outlet and the amplitude at the connected body according to embodiment 1. FIG. 8 is a perspective view showing an example of the configuration of a vibration damping device according to embodiment 2. FIG. 9 is a block diagram showing an example of the configuration of a control calculation unit according to embodiment 2. FIG. 10 is a plan view for explaining the calculation processing of the control calculation unit according to embodiment 2. FIG. 11 is a cross-sectional view for explaining the calculation processing of the control calculation unit according to embodiment 2. FIG. 12 is a perspective view showing an example of the configuration of a vibration damping device according to embodiment 3. FIG. 13 is a block diagram showing an example of the configuration of a control calculation unit according to embodiment 3. FIG. 14 is a perspective view showing an example of the configuration of a vibration damping device according to embodiment 4. FIG. 15 is a block diagram showing an example of the configuration of a control calculation unit according to embodiment 4. Fig. 16 is a plan view for explaining the calculation process of the control calculation unit according to embodiment 4. Fig. 17 is a cross-sectional view for explaining the calculation process of the control calculation unit according to embodiment 4. Fig. 18 is a cross-sectional view for explaining the calculation process of the control calculation unit according to embodiment 4.

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

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

[0012] The length adjustment mechanism 3 is, for example, a winding winch (also called a reel). The length adjustment mechanism 3 adjusts the length L from the connection point between the string-like object 1 and the connectable object 2 to the contact point between the string-like object 1 and the injection port 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 outlet 6 in a first direction, and adjusts a first rotation angle in the first direction of the length adjustment mechanism 3 and the outlet 6. The first direction corresponds to, for example, the azimuth direction, which is the direction in which the azimuth angle increases or decreases.

[0014] The base side portion of the first rotation mechanism 4 is fixed to the ground, and the base side portion is equipped with a position sensor attachment device 10. The follower side portion of the first rotation mechanism 4 is directly equipped with the length adjustment mechanism 3 and the base side portion of the second rotation mechanism 5, and indirectly equipped with the injection port portion 6 and the load sensor 7. The follower side portion is a portion that is movable or rotatable relative to the base side portion; for example, the follower side portion of the first rotation mechanism 4 is rotatable relative 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 injection port 6 in a second direction different from the first direction, and adjusts the second rotation angle of the length adjustment mechanism 3 and the injection port 6 in the second direction. The second direction corresponds to, for example, the elevation direction, which is the direction in which the elevation angle increases or decreases.

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

[0017] Fig. 2 is a perspective view showing an example of the configuration of the injection port 6. As shown in Fig. 2 , the injection port 6 according to the first embodiment includes a component 6a that restrains the movement of the string-like object 1 in a first direction and a component 6b that restrains the movement of the string-like object 1 in a second direction, and the string-like object 1 is inserted through the injection port 6. The injection port 6 is a portion that feeds out the string-like object 1 bent around the first and second directions.

[0018] Movement in a third direction perpendicular to the first and second directions, i.e., movement in the extension direction of the string-like object 1 in Figure 2, is not constrained by parts 6a and 6b, but is constrained by the length adjustment mechanism 3. The injection outlet 6 is not limited to the part in Figure 2, but may be a cylindrical part (not shown) that constrains the side of the string-like object 1, in which case movement in the first and second directions can be constrained by a single part. The side of the string-like object 1 corresponds to the outer periphery of the cross section of the string-like object 1. It is preferable that there is no gap between the injection outlet 6 and the side of the string-like object 1.

[0019] The load sensor 7 measures a contact load, which is a load applied from the side of the string-like object 1 to the injection port 6 when the side of the string-like object 1 comes into contact with the injection port 6. In the first embodiment, the contact load includes a first contact load (first load) in a first direction and a second contact load (second load) in a second direction, and the load sensor 7 includes a first load sensor unit 7a that measures the first contact load and a second load sensor unit 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 injection port portion 6 is mounted on the follower side portion of the load sensor 7. In the first embodiment, a component 6a that restrains the movement of the string-like object 1 in a first direction is mounted on the follower side portion of the first load sensor unit 7a, and a component 6b that restrains the movement of the string-like object 1 in a second direction is mounted on the follower side portion of the second load sensor unit 7b. Note that the load sensor 7 may be a single load sensor that measures contact loads on two or more axes, in which case two of the multiple axes may be applied to the first direction and the second direction.

