9 results about "Sway control" patented technology

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

This invention discloses an anti-sway control method and system for a drone descent device, belonging to the field of drone technology. Addressing the problem of load swaying during single-rope descent, this invention uses the descent device's sensor module to acquire sway state information such as the load's sway angle, rate of change of sway angle, and rope tension, identifying the sway phase of the load. Short-stroke rope retraction is performed near the maximum sway angle, and short-stroke rope release is performed near the lowest point, introducing equivalent damping to the load's sway and consuming sway energy. Anti-sway control is superimposed on the conventional descent commands as an additional control quantity and executed in parallel with the main task. This invention does not rely on drone flight control attitude adjustment or multi-rope differential mechanisms; it achieves closed-loop anti-sway using only the single-rope descent device's own retraction and release capabilities. It has a simple structure, strong engineering feasibility, and is suitable for descent operations with large loads, long ropes, and complex environments.

An automatic anti-sway device and method for under-constrained hoisting belongs to the field of anti-sway control technology for hoisted objects. The device includes hoisting equipment, an anti-sway actuator, a flexible cable, and an object gripping actuator. The anti-sway actuator is located at the bottom of the hoisting equipment. The upper end of the flexible cable is connected to the anti-sway actuator, and the lower end of the flexible cable is connected to the object gripping actuator. An upper cable lock is provided between the flexible cable and the anti-sway actuator, and a redundant cable storage box is provided between the flexible cable and the object gripping actuator. A lower cable lock is provided on the top of the redundant cable storage box. The automatic anti-sway device and method for under-constrained hoisting of the present invention can realize automatic anti-sway under active control. When facing complex disturbances and multi-dimensional swaying, it can provide sufficient motion accuracy and response speed, and has the characteristics of short anti-sway time and high anti-sway efficiency, providing technical support for realizing reliable and efficient object hoisting operations.

The application discloses an offshore crane anti-swing predictive control method, and belongs to the technical field of offshore engineering equipment control. The method aims to solve the problem of poor load swing suppression effect of the offshore crane caused by control lag and inaccurate model in the prior art. The scheme points are as follows: a state sensor group and a multi-source environment perception system are used to acquire the crane state and the predicted information of future waves in real time; a hybrid prediction model is used to predict the crane system state sequence under different control instructions in the future time domain through rolling prediction; based on the predicted sequence, a reference control trajectory is solved in the upper optimization, the reference control trajectory aims to suppress swing and reduce structural fatigue, an instant control instruction is solved in the lower fast optimization, and the instant control instruction meets the actuator constraint and is output; meanwhile, the system health management is independently executed, and the control mode is dynamically adjusted according to the evaluation. The method is mainly used for precise anti-swing control of the offshore crane under complex sea conditions, can effectively suppress the load swing in advance, and improves the operation accuracy and equipment safety.

Methods, apparatuses, systems, and computer program products for an improved anti-sway control system and adjustable end effector for a robotic arm are provided. An example method includes determining at least one of a size, shape, or orientation of a package to be picked up by an end effector of a robotic arm, adjusting a position of a suction cup on the end effector to grasp the package by linearly moving the suction cup from an initial position on a rail associated with the end effector to a predetermined end position on the rail associated with the end effector, determining a path for the robotic arm to move to the predetermined end position; and controlling movement of the end effector via a robotic joint to reduce force on the suction cup by the package due to an acceleration of the package due to movement of the robotic arm.