[0021] The position sensor 8 in FIG. 1 is a device that acquires first position information of the connectable body 2 and second position information of the injection port portion 6 .

[0022] In the first embodiment, the first position information of the connectable body 2 is the position r' of the connection point of the connectable body 2 in FIG. Ｄ 4 of the position sensor attachment device 9, which can calculate the position rD, measured. Ｄ can be calculated from the position rD,measured of the position sensor attachment device 9 and the mechanical dimensions and attitude angle of the connectable body 2.

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

[0024] 1 is, for example, a camera, the first position information and the second position information are acquired by positioning the position sensor-attached devices 9 and 10 using a motion capture system. If the position sensor 8 is, for example, a satellite signal receiver of a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), or an RTK (Real-time Kinematic) system, the first position information and the second position information are acquired based on satellite signals. The position sensor 8 may be, for example, a LIDAR (Light Detection and Ranging) sensor. It is preferable that the position sensor 8 be capable of positioning the position sensor-attached devices 9 and 10 over the entire movement range of the position sensor-attached devices 9 and 10.

[0025] The position sensor attachment device 9 is a device (for example, a device including a reflector) to be positioned by the position sensor 8, and is provided at an arbitrary part of the connectable body 2. Ｄ If priority is given to simplifying the calculation process and increasing the accuracy of the calculation, the position sensor attachment device 9 may be provided at or near the connection point of the connectable body 2.

[0026] The position sensor attachment device 10 is a device (e.g., a device including a reflector) to be positioned by the position sensor 8, and is provided, for example, on the base side of the first rotation mechanism 4. The position r of the origin of the rotation center coordinate system in FIG. ＷｉＡｚＣ If the position r' of the contact point of the injection port 6 is known, the position sensor attachment device 10 does not have to be provided. ＷｉＥｄ If priority is given to simplifying and increasing the accuracy of the calculation process for r′, the position sensor attachment device 10 may be provided at or near the contact point of the injection port 6. In this case, the position r′ of the contact point of the injection port 6 ＷｉＥｄ The position r of the origin of the rotation center coordinate system is calculated from 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. ＷｉＡｚＣ can be calculated.

[0027] The control and calculation unit 11 in Figure 1 is provided, for example, on the base side portion of the first rotation mechanism 4 or on the ground. The control and calculation unit 11 is communicably 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. The control and calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on first position information of the connectable body 2, second position information of the injection port portion 6, and the load measured by the load sensor 7. The control and calculation unit 11 will be described in detail below.

[0028] FIG. 3 is a block diagram showing an example of the configuration of the control and calculation unit 11 according to the first embodiment. FIGS. 4 and 5 are a perspective view and a plan view, respectively, for explaining the calculation processing of the control and calculation unit 11, and FIG. 6 is a cross-sectional view taken along line A-A in FIG. 5. The coordinate system o in FIGS. 5 and 6 may be defined at any 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' are defined to coincide with a part of the injection port 6 (e.g., the end of the machine), and the origin of the z-axis of the coordinate system o' is defined to coincide with the coordinate system o.

[0029] 3 , data is generally input and output between the control calculation unit 11, a first actuator 21 that drives the first rotation mechanism 4, a second actuator 22 that drives the second rotation mechanism 5, a control target 23, and a 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 calculation unit 11 receives the connected body 2, the mechanical dimensions of 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 θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9 in FIG. 4, the position rWi,measured of the position sensor attachment device 10 in FIG. 4, 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 portion 7b. ２，ｍｅａｓｕｒｅｄThe linear density ρ of the string-like object 1 is known. Based on the input information, the control calculation unit 11 controls the applied current i １ and the applied current i to the second actuator 22. ２ and output it.

[0031] The first actuator 21 is driven by an applied current i １ The first rotation mechanism 4 is supplied with a torque τ １ and the second actuator 22 applies an applied current i ２ The torque τ ２ The controlled object 23, that is, the first rotation mechanism 4 and the second rotation mechanism 5, is controlled by the torque τ １ and the torque τ of the second actuator 22. ２ As described above, the control and calculation 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 outputs a first rotation angle θ1,measured of the first rotation mechanism 4, a second rotation angle θ2,measured of the second rotation mechanism 5, a position rD,measured of the position sensor accessory device 9, a position rWi,measured of the position sensor accessory device 10, and a first contact load T １，ｍｅａｓｕｒｅｄ and the second contact load T ２，ｍｅａｓｕｒｅｄ and is output.

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

[0034] The control target value calculation unit 11a receives inputs of the connected body 2, the mechanism dimensions of 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 θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, and the position rWi,measured of the position sensor attachment device 10. Based on the input information, the control target value calculation unit 11a calculates the control target value T of the first contact load. １ and the control target value T of the second contact load. ２ and output it.

[0035] The output controller 11h is configured to control a target value T １ and the control target value T of the second contact load. ２ and the first contact load T １，ｍｅａｓｕｒｅｄ and the second contact load T ２，ｍｅａｓｕｒｅｄ The output controller 11h controls the applied current i to the first actuator 21 based on the input information. １ and the applied current i to the second actuator 22. ２ and output it.

[0036] For example, the output controller 11h may be configured to １，ｍｅａｓｕｒｅｄ and its control target value T １ Based on the difference between １ a first PID controller that outputs a second contact load T ２，ｍｅａｓｕｒｅｄ and its control target value T ２ Based on the difference between ２ However, the output controller 11h may be configured with components other than the first PID controller and the second PID controller. The output of the output controller 11h is also configured with a second PID controller that outputs an applied current i １ , i ２ Alternatively, the angle of the first actuator 21 and the angle of the second actuator 22 may be changed.

[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 inputs of the mechanical dimensions of the connectable object 2, the first rotation mechanism 4, and the second rotation mechanism 5, the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, and the position rWi,measured of the position sensor attachment device 10. 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 connectable object 2. Ｄ and the position r of the origin of the rotation center coordinate 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 5, the angle θ between the direction of the tension T from the string-like object 1 and the first direction. Ｃａｔ１ An example of this generation will be described below.

[0039] 4 and 5 of the connection point between the string-like object 1 and the object 2 to be connected, based on the mechanical dimensions of the object 2 to be connected and the position rD, measured of the position sensor attachment device 9 in FIG. 4. Ｄ Generate.

[0040] 4 and 5 of the origin of the rotation center coordinate system based on the mechanical dimensions of the first rotation mechanism 4, the first rotation angle θ1,measured of the first rotation mechanism 4, and the position rWi,measured of the position sensor attachment device 10 in FIG. 4. ＷｉＡｚＣ The relative position calculation unit 11b generates a relative position (r) based on the mechanical dimensions of the first rotation mechanism 4, the mechanical dimensions of the second rotation mechanism 5, the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, and the position r of the origin of the rotation center coordinate system shown in FIGS. ＷｉＡｚＣ Based on this, the position r' of the contact point between the string-like object 1 and the injection port 6 in FIGS. 4 and 5 is ＷｉＥｄ Generate.

[0041] The relative position calculation unit 11b calculates the position r' of the connection point of the connection target 2 as shown in FIG. Ｄ and the position r of the origin of the rotation center coordinate ＷｉＡｚＣ and the position r' of the contact point of the injection port 6 in FIG. ＷｉＥｄBased on this, the position r' of the contact point is ＷｉＥｄ The angle θ between the direction of the tension T of the string-like object 1 and the first direction in Ｃａｔ１ Generate.

[0042] As shown in FIG. 3, the relative position calculation unit 11b calculates the position r' of the connection point of the connectable body 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ The relative position calculation unit 11b outputs the second rotation angle θ2,measured of the second rotation mechanism 5 and the angle θ Ｃａｔ１ and are output to the weight decomposition calculation unit 11d.

[0043] The catenary calculation unit 11c receives the linear density ρ and length L of the string-like object 1, and the position r' of the connection point of the connected object 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ The catenary calculation unit 11c generates the shape of the catenary, which is the string-like object 1, based on the input information. Then, based on the shape of the catenary, the catenary calculation unit 11c calculates 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. ｖ and generate.

[0044] For example, the catenary calculation unit 11c determines the catenary number C and the horizontal distance x of the lowest point from the following equation (1) by associating the shape of the catenary, which is the string-like object 1, with the shape of the curve expressed by x and z in the following equation (1): ｖ Ask for.

[0045]

[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 calculation unit 11c calculates the catenary number C and the distance x ｖ and the linear density ρ of the string-like object 1 are output to the load decomposition calculation unit 11d.

[0047] The load decomposition calculation unit 11d receives the second rotation angle θ2, measured, and angle θ Ｃａｔ１and the number of catenaries C and the distance x ｖ and the linear density ρ are input. Based on the input information, the load decomposition calculation unit 11d calculates the control target value T １ and the control target value T of the second contact load. ２ and output it.