------08 / 02 / 2564------(OCR) The toggle switch (100) is assembled with: - a housing (20) made of electrically insulating material, the first side button (30a) and the second side button (30b), both of which slide along the housing (20) along each sliding axis (AA, BB) between the initial rear position and the final front position; - a rocker control piece (50) which is deployed to be rotated in two opposite directions respectively by the first side button (30a) and the second side button (30b). - The rocker arm (60) with its first end (61) and second end (62) opposite to the first end (61); - The first movable contact (70a) and the second movable contact (70b) which are arranged on the rocker arm (60); - The first fixed contact (80a) and the second fixed contact (80b); - The conductive support pivot (90) on which the rocker arm (60) rests;The rocker control element (50) is deployed and positioned to rotate the rocker transfer element (60) between the following three stable angular positions: - the first angular end of the stroke position, where the first movable contact (70a) contacts the first fixed contact (80a) and where the second movable contact (70b) is separated from the second fixed contact (80b); - the second angular end of the stroke position, where the second movable contact (70b) contacts the second fixed contact (80b) and where the first movable contact (70a) is separated from the first fixed contact (80a); - the central angular position where the movable contacts (70a, 70b) are separated from each fixed contact (80a, 80b). The second end (62) of the rocker transfer element (60) rests on the supporting pivot point (90); ------------ Switch (100) assembled with: -Cover (20) made of electrical insulation material, side button one (30a) and side button two Two (30b), both buttons slide along the housing (20) along each sliding axis (AA,BB). Between the initial rear position and the final front position; - A rocking control part (50) which is deployed to be made to rotate in two opposite directions. In order by side button one (30a) and side button two (30b); - A movable interchangeable part (60) with a first end (61) and a second end (62). Opposite to the first end(61); - First movable contact (70a) and second movable contact (70b) which are arranged on the rocking change parts (60); - The first contact which is fixed at point(80a) and the second contact which is fixed at point(80b); - A conductive pivot support (90) on which the rocking shifting part (60) rests; The rocking control piece (50) is deployed and positioned to rotate the swapping piece. The rocking motion (60) between the following three stable angular positions: -The first angular end of the stroke position, where the movable contact is located. (70a) Contact with a contact part which is fixed at one point (80a) and where the contact part is movable at The two (70b) are separated from the contacts which are fixed to the second (80b); -The second angular end of the stroke position, where the second movable contact is located. (70b) contact with the second fixed contact (80b) and where the movable contact is located. One (70a) is separated from the contact which is fixed at one (80a); -The central angular position where the movable contacts (70a,70b) separate. From each contact part which is fixed (80a,80b) The second end (62) of the rocker arm (60) rests on the pivot support. (90)

This invention provides a hook anti-sway control method and system, comprising: acquiring a control analog signal from a crane motor and the hook height and hook swing amplitude; acquiring a first analog signal using an open-loop anti-sway algorithm; acquiring a second analog signal using a closed-loop anti-sway algorithm; acquiring a target analog signal based on the control analog signal, hook height, hook swing amplitude, first analog signal, and second analog signal; acquiring a pulse signal using a pulse width modulation algorithm based on the target analog signal and hook height; and outputting the pulse signal to a relay of the crane motor. This invention, by combining open-loop and closed-loop anti-sway algorithms, can adapt to various working conditions. Furthermore, by modulating the target analog signal into a pulse signal with variable period and time-varying width using the pulse width modulation algorithm, a good hook anti-sway control effect can be achieved simply by controlling the start and stop of the crane motor. Directly controlling the start and stop of the crane motor via a relay results in lower costs.

The utility model relates to the technical field of shock insulation support, disclose a kind of frictional sway control device, including lower support, middle support and upper support, four groups of vertical damping components and several vertical springs are provided between lower support and middle support, four groups of horizontal damping components are provided between middle support and upper support, each group of vertical damping components includes bottom plate and vertical rod, the bottom plate is fixedly installed at the top of lower support, and the top of bottom plate is fixedly connected with four vertical rods, matching damping sleeve one is sleeved on the vertical rod. The utility model can dissipate vertical kinetic energy by vertical damping component to vertical vibration, horizontal transverse vibration can be damped by horizontal damping component, horizontal transverse kinetic energy can be dissipated, horizontal longitudinal vibration can be damped, horizontal longitudinal kinetic energy can be dissipated, double-control damping function is realized, and each support will not be wasted, and the damping effect is good.

This utility model discloses a crane anti-sway control system, belonging to the field of crane technology. It includes a track ring located outside the load-bearing rope. A track groove is formed on the upper surface of the track ring, and a movable seat is slidably engaged in the track groove. A control telescopic rod is fixed on the movable seat, and a buffer assembly is fixed to one end of the control telescopic rod. A locking mechanism is installed on the buffer assembly. The buffer assembly includes a movable plate, with edge plates fixed on both sides above the movable plate. Wing plates are fixed on both sides of the edge plates near the load-bearing rope. One end of the control telescopic rod is fixed to the wing plates. A limit protrusion is fixed to the bottom of the movable plate, and a bearing plate is fixed to the side wall of the movable seat. This control system is mainly used to reduce the sway amplitude of the load-bearing rope when lifting heavy objects. When swaying occurs, the drive mechanism can move the buffer assembly and the locking mechanism to the corresponding positions, and then the swaying of the load-bearing rope is slowed down by controlling the telescopic rod.