[0048] For example, the weight decomposition calculation unit 11d calculates the number of catenaries C, the distance x ｖ and the linear density ρ are applied to the following equation (2), and the position r′ of the contact point of the injection port 6 is calculated. ＷｉＥｄ 5 and 6 of the string-like object 1 at the point where g is a constant and represents the gravitational acceleration.

[0049]

[0050] The weight decomposition calculation unit 11d calculates the number of catenaries C and the distance x ｖ is applied to the following equation (3), the position r' of the contact point of the injection port 6 is obtained. ＷｉＥｄ The discharge angle θ of the string-like object 1 in FIG. Ｗ Ask for.

[0051]

[0052] The load decomposition calculation unit 11d calculates the tension T and the angle θ Ｃａｔ１ , the second rotation angle θ2, measured, and the discharge angle θ Ｗ is applied to the following equations (4) and (5) to resolve the tension T. As a result, the load resolution calculation unit 11d calculates the control target value T of the first contact load in FIG. １ and the control target value T of the second contact load in FIG. ２ and generate.

[0053]

[0054]

[0055] <Summary of First Embodiment> In the prior art, for example, when the power supply cable is bent between the reel and the outlet, hysteresis appears between the rotation angle of the reel and the tension of the power supply cable at the outlet, making it impossible to perform appropriate vibration suppression control.

[0056] In contrast, the vibration damping device 100 according to the first embodiment 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 injection port 6, and the load of the load sensor 7. In the bent string-like object 1, the first rotation angle θ1,measured of the first rotation mechanism 4 and the second rotation angle θ2,measured of the second rotation mechanism 5 are determined based on the first contact load T １，ｍｅａｓｕｒｅｄ , and the second contact load T ２，ｍｅａｓｕｒｅｄ Therefore, the shape of the catenary, which is the string-like object 1, can be controlled correctly.

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

[0058] Furthermore, in the first embodiment, in addition to controlling 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. This makes it possible to more appropriately suppress vibration of the string-like object 1. Furthermore, in the first embodiment, the above effects can be obtained simply by providing the position sensor attachment device 9 on the connectable object 2, so the connectable object 2 can be made as lightweight as possible.

[0059] 8 is a perspective view showing a configuration example of a vibration damping device 100 according to the present embodiment 2. Among the components according to the present embodiment 2, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described below.

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

[0061] In this second embodiment, as in the first embodiment, the connected object 2 is an unmanned aerial vehicle (mobile object) for infrastructure inspection that can sustain its flight using power from the string-like object 1, which is a power supply cable, and hovers and is generally stationary.

[0062] The length adjustment mechanism 3 is a mechanism that adjusts the length L from the joining point between 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 ejection port 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 device 12 is a device (e.g., 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 rC,measured of the position sensor device 12 measured by the position sensor 8 is a control target value rC,measured of the three-dimensional position of the position sensor device 12 when the string-like object 1 has a catenary shape. ＣIt 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 calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on the first position information of the connectable body 2, the second position information of the injection port 6, and the third position information of the position sensor attachment device 12. The control calculation unit 11 will be described in detail below.

[0067] Fig. 9 is a block diagram showing an example of the configuration of the control calculation unit 11 according to embodiment 2. Fig. 10 is a plan view for explaining the calculation process of the control calculation unit 11, and Fig. 11 is a cross-sectional view taken along line BB in Fig. 10.

[0068] As shown in Figure 9, 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 controlled object 23, and the sensor 24.

[0069] The control calculation unit 11 receives inputs of the connected body 2, the mechanism dimensions of the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and length L, L1 of the string-like object 1, the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor accessory device 9, the position rWi,measured of the position sensor accessory device 10, and the three-dimensional position rC,measured of the position sensor accessory device 12 shown in Figures 10 and 11. Based on the input information, the control calculation unit 11 calculates the applied current i to the first actuator 21. １ and the applied current i to the second actuator 22. ２ and output it.

[0070] The sensor 24 detects the movement of the control object 23 and outputs the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor accessory device 9, the position rWi,measured of the position sensor accessory device 10, and the three-dimensional position rC,measured of the position sensor accessory device 12.

[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 receives as input the mechanical dimensions of the connected body 2, the first rotation mechanism 4, and the second rotation mechanism 5, the linear density ρ and length L, L1 of the string-like object 1, the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, and the position rWi,measured of the position sensor attachment device 10. Based on the input information, the control target value calculation unit 11a calculates a control target value r Ｃ Generate and output.

[0072] The output controller 11h receives a control target value r from the position sensor attached device 12. Ｃ and the three-dimensional position rC,measured of the position sensor attachment device 12 measured by the position sensor 8. The output controller 11h controls the applied current i to the first actuator 21 based on the input information. １ and the applied current i to the second actuator 22. ２ For example, the output controller 11h generates and outputs the measured three-dimensional position rC,measured and its control target value r Ｃ Based on the difference between １ and a first PID controller that outputs the measured three-dimensional position rC, measured and its control target value r Ｃ Based on the difference between ２ and a second PID controller that outputs:

[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 receives as input the mechanical dimensions of the connected body 2, the first rotation mechanism 4, and the second rotation mechanism 5, the first rotation angle θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attached device 9, and the position rWi,measured of the position sensor attached device 10.

[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 as shown in FIG. Ｄ and the position r of the origin of the rotation center coordinate system in FIG. ＷｉＡｚＣ and the position r' of the contact point between the string-like object 1 and the injection port 6 in FIG. ＷｉＥｄ and the position r' of the contact point ＷｉＥｄ The angle θ between the line BB in FIG. 10 and the first direction Ｃａｔ１ and generate.

[0076] As shown in FIG. 9, the relative position calculation unit 11b calculates the position r' of the connection point of the connectable body 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ The relative position calculation unit 11b outputs the position r' of the contact point of the injection port 6 to the catenary calculation unit 11c. ＷｉＥｄ the first rotation angle θ1 of the first rotation mechanism 4 (measured), and the position r′ of the contact point. ＷｉＥｄ The angle θ between the line BB in FIG. 10 and the first direction Ｃａｔ１ and output to the position calculation unit 11e.

[0077] The catenary calculation unit 11c receives the linear density ρ and length L of the string-like object 1, and the position r' of the connection point of the connected object 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ Based on the input information, the catenary calculation unit 11c calculates the number of catenaries 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 (a cross-sectional view taken along line B-B in FIG. 10). ｖIn the second embodiment, similarly to 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. 9, the catenary calculation unit 11c calculates the catenary number C and the distance x ｖ and output to the position calculation unit 11e.

[0078] The position calculation unit 11e receives the length L1 and the position r' from the relative position calculation unit 11b. ＷｉＥｄ , the first rotation angle θ1, measured and the angle θ Ｃａｔ１ and the number of catenaries C and the distance x from the catenary calculation unit 11c. ｖ The position calculation unit 11e calculates the control target value r of the three-dimensional position of the position sensor accessory device 12 based on the input information. Ｃ Generate and output.

[0079] For example, the horizontal direction component x from the coordinate system o' to the position sensor attachment device 12 on the catenary line, which is the string-like object 1, ｃ The relationship between the horizontal component x and the length L1 satisfies the following equation (6): ｃ Then, the position calculation unit 11e calculates the horizontal component x ｃ , the number of catenaries C and the distance x ｖ and the vertical component z ｃ Ask for.

[0080]

[0081]

[0082] The position calculation unit 11e calculates the horizontal component x ｃ , vertical component z ｃ , the first rotation angle θ1, measured, and the position r′ of the contact point of the injection port 6 ＷｉＥｄ , and the angle θ between the line B-B and the first direction Ｃａｔ１ and the following equation (8), the control target value r of the three-dimensional position of the position sensor accessory device 12 is calculated. Ｃ Generate.

[0083]

[0084] Summary of Second Embodiment According to the vibration damping device 100 of 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 body 2, the second position information of the injection port portion 6, and the third position information of the position sensor attachment device 12. In the bent string-like object 1, the first rotation angle θ1,measured of the first rotation mechanism 4 and the second rotation angle θ2,measured of the second rotation mechanism 5 are controlled based on the control target value r Ｃ Since there is a one-to-one correspondence between these, the shape of the catenary, which is the string-like object 1, can be controlled correctly.

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

[0086] Furthermore, in the second embodiment, in addition to controlling 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. This makes it possible to more appropriately suppress vibration of the string-like object 1. Furthermore, in the second embodiment, the above effects can be obtained simply by providing the position sensor attachment device 9 on the connectable object 2, so that the connectable object 2 can be made as lightweight as possible.

[0087] 12 is a perspective view showing a configuration example of a vibration damping device 100 according to this embodiment 3. Among the components according to this embodiment 3, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described below.

[0088] The configuration in Fig. 12 is generally similar to the configuration in Fig. 1. However, in the configuration in Fig. 12, the length adjustment mechanism 3, the first rotation mechanism 4, the second rotation mechanism 5, the injection port portion 6, the load sensor 7, and the position sensor attachment device 10 are mounted on a movement device 14.

[0089] The mobile device 14 is a traveling vehicle that moves on a ground movement path rW, trajectory. In the same manner as in the first embodiment, in the third embodiment, the connectable object 2 is an unmanned aerial vehicle (mobile object) for infrastructure inspection that can sustain flight using power from the power supply cable, which is the string-like object 1. However, in the third embodiment, the connectable object 2 moves on an aerial movement path rD, trajectory that corresponds to the ground movement path rW, trajectory. The movement path rW, trajectory and the movement path rD, 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 moving device 14. The control calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on first position information of the connectable body 2, second position information of the injection port portion 6, the load measured by the load sensor 7, first movement path information which is information on the movement path rD, trajectory of the connectable body 2, and second movement path information which is information on the movement path rW, trajectory of the moving device 14. The control calculation unit 11 will be described in detail below.

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

[0092] The control calculation unit 11 stores the connected body 2, the mechanical dimensions of 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 θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, the position rWi,measured of the position sensor attachment device 10, 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 portion 7b. ２，ｍｅａｓｕｒｅｄThe control calculation unit 11 receives the first movement path information (rD, trajectory) of the connected body 2 and the second movement path information (rW, trajectory) of the moving device 14. Based on the input information, the control calculation unit 11 controls the applied current i １ and the applied current i to the second actuator 22. ２ and output it.

[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 similar to the control target value calculation unit 11a according to the first embodiment.

[0094] The output controller 11h is configured to control a target value T １ and the control target value T of the second contact load. ２ and the first contact load T １，ｍｅａｓｕｒｅｄ and the second contact load T ２，ｍｅａｓｕｒｅｄ The output controller 11h receives the first movement path information (rD, trajectory) of the connected body 2 and the second movement path information (rW, trajectory) of the moving device 14. Based on the input information, the output controller 11h controls the applied current i １ and the applied current i to the second actuator 22. ２ and output it.

[0095] For example, the output controller 11h may be configured to receive input information and output information (applied current i １ , i ２ ) may be subjected to machine learning (training) such as AI (Artificial Intelligence). １，ｍｅａｓｕｒｅｄ and the second contact load T ２，ｍｅａｓｕｒｅｄ is the control target value T １ and the control target value T of the second contact load ２ The applied current i １ , i ２ is adjusted.

[0096] Summary of Embodiment 3 According to the vibration damping device 100 of Embodiment 3 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 connectable body 2 and the second movement path information of the moving device 14. This configuration allows the movement of the moving device 14 to expand the range of infrastructure inspection that can be performed by the connectable body 2, thereby enhancing the functionality of the configuration of Embodiment 1. In the above description, Embodiment 3 has been applied to the configuration of Embodiment 1, but it may also be applied to the configuration of Embodiment 2. That is, the control calculation unit 11 may control the first rotation mechanism 4 and the second rotation mechanism 5 based on the first position information of the connectable body 2, the second position information of the injection port 6, the first movement path information that is information on the movement path rD,trajectory of the connectable body 2, the second movement path information that is information on the movement path rW,trajectory of the moving device 14, and the third position information of the position sensor attachment device 12.

[0097] 14 is a perspective view showing a configuration example of a vibration damping device 100 according to this embodiment 4. Among the components according to this embodiment 4, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described below.

[0098] The configuration in Fig. 14 is generally similar to the configuration in Fig. 12. However, the configuration in Fig. 14 additionally includes an anemometer 17 mounted on the mobile device 14. The anemometer 17 is a device that measures the direction and speed of wind acting on the string-like object. The anemometer 17 only needs to be able to measure the wind direction and speed in inertial space, and the anemometer 17 does not necessarily have to be mounted on the mobile device 14. Note that v is a vector.

[0099] The control and 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 moving device 14. The control and calculation unit 11 is connected to the anemometer 17 via at least one of a wired and a wireless connection so as to be able to communicate with the anemometer 17. The control and calculation unit 11 controls the first rotation mechanism 4 and the second rotation mechanism 5 based on first position information of the connectable object 2, second position information of the outlet portion 6, the load measured by the load sensor 7, first movement path information (rD, trajectory) of the connectable object 2, second movement path information (rW, trajectory) of the moving device 14, and the wind direction and speed v measured by the anemometer 17. The control and calculation unit 11 will be described in detail below.

[0100] Fig. 15 is a block diagram showing an example of the configuration of the control calculation unit 11 according to the fourth embodiment. Fig. 16 is a plan view for explaining the calculation processing of the control calculation unit 11, and Figs. 17 and 18 are cross-sectional views taken along lines CC and DD in Fig. 16, respectively.

[0101] As shown in Figure 15, 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 controlled object 23, and the sensor 24.

[0102] The control calculation unit 11 stores the connected body 2, the mechanical dimensions of 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 θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, the position rWi,measured of the position sensor attachment device 10, 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 portion 7b. ２，ｍｅａｓｕｒｅｄ The control calculation unit 11 receives the first movement path information (rD, trajectory) of the connected object 2, the second movement path information (rW, trajectory) of the moving device 14, and the wind direction and speed v measured by the wind vane and anemometer 17. Based on the input information, the control calculation unit 11 controls the applied current i to the first actuator 21. １ and the applied current i to the second actuator 22.２ and output it.

[0103] 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 receives as input the mechanical dimensions of the connectable 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 θ1,measured of the first rotation mechanism 4, the second rotation angle θ2,measured of the second rotation mechanism 5, the position rD,measured of the position sensor attachment device 9, the position rWi,measured of the position sensor attachment device 10, and the wind direction and speed v measured by the anemometer 17. Based on the input information, the control target value calculation unit 11a calculates a control target value T of the first contact load. １ and the control target value T of the second contact load. ２ The output controller 11h according to the fourth embodiment is similar to the output controller 11h according to the third embodiment.

[0104] The control target value calculation unit 11a includes a relative position calculation unit 11b, a string tension calculation unit 11f, and a load decomposition calculation unit 11g. The relative position calculation unit 11b according to the third embodiment is the same as the relative position calculation unit 11b according to the first embodiment. The relative position calculation unit 11b calculates the position r' of the connection point of the connected object 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ The relative position calculation unit 11b calculates the second rotation angle θ2,measured of the second rotation mechanism 5 and the angle θ Ｃａｔ１ and is output to the weight decomposition calculation unit 11g.

[0105] The string tension calculation unit 11f in FIG. 15 receives the linear density ρ and length L of the string-like object 1, and the position r' of the connecting point of the object 2. Ｄ and the position r' of the contact point of the injection port 6. ＷｉＥｄ and the wind direction and speed v. The string tension calculation unit 11f calculates the position r' of the contact point between the string-like object 1 and the outlet 6 based on the input information. ＷｉＥｄ 16 and 18 from the thick string-like object 1 at the position r' of the contact point. ＷｉＥｄThe discharge angle θ of the thick string-like object 1 in FIG. Ｗ and the position r' of the contact point ＷｉＥｄ The discharge angle θ of the thick string-like object 1 in FIG. ｖ and output it.

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

[0107]

[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 a dot above q is the value obtained by differentiating q once with respect to time, and due to notation restrictions in the specification, it is not referred to as q in the text. （１） The character with two dots placed horizontally above q is the value obtained by differentiating q twice with respect to time, and due to the notation restrictions of the specification, it is written as q in the text. （２） It is written as follows.

[0109] In equation (9), F is the generalized external force of the string-like object 1, which reflects the uniformly distributed load w(v). 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 multiplier. In equation (9), C is obtained by second-order time differentiation of the holonomic constraint C. ｑ q （２） Among the acceleration constraint equations for ｑ q （２） The terms other than are defined as γ. （２） =q （１） = 0, the lower part of the matrix in equation (9) does not need to be calculated, and the following equation (10) is obtained.

[0110]

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

[0112] The load decomposition calculation unit 11g receives the second rotation angle θ2, measured, and angle θ Ｃａｔ１ and the tension T from the string tension calculation unit 11f and the discharge angle θ Ｗ , and discharge angle θ ｖ The load decomposition calculation unit 11g calculates the control target value T １ and the control target value T of the second contact load. ２ and output it.

[0113] For example, the load decomposition calculation unit 11g calculates the second rotation angle θ2, measured, the angle θ Ｃａｔ１ , tension T, discharge angle θ in FIG. Ｗ , and the discharge angle θ in FIG. ｖ is applied to the following equations (11) and (12) to resolve the tension T. As a result, the load resolution calculation unit 11g calculates the control target value T of the first contact load. １ and the control target value T of the second contact load. ２ and generate. Note that T ３ is a tension component obtained by projecting the tension T in the direction along the cross section CC, as shown in FIGS.

[0114]

[0115]

[0116] Summary of Embodiment 4 According to the vibration damping device 100 of this embodiment 3, the first rotation mechanism 4 and the second rotation mechanism 5 are controlled taking into consideration the wind direction and speed measured by the anemometer 17, thereby enabling the configuration of embodiment 3 to have more advanced functionality. Note that 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 this disclosure, 'a' and 'an' mean one or more. Therefore, 'a', 'an', 'one or more', and 'at least one' can be used interchangeably.

[0118] It should be noted that the embodiments and modifications may be freely combined, and the embodiments and modifications may be modified or omitted as appropriate. The above description is illustrative in all respects and is not limiting. It is understood that countless modifications not illustrated can be envisioned.

[0119] Various aspects of the present disclosure are summarized below as appendices.

[0120] (Supplementary Note 1) A vibration damping device comprising: an insertion opening through which a string-like object connected to a connectable object is inserted; a first rotation mechanism that adjusts a first rotation angle of the insertion opening in a first direction; a second rotation mechanism that adjusts a 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 connectable object, second position information of the insertion opening, and a load applied to the insertion opening from a side of the string-like object, or third position information of a predetermined part of the string-like object; 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, the load, and the third position information.

[0121] (Appendix 2) A vibration damping device as described in 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 loads including a first load in the first direction and a second load in the second direction, and the control unit calculates control target values ​​for the first load and the second load based on the first position information, the second position information, and the loads, and controls the first rotation angle and the second rotation angle based on the first load and the second load and the control target values.

[0122] (Supplementary Note 3) A vibration control device according to Supplementary Note 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 for 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.

[0123] (Supplementary Note 4) The vibration damping device according to any one of Supplementary Note 1 to Supplementary Note 3, further comprising a length adjustment mechanism that adjusts the length of the string-like object.

[0124] (Appendix 5) A vibration control device according to any one of Appendices 1 to 4, wherein the connected body is a moving body, the insertion port portion, 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, first movement path information of the connected body, second movement path information of the moving device, and the load or the third position information.

[0125] (Appendix 6) A vibration control device according to any one of appendices 1 to 5, further comprising an anemometer that measures the direction and speed of 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.

[0126] REFERENCE SIGNS LIST 1 String-like object, 2 Connected object, 3 Length adjustment mechanism, 4 First rotation mechanism, 5 Second rotation mechanism, 6 Injection outlet portion, 7 Load sensor, 8 Position sensor, 11 Control calculation unit, 14 Moving device, 17 Wind vane and anemometer, 100 Vibration control device.

Claims

an insertion opening through which the string-like object connected to the connectable object is inserted; a first rotation mechanism that adjusts a first rotation angle of the insertion opening in a first direction; a second rotation mechanism that adjusts a 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 connectable object, second position information of the insertion opening, and a load applied to the insertion opening from a side of the string-like object, or 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 vibration damping device according to claim 1, The sensor a position sensor that acquires the first position information and the second position information, and a load sensor that measures the loads including a first load in the first direction and a 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 and the second load and the control target values. 　 The vibration damping device according to claim 1, The sensor a position sensor that acquires the first position information, the second position information, and the third position information; a vibration damping device that calculates a control target value for 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. 　 The vibration damping device according to any one of claims 1 to 3, The vibration damping device further comprises a length adjustment mechanism that adjusts the length of the string-like object. 　 The vibration damping device according to any one of claims 1 to 4, the connected object is a moving object, the insertion opening, the first rotation mechanism, and the second rotation mechanism are mounted on a moving device; The control unit A vibration control device that controls the first rotation angle and the second rotation angle based on the first position information, the second position information, first movement path information of the connected object, second movement path information of the moving device, and the load or the third position information. 　 The vibration damping device according to any one of claims 1 to 5, Further provided is an anemometer for measuring the direction and speed of wind acting on the string-like object, 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 direction and speed of the wind, and the load or the third position information.

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